Intelligent sorting truss manipulator

Abstract

The utility model relates to the technical field of automatic carrying, in particular to an intelligent sorting truss mechanical arm which comprises a rack, a lifting mechanism, a lifting mechanism and a lifting mechanism. The cross beam is arranged at the top of the rack; the moving assembly is arranged on the cross beam; the grabbing assembly is arranged on the moving assembly, and a plurality of grabbing suction cups are arranged on the grabbing assembly; the positioning assembly is arranged on the moving assembly, and a positioning sensor is arranged on the positioning assembly; the moving assembly can drive the grabbing assembly to move horizontally and vertically. The suction cup structure is arranged to replace a traditional mechanical arm, convenience is provided for carrying thin strip-shaped objects, the grabbing suction cups are arranged in a straight line shape, the stability of carrying the thin strip-shaped objects is guaranteed, and the firmness of grabbing the objects in the carrying process is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of automatic handling, in particular to an intelligent sorting truss manipulator. Background Art

[0002] The handling robot is controlled by a PLC, touch screen, and servo motor. It features a compact frame structure, high production capacity, and can be programmed using a teach-in system. The computer can store 100 palletizing schemes. Utilizing all renowned domestic and international components, it is suitable for palletizing and stacking carton packaging and heat-shrink film products in the electronics, food, beverage, tobacco, and alcohol industries. In industrial automation, whether it's a standalone machine or a modular machine tool, or in automated production lines, robots are used to handle workpiece placement. Control of the robot primarily involves position recognition, motion direction control, and material presence detection. Its mission is to move workpieces or items from conveyor belt A to conveyor belt B.

[0003] Chinese patent publication number CN110181481A discloses a handling robot, which includes: a body and an armrest clamp connected to the body; the body includes: a main body base and a power-assisting robot arm connected to the main body base; the main body base includes: a counterweight seat located at the bottom and a column with the lower end connected to the counterweight seat, the power-assisting robot arm includes: a balance bar, a main arm, a secondary arm, and a pivot connection shaft; the armrest clamp includes: an armrest assembly and a clamp assembly; the armrest assembly includes: a base body, an armrest connected to the base body; the clamp assembly includes: a clamp, a flip cylinder for driving the clamp movement, and a clamp cylinder.

[0004] In the current field of robotic handling, the items that need to be transported often have a certain width and thickness. There is a lack of relevant designs for the handling of thinner bar-shaped items, which makes it inconvenient to carry related items. Utility Model Content

[0005] To this end, the utility model provides an intelligent sorting truss robot to overcome the problem in the current robot handling field in the prior art, where the items to be handled often have a certain width and thickness, and there is a lack of relevant design for handling thinner strip-shaped items, resulting in inconvenience in handling related items.

[0006] In order to achieve the above purpose, the utility model provides an intelligent sorting truss manipulator, comprising:

[0007] A frame, which serves as a supporting member for the machine and its components and can be fixedly mounted on the ground;

[0008] a crossbeam disposed on the top of the frame;

[0009] a moving assembly disposed on the crossbeam;

[0010] A grabbing assembly is provided on the moving assembly, and a plurality of grabbing suction cups are provided on the grabbing assembly;

[0011] a positioning assembly, which is arranged on the moving assembly and has a positioning sensor disposed thereon;

[0012] The moving component can drive the grabbing component to move horizontally and vertically.

[0013] Furthermore, the grabbing assembly includes:

[0014] A grabbing beam, used to connect with the moving assembly, and each of the grabbing suction cups is arranged on the grabbing beam;

[0015] Each of the grabbing suction cups is arranged in a straight line on the grabbing beam.

[0016] Furthermore, the grabbing beam includes:

[0017] The bottom plate part is located at the bottom of the grabbing beam and is in the shape of a long strip, and is used to set each of the grabbing suction cups;

[0018] a top plate portion, located on top of the grab beam and used for connecting the moving assembly;

[0019] a middle portion disposed between the bottom plate portion and the top plate portion;

[0020] The bottom plate portion is provided with a plurality of positioning holes for fixing the grabbing suction cups.

[0021] Furthermore, the grabbing suction cup includes:

[0022] A center rod, the top of which is provided with a center rod top connection structure connected to the positioning hole, and the bottom of which is provided with a bottom connection structure;

[0023] The suction cup assembly has a suction cup assembly connecting structure matched with the bottom connecting structure on its top, and a suction cup on its bottom.

[0024] Furthermore, the top connection structure is a threaded nut structure, and the thread passes through the positioning hole and is fixed by bolts to set the grabbing suction cup on the grabbing beam;

[0025] The bottom connection structure is a threaded structure, and the top of the suction cup assembly is provided with a screw hole matching the thread.

