Double-closed-loop linkage long-arm high-speed robot for mobile disassembly and sorting

Abstract

The invention provides a double-closed-loop linkage long-arm high-speed robot for mobile dismounting and sorting, and belongs to the technical field of robots. Comprising a moving platform, a base, an L-shaped rotating platform, a middle connecting piece, a translation output piece, a tail end output rod, a rigid connecting rod set, a pitching transmission rod, a driving short connecting rod, a driving long connecting rod, a transmission short connecting rod, an upper translation long connecting rod, a lower translation long connecting rod, a rotating shaft rod, a first drive-control integrated motor, a second drive-control integrated motor and a third drive-control integrated motor. And a fourth drive-control integrated motor. The robot achieves three-movement one-rotation four-freedom-degree movement, is simple in structure and low in production cost, has the advantages of being low in inertia, capable of working at a high speed, flexible in work, large in working space, capable of working in a narrow space and the like, and has wide application potential and prospects in the field of logistics disassembly and sorting.

Description

Technical Field

[0001] This technology belongs to the field of industrial robot technology and relates to a dual-closed-loop linkage long-arm high-speed robot for mobile disassembly and picking. Background Art

[0002] Currently, with the booming development of e-commerce in my country, the demand for automated sorting and conveying systems in the postal and express delivery sector has exploded. Logistics scenarios are typically characterized by a wide variety of goods, small batch sizes, and frequent deliveries. This makes the unpacking and sorting of goods the most labor-intensive and inefficient process in the logistics chain. Unpacking and sorting, a core operation in logistics and warehousing, refers to the process of splitting and sorting small quantities or single items from a batch of goods based on order requirements and moving the individual items to designated locations. Traditional sorting models rely primarily on manual operations, which not only requires a large labor force and leads to a surge in labor costs, but also suffers from low sorting efficiency and high error rates. Faced with the structural contradiction between the ever-expanding consumer market and insufficient sorting capacity, the use of intelligent sorting robots to replace manual unpacking and sorting has become an inevitable choice for the industry to improve quality and efficiency.

[0003] As a core component of the logistics sorting system, piecemeal picking embodies the technical characteristics of modern sorting systems, characterized by low complexity, high repetition rates, a wide range of operations, and a wide variety of goods. Robots performing piecemeal picking operations must be mobile, possess three basic translational degrees of freedom and one rotational degree of freedom, have a large workspace, and be capable of high-speed movement. Traditional serial robots currently used for piecemeal picking concentrate their drive units at the joints, resulting in large joint equivalent inertias and significant inertial shocks at high speeds. Furthermore, they are typically slow, making them unable to meet the stringent high-speed sorting efficiency requirements of modern piecemeal picking systems. While parallel robots can achieve high acceleration and high-speed movement within their workspace, their limited workspaces and the presence of restricted zones for multi-axis coupled motion limit their adaptability to cross-aisle sorting, tiered shelf handling, and handling goods with large height differences within the workspace.

[0004] Patent application number CN 220244831 U proposes a gantry-type palletizing robot. However, due to the limitations of the gantry structure, this solution suffers from poor flexibility, large footprint, and track layout constraints, making it incapable of long-distance sorting operations and subject to certain limitations in scenarios involving rapid changes in work positions or changing environments. Patent application number CN111844003 B proposes a SCARA robot. This robot uses a serial structure with drive motors distributed throughout the robot arm, resulting in high inertia, which limits the length of the robot arm, resulting in a small workspace and an inability to move at high speeds. Summary of the Invention

[0005] In view of the shortcomings of the above solutions, the present invention provides a dual-closed-loop linkage long-arm high-speed robot for mobile disassembly and picking.

