Vertical four-axis self-adaptive material taking manipulator and method thereof

Abstract

The invention relates to the technical field of automatic manipulators, and discloses a vertical four-axis self-adaptive material taking manipulator and a method thereof.The vertical four-axis self-adaptive material taking manipulator comprises a stand column assembly, an X-axis moving assembly, a Y-axis moving assembly, a Z-axis moving assembly, a rotating arm assembly and a self-adaptive clamp assembly; the H steel body is provided with a line drag chain operation bin and a balance weight bin, the X-axis moving assembly is arranged at the bottom of the stand column assembly and comprises a ground rail plate, a plurality of X-axis linear guide rails, an X-axis rack and an X-axis servo motor, and the X-axis linear guide rails are fixedly installed on the ground rail plate. An X-axis rack is driven by an X-axis servo motor to move along a linear guide rail, so that an H steel body reaches a target area, the material taking angle is adjusted by a rotating arm assembly under the action of a driving motor, a clamp is driven by a Y-axis servo motor to stretch forwards and be aligned, a clamp assembly is driven by a Z-axis servo motor to descend, and therefore accurate positioning and stable material taking are achieved; and the stability of the manipulator is improved.

Description

Technical Field

[0001] The invention relates to the technical field of automated manipulators, and in particular to a vertical four-axis self-adaptive material-retrieving manipulator and a method thereof. Background Art

[0002] With the continuous development of industrial automation, robots are increasingly used in the fields of intelligent manufacturing, logistics handling and precision assembly. Modern production lines have higher and higher requirements for automation, especially in high-efficiency and high-precision material handling and pick-and-place operations. Robots have become an indispensable and important equipment. Faced with large-scale production and diverse workpiece types, robots must not only have precise pick-and-place capabilities, but also maintain stable operation in complex environments to meet the development needs of modern intelligent manufacturing.

[0003] At present, the automatic material handling robots on the market are mainly used in industries such as automobile manufacturing, metal processing, electronic assembly, and warehousing and logistics. These robots usually adopt a multi-axis motion structure, combined with visual recognition or sensor feedback, to achieve automatic positioning and pick-and-place operations. In some fields with high-precision requirements, such as semiconductor manufacturing and precision instrument assembly, some high-end robots can optimize operating accuracy through flexible clamping or force control technology.

[0004] However, the existing material-retrieving manipulator adopts a rigid clamping mechanism, which is difficult to make adaptive adjustments according to the slight deviation of the workpiece, resulting in a high failure rate of material retrieving. When the manipulator places the workpiece, it is easily affected by the inertia of movement, resulting in vibration and jitter, which makes the final position error of the workpiece large. In addition, the cable management of the existing manipulator is relatively simple, and the cable is prone to entanglement or pulling during operation. After long-term use, the stability and life of the system will be affected. Therefore, the present invention provides a vertical four-axis adaptive material-retrieving manipulator and a method thereof to solve the shortcomings of the prior art. Summary of the invention

[0005] In view of the deficiencies in the prior art, the present invention provides a vertical four-axis adaptive material picking robot and method thereof, which solves the problems that the existing material picking robot is difficult to make adaptive adjustments according to slight deviations of the workpiece, resulting in a high material picking failure rate; when the robot places the workpiece, it is easily affected by the inertia of motion, causing vibration and jitter, resulting in a large error in the final position of the workpiece.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions: a vertical four-axis adaptive material-grabbing manipulator, comprising a column assembly, an X-axis moving assembly, a Y-axis moving assembly, a Z-axis moving assembly, a rotating arm assembly and an adaptive clamp assembly, wherein the column assembly is vertically arranged and comprises an H-steel body, on which a line drag chain running bin and a counterweight bin are arranged, the X-axis moving assembly is arranged at the bottom of the column assembly, comprises a ground rail plate, a plurality of X-axis linear guides, an X-axis rack and an X-axis servo motor, the X-axis linear guide is fixedly mounted on the ground rail plate, an X-axis servo motor is arranged outside the X-axis linear guide, the X-axis rack is arranged on the ground rail plate and meshedly connected with the output end of the X-axis servo motor, an X-axis sensor baffle is arranged on the top of the ground rail plate, and the bottom of the H-steel body is mounted outside the X-axis linear guide.