[0026] Furthermore, the extension length of the grabbing suction cup can be adjusted by adjusting the threaded nut structure.

[0027] Furthermore, the grabbing suction cup further comprises:

[0028] a spring, which is sleeved on the central rod;

[0029] A gasket is sleeved on the central rod and arranged above the suction cup assembly.

[0030] By sleevedly arranging a spring on the center rod, the relative rotation between the suction cup assembly and the center rod can be reduced, thereby extending the time for repairing or replacing the grabbing suction cup.

[0031] Furthermore, the moving component includes:

[0032] A horizontal moving component, used to drive the grabbing component to move horizontally;

[0033] A vertical moving component, used to drive the grabbing component to move vertically;

[0034] The movable frame is used to connect the horizontal movable assembly and the vertical movable assembly, and the grabbing assembly and the positioning assembly are arranged on the movable frame.

[0035] Furthermore, the moving component includes:

[0036] The horizontal moving component includes:

[0037] a rack disposed on top of the crossbeam;

[0038] A horizontal drive assembly is provided on the mobile frame, wherein the horizontal drive assembly is provided with a horizontal drive gear matched with the rack;

[0039] a guide bar, which is arranged on one side of the crossbeam;

[0040] Limiting blocks are arranged on both sides of the guide bar.

[0041] Furthermore, the moving assembly includes a horizontal moving drag chain and a vertical moving drag chain;

[0042] The positioning assembly is arranged on the side of the mobile frame, and the grabbing assembly is arranged on the bottom of the mobile frame.

[0043] The top plate portion is arranged at the top center of the grabbing beam, and the grabbing suction cup is not arranged at the corresponding position directly below the top plate portion. The number of the grabbing suction cups is an even number and is symmetrically distributed on the left and right sides of the top plate portion.

[0044] The grabbing assembly can grab and carry the strip-shaped articles from both sides of the stacking position.

[0045] Compared with the prior art, the beneficial effect of the present invention is that the present invention provides convenience for the handling of thinner strip-shaped items by providing a suction cup structure instead of a traditional manipulator.

[0046] Furthermore, by arranging a plurality of grabbing suction cups in an "I" shape, the stability of carrying thinner strip-shaped items is ensured, and the firmness of the item grabbing during the carrying process is increased.

[0047] Furthermore, the threaded nut structure ensures that the device can be easily installed, and the extended length of the grabbing suction cup can be adjusted according to the required situation, thereby increasing the applicability of the device.

[0048] Furthermore, by arranging a spring on the center rod, the relative rotation between the suction cup assembly and the center rod can be reduced, thereby extending the time for repairing or replacing the grabbing suction cup.

[0049] Furthermore, by providing a limit block, the travel of the horizontal moving component can be limited to prevent it from sliding out, and by providing an anti-collision component, the equipment can be protected. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 Schematic diagram of the forward structure of the intelligent sorting truss manipulator in the embodiment;

[0051] Figure 2 This is a partially enlarged diagram of the forward structural schematic diagram of the intelligent sorting truss robot in the embodiment;

[0052] Figure 3 Schematic diagram of the back structure of the intelligent sorting truss manipulator in the embodiment;

[0053] Figure 4 This is a partial enlarged view of the back-facing structural diagram of the intelligent sorting truss manipulator in the embodiment;

[0054] Figure 5 This is a schematic structural diagram of a grabbing component in an embodiment;

[0055] Figure 6 Schematic diagram of the structure of the grabbing suction cup in the embodiment. DETAILED DESCRIPTION

[0056] In order to make the purpose and advantages of the present invention more clearly understood, the present invention is further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0057] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the scope of protection of the present invention.

[0058] It should be noted that, in the description of the present invention, terms such as "up", "down", "left", "right", "inside", and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings. This is only for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention.

[0059] Furthermore, it should be noted that, in the description of this utility model, unless otherwise expressly specified or limited, the terms "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections, electrical connections; direct connections, indirect connections through an intermediate medium, and internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on specific circumstances.

[0060] See also Figures 1-6 As shown, Figure 1 Schematic diagram of the forward structure of the intelligent sorting truss manipulator in the embodiment; Figure 2 This is a partially enlarged diagram of the forward structural schematic diagram of the intelligent sorting truss robot in the embodiment; Figure 3 Schematic diagram of the back structure of the intelligent sorting truss manipulator in the embodiment; Figure 4 This is a partial enlarged view of the back-facing structural diagram of the intelligent sorting truss manipulator in the embodiment; Figure 5 This is a schematic structural diagram of a grabbing component in an embodiment; Figure 6 Schematic diagram of the structure of the grabbing suction cup in the embodiment.

