Scara robot with high speed sorting and pick-and-place functionality and method

Abstract

This invention discloses a SCARA robot and method with high-speed sorting and pick-and-place functions. It includes a SCARA robot body and a flip-drive connected to the end of the SCARA robot body. It also includes a carrier plate, a hanger, a second motor, a lead screw lifting structure, a rack and pinion bidirectional actuation structure, a grooved wheel multi-position clamping structure, a linkage-type shaft end abutment structure, and an H-shaped arm plate. The output end of the flip-drive is fixedly connected to the carrier plate and is used to drive the carrier plate to rotate around a horizontal axis. The hanger is fixedly connected to the bottom of the carrier plate, and a gap is provided between the hanger and the carrier plate. This invention utilizes a single second motor to simultaneously drive both radial clamping and axial abutment actions, and after positioning, flips the shaft-type workpiece from a horizontal to an upright position, solving the problem of shaft-type workpieces shifting, moving, or detaching during high-speed sorting and pick-and-place processes.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, specifically to a SCARA robot and method with high-speed sorting and pick-and-place functions. Background Technology

[0002] The SCARA robot is a horizontal multi-joint four-axis robot. Its overall structure mainly consists of a base, upper arm, lower arm, Z-axis lifting unit, and end effector rotation axis. It works in conjunction with servo drive, reducer, and control system to achieve stable operation. The base serves as the support for the whole machine and provides a stable base for the upper arm to rotate. The upper arm and lower arm move in coordination through the vertical rotation axis that is hinged to each other, which can flexibly complete a large range of positioning and movement in the horizontal XY plane. The vertical Z-axis lifting unit has strong rigidity and can achieve precise up and down picking and placing actions. The end effector rotation axis can rotate flexibly around the Z-axis, which can easily adjust the workpiece angle to adapt to different assembly or handling needs. This structure gives it good compliance in the horizontal direction, which can accommodate a certain assembly error, while ensuring the rigidity of operation in the vertical direction, thus balancing flexibility and stability. In actual operation, the end-effector of SCARA robots is flexibly selected according to the characteristics of the workpiece. The most commonly used are vacuum suction cups and pneumatic parallel grippers. Vacuum suction cups rely on silicone or rubber nozzles and vacuum generators to generate negative pressure, which can stably adsorb objects with flat surfaces. Pneumatic parallel grippers are powered by cylinders and achieve stable clamping of block-shaped and regular hardware parts and electronic components by opening and closing two fingers in parallel. However, the aforementioned end-feed pickup structures encounter problems such as shifting and detachment when handling high-speed sorting and release of shaft-type workpieces. Shaft-type workpieces have curved outer surfaces. Regardless of whether the vacuum suction cup nozzle is designed as straight or corrugated, when the nozzle presses against the cylindrical surface, the contact area is only a narrow line or a very small local approximation surface. The suction lip cannot achieve uniform contact with the curved surface around its entire circumference, making it unsuitable for picking up shaft-type workpieces. Pneumatic parallel grippers clamp the workpiece radially by opening and closing two parallel fingers. Under static or low-speed conditions, the friction generated by the clamping force is sufficient to maintain the workpiece position. However, during high-speed sorting and placement, because the clamping direction is orthogonal to the direction of the main inertial force, there is a lack of axial restraint. The contact form is line contact and prone to deflection. Furthermore, sensitivity to shaft diameter tolerances leads to frequent detachment of the workpiece due to axial shifting and lateral tilting. Simply adjusting pneumatic parameters or gripper materials cannot fundamentally solve this problem. Summary of the Invention

[0003] The purpose of this invention is to provide a SCARA robot and method with high-speed sorting and pick-and-place functions. A second motor receives commands and synchronously provides power to the screw lifting structure and the rack and pinion bidirectional execution structure. The rack and pinion bidirectional execution structure causes the grooved wheel multi-position clamping structure on the left and right sides below the hanger to move. The grooved wheel multi-position clamping structure simultaneously performs radial double-sided clamping on two or more shafts. The screw lifting structure drives the H-shaped arm plate to move up and triggers the linkage shaft end abutment structure at both ends of the hanger to abut the shaft ends. After the shaft is positioned, the flip driver causes the carrier plate and hanger to flip and rise, so that the picked-up shaft is upright to resist the inertia brought about by the movement. Then the SCARA robot body moves quickly. After it is in place, the reverse steps are followed to put down the workpiece, thereby completing the high-speed sorting and pick-and-place of shafts, thus solving the problems mentioned in the background art.