[0007] Preferably, the Z-axis moving assembly is arranged on the outside of the column assembly, and the Z-axis moving assembly includes multiple Z-axis linear guides, a Z-axis rack and a Z-axis servo motor. The Z-axis linear guide is fixedly installed on the outside of the H-steel body, a Z-axis servo motor is arranged on the outside of the Z-axis linear guide, the Z-axis rack is fixedly connected to the outside of the H-steel body, the output end of the Z-axis servo motor is meshed and connected to one side of the Z-axis rack, a Z-axis sensor is arranged on the outside of the H-steel body, a limit sensor three is arranged at the bottom of the H-steel body, and a limit sensor one and a limit sensor two are arranged on both sides of the bottom of the H-steel body.

[0008] Preferably, the rotating arm assembly is arranged outside the column assembly, and the rotating arm assembly includes a driving motor, a gear, a screw and a connecting block. The driving motor is installed outside the H-steel body, and the output end of the driving motor is fixedly connected to the screw. The outside of the H-steel body is rotatably connected to the gear, and the outside of the screw is meshingly connected to the gear, and a connecting block is installed on one side of the gear.

[0009] Preferably, the Y-axis moving component is arranged on one side of the rotating arm component, and the Y-axis moving component includes multiple Y-axis linear guides, a Y-axis rack and a Y-axis servo motor. The outside of the Y-axis linear guide is fixedly connected to the outside of the connecting block, and the outside of the Y-axis linear guide is installed with a Y-axis servo motor. The outside of the connecting block is fixedly connected with a Y-axis rack, and the output end of the Y-axis servo motor is meshed and connected to one side of the Y-axis rack.

[0010] Preferably, the adaptive fixture assembly is arranged on the outside of the Y-axis moving assembly, and the adaptive fixture assembly includes a solenoid valve box, the outside of the solenoid valve box is installed on the outside of the Y-axis linear guide, two lateral adjustment rails are arranged on the bottom of the solenoid valve box, a fixed block is arranged on the outside of the lateral adjustment rail, a plurality of floating springs are installed on the top of the fixed block, a Y-axis buffer sensor is installed on the top of the floating spring, a fixture mounting floating plate is installed on one side of the fixed block, a grabbing fixture is installed on the outside of the fixture mounting floating plate, one end of the grabbing fixture is fixedly connected to the fixture body, two triangular wedge blocks are arranged at both ends of the fixed block, a wedge block cylinder is installed on the outside of the triangular wedge block, a self-adjusting pneumatic assembly is installed between the two wedge block cylinders, a buffer sensor baffle is arranged on the outside of the lateral adjustment rail, and a buffer spring is arranged on one side of the lateral adjustment rail.

[0011] Preferably, the line drag chain running bin is arranged on the front side of the H-steel body, the counterweight bin is arranged on the side of the H-steel body, the counterweight guide rod is fixedly connected to the inside of the counterweight bin, the counterweight block is slidably connected to the outside of the counterweight guide rod, a counterweight guard plate is arranged on the outside of the counterweight bin, and a Z-axis line drag chain is arranged on the inside of the line drag chain running bin.

[0012] Preferably, an X-axis cable trough is fixedly connected to the top of the floor rail plate, and a Y-axis drag chain trough is fixedly connected to the outside of the connecting block, and the X-axis cable trough and the Y-axis drag chain trough are used to protect the cables.

[0013] Preferably, a negative limit sensor is installed at one end of the connecting block close to the gear, and a positive limit sensor is installed at one end of the connecting block away from the negative limit sensor.

[0014] Preferably, the triangular wedge block is driven by a corresponding wedge block cylinder, and when the wedge block cylinder is retracted, the clamp body can float up and down along the clamp mounting floating plate, and when the wedge block cylinder is pushed out, the clamp body is locked in a rigid state.

[0015] A vertical four-axis adaptive manipulator material picking method is also provided, comprising the following steps:

[0016] Initialize the manipulator, the control system detects the initial position of each axis of the manipulator, and drives each component back to the initial standby position through the drive sources of the X-axis, Y-axis, Z-axis and U-axis;

[0017] Execute X-axis horizontal movement, control the X-axis drive source to drive the manipulator to move along the X-axis to the target material picking area;

[0018] Perform Y-axis extension adjustment, control the Y-axis drive source to drive the manipulator to move along the Y-axis to the target material position, and perform Y-axis fine alignment adjustment according to the specific position of the target material;

[0019] Execute Z-axis descending positioning, control the Z-axis driving source to drive the manipulator to descend along the Z-axis, so that the fixture approaches the target material;

[0020] Adaptive clamping: according to the shape and position error of the material, the clamp is controlled to float up and down, and the left and right alignment is adjusted through the guide rail. If the material error exceeds the limit, the clamp is adjusted to enter the flexible mode to ensure the clamping alignment;

[0021] After the fixture is locked and the material is aligned, the fixture is controlled to enter the rigid precision alignment mode to ensure the material picking accuracy;

[0022] To pick up materials, control the Z-axis drive source to drive the manipulator to rise, and at the same time control the X-axis and Y-axis drive sources to drive the manipulator to move to the target placement position, and release the fixture to complete the material picking task.