[0061] The utility model provides an intelligent sorting truss manipulator, comprising:

[0062] The frame 1 serves as a supporting member for the frame and the components and can be fixed on the ground;

[0063] A crossbeam 2 is provided on the top of the frame 1;

[0064] A moving component 5 is arranged on the crossbeam 2;

[0065] A grabbing assembly 3, which is arranged on the moving assembly 5, and is provided with a plurality of grabbing suction cups 32;

[0066] a positioning component 4, which is arranged on the moving component 5 and has a positioning sensor;

[0067] The moving component 5 can drive the grabbing component 3 to move horizontally and vertically.

[0068] The present application provides convenience for handling thinner strip-shaped items by providing a suction cup structure instead of a traditional manipulator.

[0069] Specifically, the grabbing component 3 includes:

[0070] A grabbing beam 31 is used to connect with the moving assembly 5, and each grabbing suction cup 32 is provided on the grabbing beam;

[0071] Each of the grabbing suction cups 32 is arranged in a straight line on the grabbing beam 31 .

[0072] By arranging a number of grabbing suction cups in an "I" shape, the stability of carrying thinner strip-shaped items is ensured, and the firmness of the item grabbing during the carrying process is increased.

[0073] Specifically, the grabbing beam 31 includes:

[0074] The bottom plate portion 311 is located at the bottom of the grabbing beam 31 and is in the shape of an elongated strip, and is used to set each of the grabbing suction cups 32;

[0075] a top plate portion 313 , located on top of the grabbing beam 31 and used for connecting the moving assembly 5 ;

[0076] a middle portion 312 disposed between the bottom plate portion and the top plate portion;

[0077] The bottom plate portion 311 is provided with a plurality of positioning holes for fixing the grabbing suction cups.

[0078] Specifically, the grabbing suction cup 32 includes:

[0079] The center rod 321 has a center rod top connection structure connected to the positioning hole at its top and a bottom connection structure at its bottom;

[0080] The suction cup assembly 322 has a suction cup assembly connection structure on its top that matches the bottom connection structure, and a suction cup on its bottom.

[0081] Specifically, the top connection structure is a threaded nut structure 323, and the thread passes through the positioning hole and is fixed by bolts to set the grabbing suction cup on the grabbing beam;

[0082] The bottom connection structure is a threaded structure, and the top of the suction cup assembly is provided with a screw hole matching the thread.

[0083] Specifically, the extension length of the grabbing suction cup can be adjusted by adjusting the threaded nut structure.

[0084] The threaded nut structure ensures that the device is easy to install and that the extended length of the grabbing suction cup can be adjusted according to the required situation, thereby increasing the applicability of the device.

[0085] Specifically, the grabbing suction cup also includes

[0086] a spring 324, which is sleeved on the central rod 321;

[0087] The gasket 325 is sleeved on the central rod 321 and is arranged above the suction cup assembly.

[0088] By sleevedly arranging a spring on the center rod, the relative rotation between the suction cup assembly and the center rod can be reduced, thereby extending the time for repairing or replacing the grabbing suction cup.

[0089] Specifically, the mobile component includes:

[0090] A horizontal moving component 51 is used to drive the grabbing component to move horizontally;

[0091] A vertical moving assembly 52, used to drive the grabbing assembly to move vertically;

[0092] The movable frame 53 is used to connect the horizontal movable assembly and the vertical movable assembly, and the grabbing assembly and the positioning assembly are arranged on the movable frame.

[0093] Specifically, the horizontal movement component includes:

[0094] a rack 511 , which is disposed on top of the beam;

[0095] A horizontal driving assembly 512 is provided on the movable frame, and a horizontal driving gear 513 is provided on the horizontal driving assembly to cooperate with the rack;

[0096] a guide bar 514 disposed on one side of the crossbeam;

[0097] The limiting blocks 515 are arranged on both sides of the guide bar, and the limiting blocks are provided with anti-collision components.

[0098] By setting a limit block, the travel of the horizontal moving component can be limited to prevent it from sliding out, and by setting an anti-collision component, the equipment can be protected.

[0099] Specifically, the moving assembly includes a horizontal moving drag chain and a vertical moving drag chain;

[0100] The positioning assembly is arranged on the side of the mobile frame, and the grabbing assembly is arranged on the bottom of the mobile frame.

[0101] The top plate portion is arranged at the top center of the grabbing beam, and the grabbing suction cup is not arranged at the corresponding position directly below the top plate portion. The number of the grabbing suction cups is an even number and is symmetrically distributed on the left and right sides of the top plate portion.

[0102] The grabbing assembly can grab and carry the strip-shaped articles from both sides of the stacking position.