[0004] To achieve the above objectives, the present invention provides the following technical solution: a SCARA robot with high-speed sorting and pick-and-place functions, including a SCARA robot body and a flip drive connected to the end of the SCARA robot body, and also including a carrier plate, a hanger, a second motor, a screw lifting structure, a gear and rack bidirectional execution structure, a grooved wheel type multi-position clamping structure, a linkage type shaft end blocking structure, and an H-shaped arm plate. The output end of the flip driver is fixedly connected to the carrier plate and is used to drive the carrier plate to rotate around the horizontal axis. A hanger is fixedly connected to the bottom of the carrier plate. A gap is provided between the hanger and the carrier plate. The screw lifting structure is installed in the gap. The second motor is installed at the center of the bottom end of the carrier plate, and the output end of the second motor is connected to the input end of the screw lifting structure. The gear and rack bidirectional execution structure is installed on the lower surface of the hanger and has two output ends, left and right. The two output ends are respectively fixedly connected to the grooved wheel type multi-position clamping structure on the left and right sides below the hanger. The output end of the screw lifting structure is fixedly connected to the H-shaped arm plate. The H-shaped arm plate is horizontally arranged in the gap and its two ends are respectively hinged to the input ends of the connecting rod-type shaft end abutment structure at the left and right ends of the hanger. The connecting rod-type shaft end abutment structure is installed at the left and right ends of the hanger and is used to drive the connecting rod-type shaft end abutment structure to extend and abut against the end of the shaft workpiece when the screw lifting structure drives the H-shaped arm plate to lift.

[0005] Preferably, the flip drive includes a platform, a flat support shaft, a motor frame, and a first motor; The platform is fixed to the end of the SCARA robot body. A rectangular opening is provided at the lower end of the platform, and two bearing seats are fixed on one side of the outer wall of the platform. A flat support shaft is rotatably installed between the two bearing seats. The motor frame is fixed on the side of the platform near the SCARA robot body. The first motor is installed on the outer wall of the motor frame, and a belt drive pair for power connection is installed between the output shaft of the first motor and the flat support shaft. A rectangular platform is fixed at the bottom end of the flat support shaft, and the rectangular platform is fixedly connected to the carrier plate.

[0006] Preferably, a slotted photoelectric sensor is mounted on the upper end of the motor frame via a bracket, and a code disk is fixed to the end of the output shaft of the first motor, with the code disk located at the detection optical path of the slotted photoelectric sensor.

[0007] Preferably, the gear and rack bidirectional actuation structure includes inner slide plate one and inner slide plate two arranged in mirror image intervals, and helical racks fixedly connected to the top of inner slide plate one and inner slide plate two. Inner slide plate one and inner slide plate two are slidably connected to the hanger through guide rails and sliders. A helical gear shaft is rotatably installed at the center position of the bottom end of the hanger. The helical gear shaft meshes with two parallel helical racks, and the upper end of the helical gear shaft is connected to the lead screw lifting structure. A slotted photoelectric sensor two for detecting the end point movement position of one of the helical racks is installed on one side of the bottom end of the hanger.

[0008] Preferably, the grooved wheel type multi-position clamping structure includes an outer sliding plate, an outer T-handle, an external threaded rod, and an inner T-arm; The outer slide plate is slidably installed at the bottom of the hanger via guide rails and sliders. The sliding direction of the outer slide plate is parallel to the length direction of the hanger. The outer slide plate has several inclined grooves inside, and two adjacent inclined grooves form an "eight" shape. The inner T-arm is bolted to the bottom of the inner slide plate, and the end of the inner T-arm away from the inner slide plate is fixedly connected to the outer slide plate. Several outer T-shaped handles are slidably installed at the bottom of the hanger via guide rails and sliders and are located on the side of the outer slide plate away from the inner slide plate. The sliding direction of the outer T-shaped handles is parallel to the width direction of the hanger. The outer T-shaped handles are located above the outer slide plate. A pin is rotatably installed on one side of the bottom end of the outer T-shaped handles, and the pin is located in the inclined groove. The external threaded rod is fixed to the other side of the bottom end of the external T-shaped shank, and the I-shaped bevel roller thread is installed on the external threaded rod.

[0009] Preferably, the screw lifting structure includes a vertical frame fixed at the center of the bottom of the hanger, U-shaped plates vertically slidingly installed on the left and right inner walls of the vertical frame, and a connecting platform fixedly installed between the two U-shaped plates. A nut pair is installed at the center of the bottom end of the connecting platform. The second motor is installed on the vertical frame, and the output shaft of the second motor faces downward and is connected to a threaded shaft via a coupling. The threaded shaft and the nut pair are concentric. The lower end of the threaded shaft is fixedly connected to the upper end of the helical gear shaft. The upper end of the connecting platform is fixedly connected to the H-shaped arm plate.

[0010] Preferably, both sides of the bottom of the hanger are fixed with columns, which pass upward through the H-shaped arm plate and are fixed to the bottom end of the carrier plate. The H-shaped arm plate has a U-shaped cavity inside, and the upright frame is located inside the U-shaped cavity.

[0011] Preferably, the linkage-type shaft end abutment structure includes a longitudinal plate slidably installed on one side of the top of the hanger, an angle seat fixedly connected at the front and rear positions of the top of the longitudinal plate, and a connecting rod hinged to one end of the angle seat. The upper end of the connecting rod is hinged to one end of the H-shaped arm plate, and a clamping arm is fixed to the top of the longitudinal plate.

[0012] Preferably, notches are provided on both the left and right outer walls of the hanger, and the length extension direction of the notches is parallel to the sliding direction of the clamping arm.