[0023] The present invention provides a vertical four-axis adaptive material-retrieving manipulator and a method thereof. It has the following beneficial effects:

[0024] 1. The present invention drives the X-axis rack to move along the linear guide rail through the X-axis servo motor, so that the H-steel body reaches the target area. The rotating arm assembly adjusts the material picking angle under the action of the driving motor, the Y-axis servo motor drives the clamp to extend and align, and the Z-axis servo motor drives the clamp assembly to descend, so as to achieve precise positioning and stable material picking. Compared with the traditional single-axis control solution, it solves the problems of low material picking accuracy, poor adaptability and overtravel risk, and improves the stability and operation efficiency of the manipulator.

[0025] 2. The present invention provides vertical flexible floating through a floating spring, so that the floating plate installed on the fixture can be fine-tuned, and at the same time, the guide rail is adjusted laterally to drive the fixture body to move left and right to adapt to the deviation of the workpiece. If the error is small, the wedge cylinder pushes out the triangular wedge to fix the fixture, thereby improving the clamping accuracy. If the error exceeds the limit, the wedge cylinder is retracted, and the fixture enters the flexible alignment mode, which is assisted by the self-adjusting pneumatic component to ensure stable clamping. The solenoid valve box controls the fixture to clamp the workpiece, and the buffer spring absorbs the impact force. The Z-axis servo motor drives the fixture assembly to rise to a safe height. In this way, the flexible floating is combined with the rigid locking to improve the clamping accuracy and error adaptability. Compared with the traditional rigid clamping mechanism, it solves the problems of poor error compatibility, insufficient clamping stability and weak impact absorption capacity, thereby improving the success rate of material removal and the stability of the system.

[0026] 3. The Y-axis servo motor of the present invention drives the Y-axis assembly to retract, so that the manipulator returns to the target placement area. At the same time, the X-axis servo motor drives the X-axis assembly to move along the linear guide rail, so that the manipulator reaches the placement position. The rotating arm assembly adjusts the placement angle through the driving motor, the clamp assembly loosens and releases the workpiece, and the line drag chain runs the warehouse to manage the cables to ensure stable operation. The counterweight blocks in the counterweight warehouse provide balanced support through the counterweight guide rod, thereby ensuring that the manipulator runs stably and efficiently places the workpiece. Compared with the traditional placement mechanism that is susceptible to vibration and unbalanced loading, it solves the problems of unstable operation, low positioning accuracy and chaotic cable management, and improves the placement accuracy and the reliability of the long-term operation of the manipulator. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 A perspective view of the present invention;

[0028] Figure 2 It is a schematic diagram of the structure of the counterweight guide rod of the present invention;

[0029] Figure 3 It is a schematic diagram of the structure of the counterweight guard plate of the present invention;

[0030] Figure 4 It is a schematic diagram of the screw structure of the present invention;

[0031] Figure 5 It is a schematic diagram of the structure of the solenoid valve box of the present invention;

[0032] Figure 6 It is a schematic diagram of the Y-axis rack structure of the present invention;

[0033] Figure 7 It is a schematic diagram of the structure of the buffer spring of the present invention;

[0034] Figure 8 This is a schematic diagram of the structure of the fixture for installing a floating plate of the present invention;

[0035] Fig. 9 It is a schematic diagram of the fixed block structure of the present invention.