[0103] During the working process, the positioning component detects the bar-shaped items in the loading platform S10. Several loading slots S20 are provided on the loading platform S10. The positioning component determines in which loading slot the bar-shaped items to be transported are located. The moving component controls the horizontal moving component 51 to drive the grabbing component 3 to move horizontally to the top of the driven loading slot S20. The vertical moving component 52 drives the grabbing component 3 to move vertically downward, so that each of the grabbing suction cups is fitted with the bar-shaped items to be transported. After the fitting is completed, the vertical moving component 52 drives the grabbing component 3 to move vertically upward, the horizontal moving component 51 drives the grabbing component 3 to move horizontally to the stacking position S30, and the vertical moving component 52 drives the grabbing component 3 to move vertically downward to complete the stacking of the transported bar-shaped items.

[0104] Thus far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art may make equivalent changes or substitutions to the relevant technical features, and the technical solutions after such changes or substitutions will fall within the scope of protection of the present invention.

[0105] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that the present invention is susceptible to various modifications and variations. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. An intelligent sorting truss manipulator, characterized in that: include, A frame, which serves as a supporting member for the machine and its components and can be fixedly mounted on the ground; a crossbeam disposed on the top of the frame; a moving assembly disposed on the crossbeam; A grabbing assembly is provided on the moving assembly, and a plurality of grabbing suction cups are provided on the grabbing assembly; a positioning assembly, which is arranged on the moving assembly and has a positioning sensor disposed thereon; The moving component can drive the grabbing component to move horizontally and vertically; The grabbing component includes: A grabbing beam, used to connect with the moving assembly, and each of the grabbing suction cups is arranged on the grabbing beam; The grabbing beam comprises: The bottom plate part is located at the bottom of the grabbing beam and is in the shape of a long strip, and is used to set each of the grabbing suction cups; a top plate portion, located on top of the grab beam and used for connecting the moving assembly; a middle portion disposed between the bottom plate portion and the top plate portion; The bottom plate is provided with a plurality of positioning holes for fixing the grabbing suction cups; Each of the grabbing suction cups is arranged in an "I" shape on the grabbing beam.

2. The intelligent sorting truss manipulator according to claim 1, characterized in that: The grabbing suction cup comprises: A center rod, the top of which is provided with a center rod top connection structure connected to the positioning hole, and the bottom of which is provided with a bottom connection structure; The suction cup assembly has a suction cup assembly connecting structure matched with the bottom connecting structure on its top, and a suction cup on its bottom.

3. The intelligent sorting truss manipulator according to claim 2, characterized in that: The top connection structure is a threaded nut structure, and the thread passes through the positioning hole and is fixed by bolts to set the grabbing suction cup on the grabbing beam; The bottom connection structure is a threaded structure, and the top of the suction cup assembly is provided with a screw hole matching the thread.

4. The intelligent sorting truss manipulator according to claim 3, characterized in that: The extension length of the grabbing suction cup can be adjusted by adjusting the threaded nut structure.

5. The intelligent sorting truss manipulator according to claim 4, characterized in that: The grabbing suction cup also includes, a spring, which is sleeved on the central rod; A gasket is sleeved on the central rod and arranged above the suction cup assembly.

6. The intelligent sorting truss manipulator according to claim 1, characterized in that: The mobile component includes, A horizontal moving component, used to drive the grabbing component to move horizontally; A vertical moving component, used to drive the grabbing component to move vertically; The movable frame is used to connect the horizontal movable assembly and the vertical movable assembly, and the grabbing assembly and the positioning assembly are arranged on the movable frame.

7. The intelligent sorting truss manipulator according to claim 6, characterized in that: The mobile component includes, The horizontal moving component includes: a rack disposed on top of the crossbeam; A horizontal drive assembly is provided on the mobile frame, wherein the horizontal drive assembly is provided with a horizontal drive gear matched with the rack; a guide bar, which is arranged on one side of the crossbeam; Limiting blocks are arranged on both sides of the guide bar.

8. The intelligent sorting truss manipulator according to claim 6, characterized in that: The moving assembly includes a horizontal moving drag chain and a vertical moving drag chain; The positioning assembly is arranged on the side of the mobile frame, and the grabbing assembly is arranged on the bottom of the mobile frame.

9. The intelligent sorting truss manipulator according to claim 1, characterized in that: The top plate portion is arranged at the top center of the grabbing beam, and the grabbing suction cup is not arranged at the corresponding position directly below the top plate portion. The number of the grabbing suction cups is an even number and is symmetrically distributed on the left and right sides of the top plate portion.

10. The intelligent sorting truss robot according to claim 1, characterized in that: The grabbing assembly can grab and carry the strip-shaped articles from both sides of the stacking position.

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