[0013] This invention also provides a sorting and placement method using a SCARA robot, comprising the following steps: S1: The SCARA robot body confirms the actual position of the shaft in the incoming material tray through vision or position sensors, and makes fine adjustments so that the center line of each slotted wheel multi-position clamping structure is aligned with the axis of the corresponding shaft. S2: The second motor receives the command and starts to rotate in the forward direction, and transmits power to the screw lifting structure and the rack and pinion bidirectional execution structure at the same time. The rack and pinion bidirectional execution structure converts the rotational motion into linear motion and transmits it to the grooved wheel type multi-position clamping structure to drive the grooved wheel type multi-position clamping structures on the left and right sides below the hanger to approach the shaft from the radial sides until the shaft is fixed. At the same time, the screw lifting structure drives the H-shaped arm plate to move upward. The two ends of the H-shaped arm plate are respectively connected to the connecting rod type shaft end blocking structure at the left and right ends of the hanger. The connecting rod type shaft end blocking structure converts the vertical motion into linear motion along the axis of the shaft. The connecting rod type shaft end blocking structure feeds from the two ends of the shaft to the middle until it presses against the end face of the shaft. At this time, each shaft is simultaneously subjected to the clamping force on both radial sides and the pressing force on both axial ends. S3: After clamping and securing, the robot enters the flipping and lifting stage. The SCARA robot body remains in its current position and the flipping driver starts to move, driving the carrier plate, hanger and clamped shaft to lift from the horizontal position, so that the shaft changes from a horizontal position to an upright position. During the flipping process, since the radial clamping and axial securing are already firm, the shaft will not be displaced due to the change in the direction of gravity. S4: According to the sorting path planning, the SCARA robot moves from the receiving station to the target placement station with high acceleration. During the horizontal movement, since the shaft is already upright, the horizontal inertial force mainly acts radially on the Geneva wheel multi-position clamping structure. The Geneva wheel multi-position clamping structure provides a stable radial support surface. At the same time, the linkage shaft end abutment structure always presses the shaft end to prevent axial micro-movement. After reaching the target placement station, the reverse step is performed to put down the workpiece. The flip drive rotates in the reverse direction to restore the carrier plate and the hanger from the upright posture to the horizontal posture, so that the shaft is in the horizontal direction again. The second motor rotates in the reverse direction, so that the Geneva wheel multi-position clamping structure and the linkage shaft end abutment structure release the workpiece. The shaft loses all constraints and falls smoothly to the target station under the action of gravity or is caught by the subsequent auxiliary mechanism. The SCARA robot completes one pick-and-place cycle and then returns to the sorting area to repeat the above steps.

[0014] Compared with the prior art, the beneficial effects of the present invention are as follows: The SCARA robot and method with high-speed sorting and pick-and-place functions are equipped with a rotating driver, a carrier plate, a hanger, a second motor, a lead screw lifting structure, a gear and rack bidirectional execution structure, a grooved wheel multi-position clamping structure, and a linkage shaft end blocking structure, etc., which cooperate with each other. The single second motor drives the radial clamping and axial pressing actions simultaneously, and after the positioning is completed, the shaft workpiece is turned from a horizontal posture to an upright posture by the rotating action, which solves the problem of shaft workpieces moving and falling off during high-speed sorting and pick-and-place. 1. A single power source is used to drive the Geneva wheel type multi-position clamping structure and the linkage type shaft end blocking structure simultaneously through mechanical transmission. That is, while the gear and rack structure drives the Geneva wheel type multi-position clamping structure to start radial closing, the screw lifting structure drives the H-shaped arm plate to move up and triggers the linkage type shaft end blocking structure. When the radial clamping is completed, the axial clamping is also in place. No additional sensor feedback or program waiting is required, which effectively shortens the auxiliary time of a single pick-and-place cycle and avoids uneven workpiece force or positioning offset caused by electrical timing deviation. 2. When batch sorting is required, repeated back-and-forth movements are necessary, causing the robot body to frequently accelerate and decelerate. This not only reduces efficiency but also increases the risk of workpieces falling off due to inertia. This solution uses a gear and rack bidirectional execution structure to drive the grooved wheel type multi-position clamping structure on the left and right sides below the hanger. It can clamp at least two shafts at a time. The robot only needs to move once to complete the handling of multiple workpieces. In addition, the screw lifting structure drives the H-shaped arm plate to move up and applies positive clamping force to the end of the workpiece through the linkage type shaft end blocking structure to prevent the workpiece from sliding along the axis. Even under large horizontal acceleration and deceleration or vertical lifting impact, the workpiece will not have relative displacement. 3. The flip-drive causes the carrier plate and hanger to flip and lift, changing the picked-up shaft from a horizontal to an upright and tilted position. At this time, the direction of the inertial force borne by the radial clamping structure becomes tangential along the circumference of the workpiece. However, the grooved wheel multi-position clamping structure can provide a larger contact area to resist this tangential force. Meanwhile, the linkage shaft end abutment structure bears the component of gravity and the vertical inertial force, making the overall posture of the workpiece more stable. After the workpiece is picked up upright and tilted, the workpiece occupies less space in the horizontal projection when the SCARA robot moves quickly, which is beneficial for dense arrangement or passing through narrow passages. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the main structure of the present invention; Figure 2 This is a schematic diagram of the three-dimensional structure of the present invention. Figure 1 ; Figure 3 This is a schematic diagram of the three-dimensional structure of the present invention. Figure 2 ; Figure 4 This is a three-dimensional cross-sectional structural diagram of the present invention; Figure 5 This is a schematic diagram of the three-dimensional structure of the present invention. Figure 3 ; Figure 6 This is a three-dimensional structural diagram of the platen and flip-drive assembly state of the present invention. Figure 1 ; Figure 7 This is a three-dimensional structural diagram of the platen and flip-drive assembly state of the present invention. Figure 2 ; Figure 8 This is a three-dimensional structural diagram of the flip-drive of the present invention; Figure 9 This is a three-dimensional structural diagram of the gear and rack bidirectional actuation structure of the present invention; Figure 10 For the present invention Figure 9 Enlarged structural diagram at point A in the middle; Figure 11 This is a three-dimensional structural diagram of the lead screw lifting structure of the present invention; Figure 12 This is a schematic diagram of the front cross-sectional structure of the present invention; Figure 13 This is a three-dimensional structural diagram of the linkage-type shaft end abutment structure of the present invention.