[0036] Among them, 1. Column assembly; 101. H-steel body; 102. Counterweight bin; 103. Line drag chain running bin; 2. X-axis moving assembly; 201. Ground rail plate; 202. X-axis servo motor; 203. X-axis cable trough; 204. X-axis rack; 205. X-axis sensor baffle; 206. X-axis linear guide; 3. Z-axis moving assembly; 301. Z-axis linear guide; 302. Z-axis rack; 303. Z-axis line drag chain; 304. Z-axis sensor; 305. Z-axis servo motor; 306. Counterweight guide rod; 307. Counterweight block; 308. Counterweight guard plate; 4. Y-axis moving assembly; 401. Negative limit sensor; 402. Y-axis linear guide; 403. Positive limit sensor device; 404, Y-axis rack; 405, Y-axis servo motor; 406, Y-axis drag chain slot; 407, Y-axis buffer sensor; 5, rotating arm assembly; 501, drive motor; 502, screw; 503, gear; 504, connecting block; 6, adaptive fixture assembly; 601, solenoid valve box; 602, grabbing fixture; 603, buffer sensor baffle; 604, lateral adjustment guide rail; 605, buffer spring; 606, self-adjusting pneumatic assembly; 607, fixture mounting floating plate; 608, fixture body; 609, wedge cylinder; 610, floating spring; 611, fixed block; 612, triangular wedge; 7, limit sensor one; 8, limit sensor two; 9, limit sensor three. DETAILED DESCRIPTION

[0037] The following will be combined with the drawings in the specification of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0038] Please see attached Figure 1 , Attachment Figure 2 and attached Figure 3A vertical four-axis adaptive material-grabbing manipulator comprises a column assembly 1, an X-axis moving assembly 2, a Y-axis moving assembly 4, a Z-axis moving assembly 3, a rotating arm assembly 5 and an adaptive clamp assembly 6. The column assembly 1 is vertically arranged and comprises an H-steel body 101. A line drag chain operation bin 103 and a counterweight bin 102 are arranged on the H-steel body 101. The line drag chain operation bin 103 is used to manage the arrangement and movement of cables during the operation of the manipulator. The counterweight bin 102 is used to place a counterweight block 307. The X-axis moving assembly 2 is arranged at the bottom of the column assembly 1 and comprises a ground rail plate 201, a plurality of X-axis linear guides 206, an X-axis linear guide rail 207, and a Z-axis linear guide rail 208. The X-axis rack 204 and the X-axis servo motor 202, the X-axis linear guide 206 are fixedly installed on the ground rail plate 201, the X-axis linear guide 206 is used to guide the H-steel body 101 to move smoothly along the X-axis direction, the X-axis servo motor 202 is arranged outside the X-axis linear guide 206, the X-axis rack 204 is arranged on the ground rail plate 201 and is meshed with the output end of the X-axis servo motor 202, the top of the ground rail plate 201 is provided with an X-axis sensor baffle 205, the X-axis sensor baffle 205 is used to provide a position feedback signal, and the bottom of the H-steel body 101 is installed outside the X-axis linear guide 206. The top of the ground rail plate 201 is fixedly connected with an X-axis cable trough 203, which is used to carry and protect the cables in the X-axis direction. The outside of the connecting block 504 is fixedly connected with a Y-axis drag chain trough 406, which is used to protect the cables in the Y-axis direction. The X-axis cable trough 203 and the Y-axis drag chain trough 406 are used to protect the cables.

[0039] Please see attached Figure 1 , Attachment Figure 2 and attached Figure 4The Z-axis moving component 3 is arranged on the outside of the column component 1. The Z-axis moving component 3 includes multiple Z-axis linear guides 301, Z-axis racks 302 and Z-axis servo motors 305. The Z-axis linear guides 301 are fixedly installed on the outside of the H-steel body 101. The Z-axis linear guides 301 are used to provide stable guide support. A Z-axis servo motor 305 is arranged on the outside of the Z-axis linear guides 301. The Z-axis racks 302 are fixedly connected to the outside of the H-steel body 101. The Z-axis servo motor 305 serves as a driving source and is used to cooperate with the Z-axis racks 302 to make the Y-axis moving component 4 move up and down along the Z-axis linear guides 301 to ensure the rapid response of the fixture. The Z-axis servo motor 305 The output end is meshed and connected to one side of the Z-axis rack 302. A Z-axis sensor 304 is arranged on the outside of the H-steel body 101. The Z-axis sensor 304 is used to monitor the position information of the Z-axis moving component 3 in real time to ensure that the adaptive clamp component 6 can accurately align the target workpiece. A limit sensor three 9 is arranged at the bottom of the H-steel body 101. The limit sensor three 9 is used to detect the minimum safe position of the Z-axis to prevent the adaptive clamp component 6 from colliding or overloading during the descent process. Limit sensors one 7 and two 8 are arranged on both sides of the bottom of the H-steel body 101. The limit sensors one 7 and two 8 are used to monitor the boundary state of the Z-axis movement and provide an over-limit alarm function. The line drag chain running compartment 103 is arranged on the front of the H-steel body 101. The line drag chain running compartment 103 accommodates and guides the internal cables and pipes. The counterweight compartment 102 is arranged on the side of the H-steel body 101. The counterweight guide rod 306 is fixedly connected to the inside of the counterweight compartment 102. The counterweight guide rod 306 is used for the precise sliding adjustment of the counterweight block 307 in the counterweight compartment 102. The counterweight block 307 is slidably connected to the outside of the counterweight guide rod 306. By adjusting the position and weight of the counterweight block 307, the dynamic balance of the manipulator system is achieved. The counterweight guard plate 308 is arranged on the outside of the counterweight compartment 102. The counterweight guard plate 308 is used to provide additional protection. The Z-axis line drag chain 303 is arranged inside the line drag chain running compartment 103.