[0006] A double-closed-loop linkage long-arm high-speed robot for mobile disassembly and picking, comprising a mobile platform, a base, an L-shaped rotating platform, an intermediate connecting member, a translation output member, an end output rod, a rigid connecting rod group, a pitch transmission rod, a driving short link, a driving long link, a transmission short link, an upper translation long link, a lower translation long link, a rotating shaft rod, a first drive and control integrated motor, a second drive and control integrated motor, a third drive and control integrated motor, and a fourth drive and control integrated motor; the base is fixed on the mobile platform; the L-shaped rotating platform is connected to the base through a rotating joint 1, and the rotating joint 1 is driven by the first drive and control integrated motor ... The rigid connecting rod group is fixedly connected to the intermediate connecting member; one end of the pitch transmission rod is connected to the L-shaped rotating platform through a rotating joint 2, and the pitch transmission rod passes through a hole on the intermediate connecting member and is connected to the intermediate connecting member at the hole position through a rotating joint 3; the rotating joint 2 is driven by the drive-control integrated motor 2; the other end of the pitch transmission rod is connected to one end of the upper translational long link through a rotating joint 4; the other end of the upper translational long link is connected to the translation output member through a universal joint; the rotating shaft rod is connected to the intermediate connecting member through a rotating joint 5; the rotating shaft rod is connected to one end of the lower translational long link through a rotating joint 6 The other end of the lower translational long connecting rod is connected to the translational output member through a rotating joint seven; the translational output member is connected to the end output rod through a rotating joint eight, the axis of the rotating joint eight is along the vertical direction, and the rotating joint eight is driven by the drive-control integrated motor three; one end of the transmission short connecting rod is fixedly connected to the rotating shaft rod, and the other end of the transmission short connecting rod is connected to one end of the transmission long connecting rod through a rotating joint nine; the other end of the transmission long connecting rod is connected to one end of the driving short connecting rod through a rotating joint ten; the other end of the driving short connecting rod is connected to the L-shaped rotating platform through a rotating joint eleven; the rotating joint eleven is driven by the drive-control integrated motor Four drives; the intermediate connecting member, rotating joint three, rotating joint four, upper translation long link, universal joint, translation output member, rotating joint seven, lower translation long link, rotating joint six, rotating shaft rod, rotating joint five, and the intermediate connecting member constitute a first closed-loop linkage mechanism; the intermediate connecting member, rotating joint five, rotating shaft rod, transmission short link, rotating joint nine, driving long link, rotating joint ten, driving short link, rotating joint eleven, L-shaped rotating platform, rotating joint two, pitch transmission rod, rotating joint three, and the intermediate connecting member constitute a second closed-loop linkage mechanism; the first closed-loop linkage mechanism and the second closed-loop linkage mechanism are linked through the intermediate connecting member.

[0007] Furthermore, the axis of the first revolute joint is along the vertical direction.

[0008] Furthermore, the axis of the second rotational joint, the axis of the third rotational joint and the center line of the pitch transmission rod are collinear.

[0009] Furthermore, the axis of the fourth rotational joint intersects the axis of the third rotational joint at right angles.

[0010] Furthermore, a joint axis of the universal joint is collinear with a center line of the upper translational long connecting rod.

[0011] Furthermore, the axis of the rotational joint five is along the vertical direction.

[0012] Furthermore, the axes of the sixth and seventh rotational joints are parallel to each other.

[0013] Furthermore, the axes of the eighth, ninth, tenth and eleventh rotational joints are parallel to each other.

[0014] Compared with the existing robotic arms, the technical solution of the present invention has the following beneficial effects: (1) Through the ingenious closed-loop connecting rod transmission, the driving motor of the present invention is arranged close to the base, which reduces the inertia of the movement and enables the present invention to move at high speed. Moreover, the present invention has a long arm mechanism, which gives it a large working space. (2) Compared with the telescopic structure of the gantry truss robot, the present invention adopts a multi-joint structure, which is more flexible and lightweight. Moreover, the present invention can also use the mobile platform at the bottom to flexibly operate at multiple points within a wide range. (3) The present invention can achieve a wide range of lifting and lowering movements by means of the multi-joint structure, and can also perform picking operations in narrow spaces on shelves, but does not contain a bulky slide structure. (4) The base of the present invention is very simple and does not require a complex and large frame structure as the base of a parallel robot, making it easier to arrange on the production line. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the structure of the whole machine of the present invention; Figure 2 Schematic diagram of the connecting device mechanism of the intermediate connecting member, the rotating shaft rod, the short transmission connecting rod and the lower translation long connecting rod of the present invention; Figure 3 Schematic diagram of the connecting device mechanism of the translation output member and the upper translation long connecting rod and the lower translation long connecting rod of the present invention; Figure 4 Schematic diagram of the connecting device mechanism of the pitch transmission rod and the upper translation linkage rod of the present invention; Figure 5 This is a schematic diagram of the present invention at the upper and lower boundaries of the working space; Figure 6 This is a schematic diagram of the present invention performing sorting operations in a narrow shelf scenario; Figure 7 、 Figure 8 This is a schematic diagram of the present invention working in a large-scale piecemeal picking scenario; Among them: 1 is the base, 2 is the L-shaped rotating platform, 3 is the pitch transmission rod, 4 is the intermediate connecting part, 5 is the upper translation long link, 6 is the driving short link, 7 is the driving long link, 8 is the transmission short link, 9 is the lower translation long link, 10 is the translation output part, 11 is the end output rod, 12 is the rotating shaft rod, 13 is the mobile platform, M1 is the drive and control integrated motor one, M2 is the drive and control integrated motor two, M3 is the drive and control integrated motor three, M4 is the drive and control integrated motor four, L1 is the rigid connecting rod group, R1 is the rotation joint one, R2 is the rotation joint two, R3 is the rotation joint three, R4 is the rotation joint four, R5 is the rotation joint five, R6 is the rotation joint six, R7 is the rotation joint seven, R8 is the rotation joint eight, R9 is the rotation joint nine, R10 is the rotation joint ten, R11 is the rotation joint eleven, and U1 is the universal joint. DETAILED DESCRIPTION