[0016] In the diagram: 1. SCARA robot body; 2. Platform; 21. Rectangular opening; 3. Carrier plate; 31. Rectangular platform; 4. Flip actuator; 41. Bearing housing; 42. Flat support shaft; 43. Motor frame; 44. First motor; 45. Belt drive pair; 46. Slotted photoelectric sensor one; 47. Encoder disk; 5. Hanger; 501. Gap section; 502. Slotted photoelectric sensor two; 503. Notch; 504. Column; 6. Grooved wheel type multi-position clamping structure; 61. Outer sliding plate; 62. Inclined groove; 63. Outer T-handle; 64. External threaded rod 65. I-beam bevel roller; 66. Pin shaft; 7. Gear and rack bidirectional actuation structure; 71. Inner slide plate one; 72. Inner slide plate two; 73. Helical rack; 74. Helical gear shaft; 75. Inner T-arm; 8. Linkage type shaft end blocking structure; 81. Longitudinal plate; 82. Angle seat; 83. Connecting rod; 84. Clamping arm; 9. Second motor; 10. H-shaped arm plate; 1001. Recurved cavity; 11. Screw lifting structure; 1101. Vertical frame; 1102. U-shaped plate; 1103. Connecting table; 1104. Threaded shaft; 1105. Nut pair. Detailed Implementation

[0017] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0018] Example 1, by Figures 1 to 5 The present invention includes a SCARA robot body 1 and a flip drive 4 connected to the end of the SCARA robot body 1, and also includes a carrier plate 3, a hanger 5, a second motor 9, a lead screw lifting structure 11, a gear rack bidirectional execution structure 7, a grooved wheel type multi-position clamping structure 6, a linkage type shaft end blocking structure 8, and an H-shaped arm plate 10. The output end of the flip driver 4 is fixedly connected to the carrier plate 3 and is used to drive the carrier plate 3 to rotate around the horizontal axis. The hanger 5 is fixedly connected to the bottom of the carrier plate 3. A gap 501 is provided between the hanger 5 and the carrier plate 3. The screw lifting structure 11 is installed in the gap 501. The second motor 9 is installed at the center of the bottom end of the carrier plate 3, and the output end of the second motor 9 is connected to the input end of the screw lifting structure 11. The gear and rack bidirectional execution structure 7 is installed on the lower surface of the hanger 5 and has two output ends on the left and right. The two output ends are respectively fixedly connected to the grooved wheel type multi-position clamping structure 6 on the left and right sides below the hanger 5. The output end of the screw lifting structure 11 is fixedly connected to the H-shaped arm plate 10. The H-shaped arm plate 10 is horizontally arranged in the neutral part 501 and its two ends are respectively hinged to the input ends of the connecting rod type shaft end abutment structure 8 at the left and right ends of the hanger 5. The connecting rod type shaft end abutment structure 8 is installed at the left and right ends of the hanger 5 and is used to drive the connecting rod type shaft end abutment structure 8 to extend and abut against the end of the shaft workpiece when the screw lifting structure 11 drives the H-shaped arm plate 10 to lift.