[0040] Please see attached Figure 1 , Attachment Figure 2 and attached Figure 4The rotating arm assembly 5 is arranged outside the column assembly 1. The rotating arm assembly 5 includes a driving motor 501, a gear 503, a screw 502 and a connecting block 504. The driving motor 501 is installed outside the H steel body 101. The driving motor 501 is used to provide power to drive the screw 502 to rotate. The output end of the driving motor 501 is fixedly connected with the screw 502. The screw 502 is used to cooperate with the gear 503 to rotate the gear 503. The external rotation of the H steel body 101 is connected with the gear 503. The screw 502 A gear 503 is externally meshed and connected, and a connecting block 504 is installed on one side of the gear 503. The gear 503 is used to drive the connecting block 504 for adjustment. A negative limit sensor 401 is installed on the end of the connecting block 504 close to the gear 503. The negative limit sensor 401 is used to detect whether the manipulator has reached the negative limit position during the movement. A positive limit sensor 403 is installed on the end of the connecting block 504 away from the negative limit sensor 401. The positive limit sensor 403 is used to monitor the operation of the manipulator at the positive limit position.

[0041] Please see attached Figure 4 , Attachment Figure 5 and attached Figure 6 The Y-axis moving component 4 is arranged on one side of the rotating arm component 5. The Y-axis moving component 4 includes multiple Y-axis linear guides 402, a Y-axis rack 404 and a Y-axis servo motor 405. The outside of the Y-axis linear guide 402 is fixedly connected to the outside of the connecting block 504. The Y-axis linear guide 402 provides stable support and guidance in the Y-axis direction. A Y-axis servo motor 405 is installed on the outside of the Y-axis linear guide 402. The outside of the connecting block 504 is fixedly connected to the Y-axis rack 404. The output end of the Y-axis servo motor 405 meshes with the driving Y-axis rack 404 to drive the fixture along the Y-axis direction. The output end of the Y-axis servo motor 405 meshes with one side of the Y-axis rack 404.

[0042] Please see attached Figure 7 , Attachment Figure 8 and attached Fig. 9The adaptive fixture assembly 6 is arranged on the outside of the Y-axis moving assembly 4. The adaptive fixture assembly 6 includes a solenoid valve box 601. The outside of the solenoid valve box 601 is installed on the outside of the Y-axis linear guide 402. The solenoid valve box 601 is used to provide electromagnetic control for the entire fixture system to ensure the precise execution of the fixture action. Two lateral adjustment rails 604 are arranged at the bottom of the solenoid valve box 601. The lateral adjustment rails 604 are used to provide adjustment space for the fixture assembly in the lateral direction. A fixed block 611 is arranged on the outside of the lateral adjustment rail 604. A plurality of floating springs 610 are installed on the top of the fixed block 611. The floating spring 610 provides a flexible floating ability of the fixture, allowing the fixture to be fine-tuned in the vertical direction to adapt to the height difference of different workpieces. A Y-axis buffer sensor 407 is installed on the top of the floating spring 610. The Y-axis buffer sensor 407 is responsible for detecting whether the fixture has reached the predetermined position and providing feedback to avoid overtravel or inaccurate positioning. A fixture installation floating plate 607 is installed on one side of the fixed block 611 The fixture installation floating plate 607 is used to flexibly adjust the position of the fixture so that the fixture body 608 can better adapt to the actual position change of the workpiece. The grabbing fixture 602 is installed on the outside of the fixture installation floating plate 607. One end of the grabbing fixture 602 is fixedly connected to the fixture body 608. The grabbing fixture 602 is responsible for grabbing the workpiece and fixing it through the fixture body 608. Two triangular wedge blocks 612 are arranged at both ends of the fixing block 611. The outer side of the triangular wedge block 612 is installed with a wedge cylinder 609. The triangular wedge block 612 cooperates with the wedge block cylinder 609, and the rigid fixation of the clamp is achieved by the push of the wedge block cylinder 609. A self-adjusting pneumatic component 606 is installed between the two wedge block cylinders 609. A buffer sensor baffle 603 is arranged on the outside of the lateral adjustment guide rail 604 to monitor the movement state of the clamp and ensure that the clamp does not generate excessive impact force. A buffer spring 605 is arranged on one side of the lateral adjustment guide rail 604. The buffer spring 605 is used for buffering to effectively reduce the impact force during the clamping process. The triangular wedge block 612 is driven by the corresponding wedge block cylinder 609. When the wedge block cylinder 609 is retracted, the clamp body 608 can float up and down along the clamp installation floating plate 607. When the wedge block cylinder 609 is pushed out, the clamp body 608 is locked in a rigid state. At this time, the fixing effect of the clamp is enhanced to ensure that the workpiece will not shift or loosen during transportation or processing. The wedge block cylinder 609 provides the dual functions of rigid locking and flexible floating of the clamp.