[0016] The present invention relates to a double-closed-loop linkage long-arm high-speed robot for mobile disassembly and picking, comprising a mobile platform (13), a base (1), an L-shaped rotating platform (2), an intermediate connecting member (4), a translation output member (10), an end output rod (11), a rigid connecting rod group (L1), a pitch transmission rod (3), a driving short connecting rod (6), a driving long connecting rod (7), a transmission short connecting rod (8), an upper translation long connecting rod (5), a lower translation long connecting rod (9), a rotating shaft rod (12), a first drive and control integrated motor (M1), a second drive and control integrated motor (M2), a third drive and control integrated motor (M3), and a fourth drive and control integrated motor (M4); The base (1) is fixed on the mobile platform (13); the L-shaped rotating platform (2) is connected to the base (1) via a rotating joint (R1), and the rotating joint (R1) is driven by a drive-control integrated motor (M1); the axis of the rotating joint (R1) is along the vertical direction; the L-shaped rotating platform (2) is fixedly connected to the intermediate connecting member (4) via the rigid connecting rod group (L1); One end of the pitch transmission rod (3) is connected to the L-shaped rotating platform (2) through a rotating joint 2 (R2), and the pitch transmission rod (3) passes through a hole on the intermediate connecting member (4) and is connected to the intermediate connecting member (4) at the hole position through a rotating joint 3 (R3); the axis of the rotating joint 2 (R2), the axis of the rotating joint 3 (R3) and the center line of the pitch transmission rod (3) are collinear; the rotating joint 2 (R2) is driven by a drive-control integrated motor 2 (M2); the other end of the pitch transmission rod (3) is connected to one end of the upper translation long link (5) through a rotating joint 4 (R4); the axis of the rotating joint 4 (R4) intersects perpendicularly with the axis of the rotating joint 3 (R3); the other end of the upper translation long link (5) is connected to the translation output member (10) through a universal joint (U1); one joint axis of the universal joint (U1) is collinear with the center line of the upper translation long link (5); The rotating shaft rod (12) is connected to the intermediate connecting member (4) via a rotating joint five (R5), and the axis of the rotating joint five (R5) is along the vertical direction; the rotating shaft rod (12) is connected to one end of the lower translation long connecting rod (9) via a rotating joint six (R6); the other end of the lower translation long connecting rod (9) is connected to the translation output member (10) via a rotating joint seven (R7); the axes of the rotating joint six (R6) and the rotating joint seven (R7) are parallel to each other; The translation output member (10) is connected to the terminal output rod (11) through a rotating joint eight (R8), the axis of the rotating joint eight (R8) is along the vertical direction, and the rotating joint eight (R8) is driven by a drive-control integrated motor three (M3); one end of the transmission short link (8) is fixedly connected to the rotating shaft rod (12), and the other end of the transmission short link (8) is connected to one end of the transmission long link (7) through a rotating joint nine (R9); the other end of the transmission long link (7) is connected to one end of the driving short link (6) through a rotating joint ten (R10); the other end of the driving short link (6) is connected to the L-shaped rotating platform (2) through a rotating joint eleven (R11); the rotating joint eleven (R11) is driven by a drive-control integrated motor four (M4); the axes of the rotating joint eight (R8), the rotating joint nine (R9), the rotating joint ten (R10), and the rotating joint eleven (R11) are parallel to each other; The intermediate connecting member (4), rotating joint three (R3), rotating joint four (R4), upper translation long link (5), universal joint (U1), translation output member (10), rotating joint seven (R7), lower translation long link (9), rotating joint six (R6), rotating shaft rod (12), rotating joint five (R5), and the intermediate connecting member (4) constitute a first closed-loop linkage mechanism; the intermediate connecting member (4), rotating joint five (R5), rotating shaft rod (12), transmission short link (8), rotating joint nine (R9), driving long link (7), rotating joint ten (R10), driving short link (6), rotating joint eleven (R11), L-shaped rotating platform (2), rotating joint two (R2), pitch transmission rod (3), rotating joint three (R3), and the intermediate connecting member (4) constitute a second closed-loop linkage mechanism; the first closed-loop linkage mechanism and the second closed-loop linkage mechanism are linked via the intermediate connecting member (4).