[0019] This embodiment describes a sorting and placement method using a SCARA robot, employing the aforementioned SCARA robot, and includes the following steps: S1: The SCARA robot body 1 uses vision or position sensors to confirm the actual position of the shaft in the incoming material tray and makes fine adjustments so that the center line of the clamping position of each grooved wheel multi-position clamping structure 6 is aligned with the axis of the corresponding shaft. S2: The second motor 9 receives the command and starts to rotate in the forward direction, and transmits the power to the screw lifting structure 11 and the gear rack bidirectional execution structure 7 at the same time. The gear rack bidirectional execution structure 7 converts the rotational motion into linear motion and transmits it to the grooved wheel type multi-position clamping structure 6, so as to drive the grooved wheel type multi-position clamping structure 6 on the left and right sides below the hanger 5 to approach the shaft from the radial sides until the shaft is fixed. At the same time, the screw lifting structure 11 drives the H-shaped arm plate 10 to move upward. The two ends of the H-shaped arm plate 10 are respectively connected to the connecting rod type shaft end blocking structure 8 at the left and right ends of the hanger 5. The connecting rod type shaft end blocking structure 8 converts the vertical motion into linear motion along the axis of the shaft. The connecting rod type shaft end blocking structure 8 feeds from the two ends of the shaft to the middle until it presses against the end face of the shaft. At this time, each shaft is simultaneously subjected to the clamping force on both radial sides and the pressing force on both axial ends. S3: After clamping and clamping are completed, the flipping and lifting stage begins. The SCARA robot body 1 remains in its current position, and the flipping driver 4 starts to move, driving the carrier plate 3, the hanger 5 and the clamped shaft to lift from the horizontal position, so that the shaft changes from a horizontal position to an upright position. During the flipping process, since the radial clamping and axial clamping are already firm, the shaft will not be displaced due to the change in the direction of gravity. S4: According to the sorting path planning, the SCARA robot body 1 moves from the receiving station to the target placement station with high acceleration. During the horizontal movement, since the shaft is already upright, the horizontal inertial force mainly acts radially on the Geneva wheel multi-position clamping structure 6. The Geneva wheel multi-position clamping structure 6 provides a stable radial support surface. At the same time, the linkage shaft end abutment structure 8 always presses the shaft end to prevent axial micro-movement. After reaching the target placement station, the reverse step is performed to put down the workpiece. The flip driver 4 rotates in the reverse direction to restore the carrier plate 3 and the hanger 5 from the upright posture to the horizontal posture, so that the shaft is in the horizontal direction again. The second motor 9 rotates in the reverse direction, so that the Geneva wheel multi-position clamping structure 6 and the linkage shaft end abutment structure 8 release the workpiece. The shaft loses all constraints and falls smoothly to the target station under the action of gravity or is caught by the subsequent auxiliary mechanism. The SCARA robot body 1 completes one pick-and-place cycle, and then returns to the sorting area to repeat the above steps.

[0020] Example 2, based on Example 1, is... Figure 6 , Figure 7 and Figure 8 As shown, the flip drive 4 includes a platform 2, a flat support shaft 42, a motor frame 43, and a first motor 44; Platform 2 is fixed to the end of SCARA robot body 1. A rectangular opening 21 is provided at the lower end of platform 2. The rectangular opening 21 provides space for the rectangular platform 31, carrier plate 3, and hanger 5 to be flipped and erected. Two bearing seats 41 are fixed on one outer wall of platform 2. A flat support shaft 42 is rotatably installed between the two bearing seats 41. Motor frame 43 is fixed on the outer wall of platform 2 near SCARA robot body 1. First motor 44 is installed on the outer wall of motor frame 43. A belt drive pair 45 for power connection is installed between the output shaft of first motor 44 and flat support shaft 42. Rectangular platform 31 is fixed at the bottom end of flat support shaft 42. Rectangular platform 31 and carrier plate 3 are fixedly connected. A slotted photoelectric sensor 46 is mounted on the upper end of the motor frame 43 via a bracket. A code disk 47 is fixed to the end of the output shaft of the first motor 44. The code disk 47 is located at the detection optical path of the slotted photoelectric sensor 46. During the flipping and lifting stage, the flipping angle can be set according to process requirements, generally set to less than or equal to 90 degrees. During this process, the output shaft of the first motor 44 drives the flat support shaft 42 on the outer wall of the plate 2 to rotate through the belt drive pair 45. The flat support shaft 42 then drives the rectangular platform 31, the carrier plate 3, the hanger 5, and the components it carries to rotate. The slotted photoelectric sensor 46 and the code disk 47 work together to detect the angle of the output shaft of the first motor 44. After reaching the target angle, the output shaft of the first motor 44 remains in a fixed position until it needs to return and is driven in reverse. In a horizontal position, the long axis of the shaft workpiece is coplanar with the direction of robot movement. The horizontal inertial force can easily cause the workpiece to move along the axis or fall off from the side. After the flipping driver 4 lifts the carrier plate 3 and the hanger 5 from the horizontal to the upright position, the axis of the shaft becomes vertical or nearly vertical, and the horizontal inertial force becomes vertical or nearly vertical to the workpiece axis. At this time, the grooved wheel multi-position clamping structure 6 bears the main load and has higher stability. At the same time, the direction of gravity is consistent with or nearly consistent with the axial clamping direction.