[0043] The material taking method using the above-mentioned manipulator comprises the following steps:

[0044] Initialize the manipulator, the control system detects the initial position of each axis of the manipulator, and drives each component back to the initial standby position through the drive sources of the X-axis, Y-axis, Z-axis and U-axis;

[0045] Execute X-axis horizontal movement, control the X-axis drive source to drive the manipulator to move along the X-axis to the target material picking area;

[0046] Perform Y-axis extension adjustment, control the Y-axis drive source to drive the manipulator to move along the Y-axis to the target material position, and perform Y-axis fine alignment adjustment according to the specific position of the target material;

[0047] Execute Z-axis descending positioning, control the Z-axis driving source to drive the manipulator to descend along the Z-axis, so that the fixture approaches the target material;

[0048] Adaptive clamping: according to the shape and position error of the material, the clamp is controlled to float up and down, and the left and right alignment is adjusted through the guide rail. If the material error exceeds the limit, the clamp is adjusted to enter the flexible mode to ensure the clamping alignment;

[0049] After the fixture is locked and the material is aligned, the fixture is controlled to enter the rigid precision alignment mode to ensure the material picking accuracy;

[0050] To pick up materials, control the Z-axis drive source to drive the manipulator to rise, and at the same time control the X-axis and Y-axis drive sources to drive the manipulator to move to the target placement position, and release the fixture to complete the material picking task.

[0051] Working principle: First, the control system detects the initial position of each component, and drives the X-axis rack 204 to move along the X-axis linear guide 206 through the X-axis servo motor 202, so that the H-steel body 101 moves along the ground rail plate 201 to the target material collection area. At the same time, the X-axis sensor baffle 205 provides position signal feedback. After reaching the target area, the rotating arm assembly 5 begins to adjust the material collection angle, and the drive motor 501 drives the screw 502 to rotate, so that it meshes with the gear 503 for transmission, thereby driving the connecting block 504 to rotate, so that the rotating arm assembly 5 rotates around the H-steel body 101 to the specified angle, and then the Y-axis servo motor 405 drives the Y-axis rack 404 to extend forward along the Y-axis linear guide 402, so that the adaptive clamp assembly 6 extends toward the target workpiece and performs precise alignment according to the actual position of the target workpiece. During the movement of the Y-axis, the negative limit sensor 401 and the positive limit sensor 403 monitor the position in real time to ensure the movement accuracy. When the Y-axis is adjusted, the Z-axis servo motor 305 starts, driving the Z-axis rack 302 to descend along the Z-axis linear guide 301, so that the adaptive clamp assembly 6 approaches the target workpiece. At the same time, the Z-axis sensor 304 and the limit sensor 39 assist in detecting the height of the clamp reaching the target workpiece to prevent over-travel movement.

[0052] The floating spring 610 provides flexible floating ability in the up and down directions, so that the fixture installation floating plate 607 can be fine-tuned in the vertical direction within a certain range. At the same time, the lateral adjustment guide rail 604 drives the fixture body 608 to move left and right to adapt to the deviation of the target workpiece. If the error of the target workpiece is small, the fixture maintains a rigid precision alignment mode, that is, the triangular wedge block 612 is pushed out by the wedge block cylinder 609 to fix the fixture body 608 on the fixture installation floating plate 607 to improve the clamping accuracy. If the error of the target workpiece exceeds the limit, the wedge block cylinder 609 retracts the triangular wedge block 612. 12. The clamp enters the flexible alignment mode, and the self-adjusting pneumatic component 606 provides auxiliary adjustment capability to ensure that the clamp can accurately clamp the workpiece. When the clamping position is confirmed, the solenoid valve box 601 controls the grabbing clamp 602 to perform the clamping action. The buffer spring 605 provides a buffering function to reduce the impact force generated during the clamping process. At the same time, the buffer sensor baffle 603 cooperates with the Y-axis buffer sensor 407 to monitor the clamping state. After the clamping is completed, the Z-axis servo motor 305 drives the Z-axis assembly to rise, so that the adaptive clamp assembly 6 drives the workpiece to be lifted to a safe height.