[0017] Attachment Figure 5 The upper and lower limits of the robot's lifting capacity are shown. The difference between the two is the lifting height of the robot of the present invention. It can be seen that the robot of the present invention has a large lifting height and can achieve a wide range of operating capabilities.

[0018] Attachment Figure 6 The robot of the present invention is shown to be able to grasp items in a narrow space on a shelf.

[0019] Attachment Figure 7 and attached Figure 8 This demonstration demonstrates the present invention's mobile, piecemeal picking operation for a wide range of goods. The system first grabs goods from a conveyor belt at Picking Station 1 and places them into a storage box based on their type. The system then uses a crawler-type mobile platform to move to Picking Station 2 and place a piece of goods 4 into its own storage box. Throughout the piecemeal picking process, the crawler-type mobile platform's efficient drive ensures rapid response and stability, ensuring a continuous and efficient workflow and significantly improving the automation and precision of warehouse management.

Claims

1. A dual-closed-loop linkage long-arm high-speed robot for mobile disassembly and picking, characterized by: It includes a mobile platform, a base, an L-shaped rotating platform, an intermediate connecting member, a translation output member, an end output rod, a rigid connecting rod group, a pitch transmission rod, a driving short connecting rod, a driving long connecting rod, a transmission short connecting rod, an upper translation long connecting rod, a lower translation long connecting rod, a rotating shaft rod, a first drive and control integrated motor, a second drive and control integrated motor, a third drive and control integrated motor, and a fourth drive and control integrated motor; the base is fixed to the mobile platform; The cam is connected to the base via a first pivot position and a second pivot position, and the cam is connected to the base via a second pivot position and a second pivot position, and the cam is connected to the base via a first pivot position and a second pivot position, and the cam is connected to the base via a first pivot position and a second pivot position, and the cam is connected to the base via a first pivot position and a second pivot position, The cam is connected to the transmission link by a third link, and the other end of the cam is connected to the transmission link by a fourth link.

2. The dual-closed-loop linkage long-arm high-speed robot for mobile piece picking according to claim 1, characterized in that: The axis of the first revolute joint is along the vertical direction.

3. The dual-closed-loop linkage long-arm high-speed robot for mobile piece picking according to claim 1, characterized in that: The axis of the second rotation joint, the axis of the third rotation joint and the center line of the pitch transmission rod are collinear.

4. The dual-closed-loop linkage long-arm high-speed robot for mobile disassembly and picking according to claim 1 is characterized in that: The axis of the fourth revolving joint intersects the axis of the third revolving joint at right angles.

5. The dual-closed-loop linkage long-arm high-speed robot for mobile piece picking according to claim 1, characterized in that: A joint axis of the universal joint is collinear with a center line of the upper translational long connecting rod.

6. The dual-closed-loop linkage long-arm high-speed robot for mobile piece picking according to claim 1, characterized in that: The axis of the rotational joint five is along the vertical direction.

7. The dual-closed-loop linkage long-arm high-speed robot for mobile piece picking according to claim 1, characterized in that: The axes of the sixth and seventh revolving joints are parallel to each other.

8. The dual-closed-loop linkage long-arm high-speed robot for mobile piece picking according to claim 1, characterized in that: The axes of the eighth, ninth, tenth and eleventh rotary joints are parallel to each other.

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