[0021] Example 3, based on Example 2, by Figure 9 and Figure 10 The gear and rack bidirectional actuation structure 7 includes inner slide plate 1 71 and inner slide plate 2 72 arranged in mirror intervals and opposite to each other, and helical rack 73 fixedly connected to the top of inner slide plate 1 71 and inner slide plate 2 72. Inner slide plate 1 71 and inner slide plate 2 72 are slidably connected to the hanger 5 through guide rails and sliders. A helical gear shaft 74 is rotatably installed at the center position of the bottom end of the hanger 5. The helical gear shaft 74 meshes with two parallel helical racks 73, and the upper end of the helical gear shaft 74 is connected to the lead screw lifting structure 11. A slotted photoelectric sensor 2 502 for detecting the end point movement position of one of the helical racks 73 is installed on one side of the bottom end of the hanger 5. After the second motor 9 provides rotational power to the screw lifting structure 11 and the gear rack bidirectional execution structure 7, the helical gear shaft 74 drives the inner slide plate 1 71 and the inner slide plate 2 72 to symmetrically close or open through the two helical racks 73, thereby causing the grooved wheel type multi-position clamping structure 6 on both sides to move synchronously. During this process, the opening width of the grooved wheel type multi-position clamping structure 6 is controlled by controlling the rotation angle of the second motor 9 to adapt to shaft workpieces of different diameters. The helical gear shaft 74 and the helical rack 73 themselves do not have a self-locking function. The second motor 9 and its reduction mechanism need to have the function of maintaining torque. The helical gear shaft 74 is connected to the lead screw lifting structure 11 so that it will not accidentally come loose. The grooved wheel type multi-position clamping structure 6 includes an outer slide plate 61, an outer T-handle 63, an external threaded rod 64, and an inner T-arm 75; The outer slide plate 61 is slidably installed at the bottom end of the hanger 5 via guide rails and sliders. The sliding direction of the outer slide plate 61 is parallel to the length direction of the hanger 5. The outer slide plate 61 has several inclined grooves 62 inside. Two adjacent inclined grooves 62 are in the shape of an "eight". The inner T-arm 75 is bolted to the bottom end of the inner slide plate 71, and the end of the inner T-arm 75 away from the inner slide plate 71 is fixedly connected to the outer slide plate 61. Several outer T-shaped handles 63 are slidably installed at the bottom of the hanger 5 via guide rails and sliders and are located on the side of the outer slide plate 61 away from the inner slide plate 71. The sliding direction of the outer T-shaped handles 63 is parallel to the width direction of the hanger 5. The outer T-shaped handles 63 are located above the outer slide plate 61. A pin 66 is rotatably installed on one side of the bottom end of the outer T-shaped handles 63. The pin 66 is located in the inclined groove 62. The external threaded rod 64 is fixed to the other side of the bottom end of the external T-shaped handle 63. The I-shaped bevel roller 65 is threadedly installed on the external threaded rod 64. The operator can rotate the I-shaped bevel roller 65 to adjust the installation position of the I-shaped bevel roller 65 on the external threaded rod 64. Taking the action of the inner slide plate 71 driving the corresponding side of the grooved wheel type multi-position clamping structure 6 as an example, the inner slide plate 71 drives the outer slide plate 61 to approach the direction of the helical gear shaft 74 through the inner T-arm 75. During this process, the two adjacent inclined grooves 62 in the shape of "eight" bring the two outer T-handles 63 closer to each other through the pin shaft 66. The inclined surface of the groove on the I-shaped bevel roller 65 guides the workpiece to the bottom of the groove. At the same time, the I-shaped bevel rollers 65 on the left and right sides hug the workpiece symmetrically from the radial direction. At this time, the two I-shaped bevel rollers 65 generate sufficient positive pressure with the workpiece to form static friction to resist circumferential rotation and radial displacement. The grooved wheel type multi-position clamping structure can clamp multiple workpieces in one operation, and the clamping force of each workpiece is basically equal. Compared with single workpiece clamping, multi-position clamping reduces the number of round trips of the robot body.

[0022] Example 4, based on Example 3, by Figure 11 , Figure 12 and Figure 13 The screw lifting structure 11 includes a vertical frame 1101 fixed at the center of the bottom of the hanger 5, U-shaped plates 1102 vertically slidably installed on the left and right inner walls of the vertical frame 1101, and a connecting platform 1103 fixedly installed between the two U-shaped plates 1102. A nut pair 1105 is installed at the center of the bottom end of the connecting platform 1103. The second motor 9 is installed on the vertical frame 1101, and the output shaft of the second motor 9 faces downward and is connected to a threaded shaft 1104 through a coupling. The threaded shaft 1104 and the nut pair 1105 are concentric. The lower end of the threaded shaft 1104 is fixedly connected to the upper end of the helical gear shaft 74. The upper end of the connecting platform 1103 is fixedly connected to the H-shaped arm plate 10. The second motor 9 drives the threaded shaft 1104 to rotate. The threaded shaft 1104 drives the connecting platform 1103 and the U-shaped plate 1102 to move upward through the nut pair 1105. During this process, the helical gear shaft 74 rotates together with the threaded shaft 1104. Then the connecting platform 1103 drives the H-shaped arm plate 10 to move upward. By driving the H-shaped arm plate 10 to move up and down, the forward and backward movement of the linkage shaft end abutment structure 8 on both sides is indirectly controlled. Both sides of the bottom of the hanger 5 are fixed with columns 504. The columns 504 pass upward through the H-shaped arm plate 10 and are fixed to the bottom of the carrier plate 3. The H-shaped arm plate 10 has a U-shaped cavity 1001 inside. The frame 1101 is located inside the U-shaped cavity 1001. The columns 504 are used to improve the lifting stability of the H-shaped arm plate 10, while the U-shaped cavity 1001 reserves space for the arrangement of the screw lifting structure 11. The linkage-type shaft end abutment structure 8 includes a longitudinal plate 81 slidably installed on one side of the top of the hanger 5, an angle seat 82 fixedly connected at the front and rear positions of the top of the longitudinal plate 81, and a connecting rod 83 hinged to one end of the angle seat 82. The upper end of the connecting rod 83 is hinged to one end of the H-shaped arm plate 10. A clamping arm 84 is fixed to the top of the longitudinal plate 81. The clamping arm 84 extends downward. Notches 503 are provided on the left and right outer walls of the hanger 5. The length extension direction of the notches 503 is parallel to the sliding direction of the clamping arm 84. When the H-shaped arm plate 10 moves upward, the end of the H-shaped arm plate 10 drives the connecting rod 83 to deflect upward. During the upward deflection, the lower end of the connecting rod 83 will push the corner seat 82, the longitudinal plate 81, and the clamping arm 84 to move horizontally, so as to apply positive pressure to the end face of the shaft workpiece and counteract the axial inertial force generated during high-speed movement.