[0053] Subsequently, the Y-axis servo motor 405 drives the Y-axis assembly to retract, so that the robot returns to the target placement area. At the same time, the X-axis servo motor 202 drives the assembly to move along the X-axis linear guide 206, so that the robot reaches the target placement area. The rotating arm assembly 5 adjusts the placement angle under the action of the drive motor 501. Finally, the adaptive clamp assembly 6 is released to release the workpiece to the target position. The entire process is managed by the line drag chain operation compartment 103 to ensure the cable stability during the operation of the robot. At the same time, the counterweight block 307 in the counterweight compartment 102 provides balancing support through the counterweight guide rod 306 to reduce vibration and unbalanced load during the operation of the robot. After the robot completes the placement, each axis returns to its initial position and waits for the next material picking task.

[0054] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A vertical four-axis adaptive material-retrieving manipulator, comprising a column assembly (1), an X-axis moving assembly (2), a Y-axis moving assembly (4), a Z-axis moving assembly (3), a rotating arm assembly (5) and an adaptive clamp assembly (6), characterized in that: The column assembly (1) is arranged vertically, and comprises an H-steel body (101). A line drag chain running compartment (103) and a counterweight compartment (102) are arranged on the H-steel body (101). The X-axis moving assembly (2) is arranged at the bottom of the column assembly (1), and comprises a ground rail plate (201), a plurality of X-axis linear guide rails (206), an X-axis rack (204) and an X-axis servo motor (202). The X-axis linear guide rail (206) is fixedly mounted on the ground rail plate (201). An X-axis servo motor (202) is arranged outside the X-axis linear guide rail (206). The X-axis rack (204) is arranged on the ground rail plate (201) and meshedly connected with an output end of the X-axis servo motor (202). An X-axis sensor baffle (205) is arranged on the top of the ground rail plate (201). The bottom of the H-steel body (101) is mounted outside the X-axis linear guide rail (206).

2. A vertical four-axis adaptive material handling manipulator according to claim 1, characterized in that: The Z-axis moving assembly (3) is arranged on the outside of the column assembly (1), and the Z-axis moving assembly (3) comprises a plurality of Z-axis linear guides (301), a Z-axis rack (302) and a Z-axis servo motor (305). The Z-axis linear guides (301) are fixedly mounted on the outside of the H-steel body (101), a Z-axis servo motor (305) is arranged outside the Z-axis linear guides (301), the Z-axis rack (302) is fixedly connected to the outside of the H-steel body (101), an output end of the Z-axis servo motor (305) is meshedly connected to one side of the Z-axis rack (302), a Z-axis sensor (304) is arranged outside the H-steel body (101), a limit sensor three (9) is arranged at the bottom of the H-steel body (101), and a limit sensor one (7) and a limit sensor two (8) are arranged on both sides of the bottom of the H-steel body (101).

3. A vertical four-axis adaptive material handling manipulator according to claim 1, characterized in that: The rotating arm assembly (5) is arranged outside the column assembly (1), and comprises a driving motor (501), a gear (503), a screw rod (502) and a connecting block (504). The driving motor (501) is installed outside the H-steel body (101), the output end of the driving motor (501) is fixedly connected with the screw rod (502), the outside of the H-steel body (101) is rotatably connected with the gear (503), the outside of the screw rod (502) is meshedly connected with the gear (503), and a connecting block (504) is installed on one side of the gear (503).

4. A vertical four-axis adaptive material handling manipulator according to claim 3, characterized in that: The Y-axis moving assembly (4) is arranged on one side of the rotating arm assembly (5), and the Y-axis moving assembly (4) comprises a plurality of Y-axis linear guides (402), a Y-axis rack (404) and a Y-axis servo motor (405). The outside of the Y-axis linear guide (402) is fixedly connected to the outside of the connecting block (504), the outside of the Y-axis linear guide (402) is equipped with a Y-axis servo motor (405), the outside of the connecting block (504) is fixedly connected to the Y-axis rack (404), and the output end of the Y-axis servo motor (405) is meshedly connected to one side of the Y-axis rack (404).