[0023] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0024] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A SCARA robot with high-speed sorting and pick-and-place functions, comprising a SCARA robot body (1) and a flip drive (4) connected to the end of the SCARA robot body (1), characterized in that: It also includes a carrier plate (3), a hanger (5), a second motor (9), a screw lifting structure (11), a gear and rack bidirectional execution structure (7), a grooved wheel multi-position clamping structure (6), a connecting rod shaft end blocking structure (8), and an H-shaped arm plate (10). The output end of the flip driver (4) is fixedly connected to the carrier plate (3) and is used to drive the carrier plate (3) to rotate around the horizontal axis. The hanger (5) is fixedly connected to the bottom of the carrier plate (3). A gap (501) is provided between the hanger (5) and the carrier plate (3). The screw lifting structure (11) is installed in the gap (501). The second motor (9) is installed at the center of the bottom end of the carrier plate (3), and the output end of the second motor (9) is connected to the input end of the screw lifting structure (11). The gear and rack bidirectional execution structure (7) is installed on the lower surface of the hanger (5) and has two output ends on the left and right. The two output ends are respectively fixedly connected to the grooved wheel type multi-position clamping structure (6) on the left and right sides below the hanger (5). The output end of the screw lifting structure (11) is fixedly connected to the H-shaped arm plate (10). The H-shaped arm plate (10) is horizontally arranged in the gap (501) and its two ends are respectively hinged to the input ends of the connecting rod shaft end abutment structure (8) at the left and right ends of the hanger (5). The connecting rod shaft end abutment structure (8) is installed at the left and right ends of the hanger (5) and is used to drive the connecting rod shaft end abutment structure (8) to extend and abut against the end of the shaft workpiece when the screw lifting structure (11) drives the H-shaped arm plate (10) to lift.

2. The SCARA robot with high-speed sorting and pick-and-place functions according to claim 1, characterized in that: The flip drive (4) includes a platform (2), a flat support shaft (42), a motor frame (43), and a first motor (44). The platform (2) is fixed at the end of the SCARA robot body (1). The lower end of the platform (2) is provided with a rectangular opening (21). Two bearing seats (41) are fixed on one side of the outer wall of the platform (2). The flat support shaft (42) is rotatably installed between the two bearing seats (41). The motor frame (43) is fixed on the outer wall of the platform (2) near the SCARA robot body (1). The first motor (44) is installed on the outer wall of the motor frame (43). A belt drive pair (45) for power connection is installed between the output shaft of the first motor (44) and the flat support shaft (42). A rectangular platform (31) is fixed at the bottom end of the flat support shaft (42). The rectangular platform (31) and the carrier plate (3) are fixedly connected.

3. The SCARA robot with high-speed sorting and pick-and-place functions according to claim 2, characterized in that: The upper end of the motor frame (43) is equipped with a slotted photoelectric sensor (46) via a bracket. The output shaft end of the first motor (44) is fixed with a code disk (47), which is located at the detection optical path of the slotted photoelectric sensor (46).

4. The SCARA robot with high-speed sorting and pick-and-place functions according to claim 1, characterized in that: The gear and rack bidirectional execution structure (7) includes inner slide plate one (71) and inner slide plate two (72) arranged in mirror intervals and opposite to each other, and helical racks (73) fixedly connected to the top of inner slide plate one (71) and inner slide plate two (72). Inner slide plate one (71) and inner slide plate two (72) are slidably connected to the hanger (5) through guide rails and sliders. A helical gear shaft (74) is rotatably installed at the center position of the bottom end of the hanger (5). The helical gear shaft (74) meshes with two parallel helical racks (73), and the upper end of the helical gear shaft (74) is connected to the screw lifting structure (11). A slotted photoelectric sensor two (502) for detecting the end point movement position of one of the helical racks (73) is installed on one side of the bottom end of the hanger (5).

5. The SCARA robot with high-speed sorting and pick-and-place functions according to claim 4, characterized in that: The grooved wheel type multi-position clamping structure (6) includes an outer sliding plate (61), an outer T-handle (63), an outer threaded rod (64), and an inner T-arm (75). The outer slide plate (61) is slidably installed at the bottom of the hanger (5) via guide rails and sliders. The sliding direction of the outer slide plate (61) is parallel to the length direction of the hanger (5). The outer slide plate (61) has several inclined grooves (62) inside. Two adjacent inclined grooves (62) are in the shape of an "eight". The inner T-arm (75) is bolted to the bottom of the inner slide plate (71), and the end of the inner T-arm (75) away from the inner slide plate (71) is fixedly connected to the outer slide plate (61). Several outer T-shaped handles (63) are slidably installed at the bottom of the hanger (5) via guide rails and sliders and located on the side of the outer slide plate (61) away from the inner slide plate (71). The sliding direction of the outer T-shaped handles (63) is parallel to the width direction of the hanger (5). The outer T-shaped handles (63) are located above the outer slide plate (61). A pin (66) is rotatably installed on one side of the bottom end of the outer T-shaped handles (63). The pin (66) is located in the inclined groove (62). The external threaded rod (64) is fixed on the other side of the bottom end of the external T-shaped handle (63), and the I-shaped bevel roller (65) is threaded onto the external threaded rod (64).