5. A vertical four-axis adaptive material handling manipulator according to claim 4, characterized in that: The adaptive clamp assembly (6) is arranged outside the Y-axis moving assembly (4), and the adaptive clamp assembly (6) includes a solenoid valve box (601), the outside of the solenoid valve box (601) is installed on the outside of the Y-axis linear guide (402), two lateral adjustment guides (604) are arranged at the bottom of the solenoid valve box (601), and a fixed block (611) is arranged outside the lateral adjustment guide (604), and a plurality of floating springs (610) are installed on the top of the fixed block (611), and a Y-axis buffer sensor (407) is installed on the top of the floating spring (610), and a clamp is installed on one side of the fixed block (611). A fixture mounting floating plate (607) is provided, a grabbing fixture (602) is installed on the outside of the fixture mounting floating plate (607), one end of the grabbing fixture (602) is fixedly connected to the fixture body (608), two triangular wedge blocks (612) are provided at both ends of the fixed block (611), a wedge block cylinder (609) is installed on the outside of the triangular wedge block (612), a self-adjusting pneumatic component (606) is installed between the two wedge block cylinders (609), a buffer sensor baffle (603) is provided on the outside of the lateral adjustment guide rail (604), and a buffer spring (605) is provided on one side of the lateral adjustment guide rail (604).

6. A vertical four-axis adaptive material handling manipulator according to claim 1, characterized in that: The line drag chain running compartment (103) is arranged on the front side of the H-steel body (101), the counterweight compartment (102) is arranged on the side of the H-steel body (101), the counterweight guide rod (306) is fixedly connected to the inside of the counterweight compartment (102), the counterweight block (307) is slidably connected to the outside of the counterweight guide rod (306), a counterweight guard plate (308) is arranged on the outside of the counterweight compartment (102), and a Z-axis line drag chain (303) is arranged on the inside of the line drag chain running compartment (103).

7. A vertical four-axis adaptive material handling manipulator according to claim 3, characterized in that: The top of the ground rail plate (201) is fixedly connected with an X-axis cable trough (203), and the outside of the connection block (504) is fixedly connected with a Y-axis drag chain trough (406), and the X-axis cable trough (203) and the Y-axis drag chain trough (406) are used to protect cables.

8. A vertical four-axis adaptive material handling manipulator according to claim 4, characterized in that: A negative limit sensor (401) is installed at one end of the connection block (504) close to the gear (503), and a positive limit sensor (403) is installed at one end of the connection block (504) away from the negative limit sensor (401).

9. The vertical four-axis adaptive material handling manipulator according to claim 5, characterized in that: The triangular wedge block (612) is driven by the corresponding wedge block cylinder (609). When the wedge block cylinder (609) is retracted, the clamp body (608) can float up and down along the clamp mounting floating plate (607). When the wedge block cylinder (609) is pushed out, the clamp body (608) is locked in a rigid state.

10. A vertical four-axis adaptive manipulator material retrieving method, applied to a vertical four-axis adaptive manipulator according to any one of claims 1 to 9, characterized in that: The following steps are involved: Initialize the manipulator, the control system detects the initial position of each axis of the manipulator, and drives each component back to the initial standby position through the drive sources of the X-axis, Y-axis, Z-axis and U-axis; Execute X-axis horizontal movement, control the X-axis drive source to drive the manipulator to move along the X-axis to the target material picking area; Perform Y-axis extension adjustment, control the Y-axis drive source to drive the manipulator to move along the Y-axis to the target material position, and perform Y-axis fine alignment adjustment according to the specific position of the target material; Execute Z-axis descending positioning, control the Z-axis driving source to drive the manipulator to descend along the Z-axis, so that the fixture approaches the target material; Adaptive clamping: according to the shape and position error of the material, the clamp is controlled to float up and down, and the left and right alignment is adjusted through the guide rail. If the material error exceeds the limit, the clamp is adjusted to enter the flexible mode to ensure the clamping alignment; After the fixture is locked and the material is aligned, the fixture is controlled to enter the rigid precision alignment mode to ensure the material picking accuracy; To pick up materials, control the Z-axis drive source to drive the manipulator to rise, and at the same time control the X-axis and Y-axis drive sources to drive the manipulator to move to the target placement position, and release the fixture to complete the material picking task.

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