6. The SCARA robot with high-speed sorting and pick-and-place functions according to claim 4, characterized in that: The screw lifting structure (11) includes a vertical frame (1101) fixed at the center of the bottom of the hanger (5), a U-shaped plate (1102) vertically slidably installed on the left and right inner walls of the vertical frame (1101), and a connecting platform (1103) fixedly installed between the two U-shaped plates (1102). A nut pair (1105) is installed at the center of the bottom end of the connecting platform (1103). The second motor (9) is installed on the vertical frame (1101), and the output shaft of the second motor (9) faces downward and is connected to a threaded shaft (1104) through a coupling. The threaded shaft (1104) and the nut pair (1105) are concentric. The lower end of the threaded shaft (1104) is fixedly connected to the upper end of the helical gear shaft (74). The upper end of the connecting platform (1103) is fixedly connected to the H-shaped arm plate (10).

7. The SCARA robot with high-speed sorting and pick-and-place functions according to claim 6, characterized in that: The bottom of the hanger (5) is fixed with columns (504) on both sides. The columns (504) pass through the H-shaped arm plate (10) and are fixed to the bottom of the carrier plate (3). The H-shaped arm plate (10) has a spiral cavity (1001) inside, and the frame (1101) is located inside the spiral cavity (1001).

8. The SCARA robot with high-speed sorting and pick-and-place functions according to claim 7, characterized in that: The linkage-type shaft end abutment structure (8) includes a longitudinal plate (81) slidably installed on one side of the top of the hanger (5), an angle seat (82) fixedly connected at the front and rear positions of the top of the longitudinal plate (81), and a connecting rod (83) hinged to one end of the angle seat (82). The upper end of the connecting rod (83) is hinged to one end of the H-shaped arm plate (10), and a clamping arm (84) is fixed to the top of the longitudinal plate (81).

9. The SCARA robot with high-speed sorting and pick-and-place functions according to claim 8, characterized in that: The hanger (5) has notches (503) on both the left and right outer walls, and the length extension direction of the notches (503) is parallel to the sliding direction of the clamping arm (84).

10. A sorting and placement method for a SCARA robot, using the method described in any one of claims 1-9, characterized in that: Includes the following steps: S1: The SCARA robot body (1) confirms the actual position of the shaft in the incoming material tray through vision or position sensors and makes fine adjustments so that the center line of the clamping position of each groove wheel type multi-position clamping structure (6) is aligned with the axis of the corresponding shaft. S2: The second motor (9) receives the command and starts to rotate in the forward direction, and transmits the power to the screw lifting structure (11) and the gear rack bidirectional execution structure (7) at the same time. The gear rack bidirectional execution structure (7) converts the rotational motion into linear motion and transmits it to the grooved wheel type multi-position clamping structure (6) to drive the grooved wheel type multi-position clamping structure (6) on the left and right sides below the hanger (5) to approach the shaft from the radial sides until the shaft is fixed. At the same time, the screw lifting structure (11) drives the H-shaped arm plate (10) to move upward. The two ends of the H-shaped arm plate (10) are respectively connected to the connecting rod type shaft end blocking structure (8) on the left and right sides of the hanger (5). The connecting rod type shaft end blocking structure (8) converts the vertical motion into linear motion along the shaft axis. The connecting rod type shaft end blocking structure (8) feeds from the two ends of the shaft to the middle until it presses against the end face of the shaft. At this time, each shaft is simultaneously subjected to the clamping force on both radial sides and the pressing force on both axial sides. S3: After clamping and clamping are completed, the flipping and lifting stage begins. The SCARA robot body (1) remains in its current position and the flipping driver (4) starts to move, driving the carrier plate (3), the hanger (5) and the clamped shaft to lift up from the horizontal position, so that the shaft changes from a horizontal position to an upright position. During the flipping process, since the radial clamping and axial clamping are already firm, the shaft will not be displaced due to the change in the direction of gravity. S4: The SCARA robot body (1) moves from the receiving station to the target placement station with high acceleration according to the sorting path planning. During the horizontal movement, since the shaft is upright, the horizontal inertial force mainly acts radially on the Geneva wheel multi-position clamping structure (6). The Geneva wheel multi-position clamping structure (6) provides a stable radial support surface. At the same time, the linkage shaft end abutment structure (8) always presses the shaft end to prevent axial micro-movement. After reaching the target placement station, the reverse step is performed to put down the workpiece. The flip driver (4) rotates in the reverse direction to restore the carrier plate (3) and the hanger (5) from the upright posture to the horizontal posture, so that the shaft is in the horizontal direction again. The second motor (9) rotates in the reverse direction, so that the Geneva wheel multi-position clamping structure (6) and the linkage shaft end abutment structure (8) release the workpiece. The shaft loses all constraints and falls smoothly to the target station under the action of gravity or is caught by the subsequent auxiliary mechanism. The SCARA robot body (1) completes one pick-up and place cycle, and then returns to the sorting area to repeat the above steps.

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