Rail type moving structure of grabbing robot

Abstract

The utility model relates to the technical field of machining and manufacturing, in particular to a grabbing robot rail type moving structure which comprises a rail system, a material conveying system, a moving platform, a grabbing robot and a control system. Cooperative operation of the multiple grabbing robots is achieved through the rail type moving structure, a single-line single-device mode is upgraded to a distributed cluster operation mode, operation efficiency is improved, meanwhile, single-point bottleneck is eliminated, material conveying and grabbing rhythm separation is achieved, restriction of starting and stopping of a traditional single device on a whole production line is avoided, production continuity is improved, and production cost is reduced. The method has wide applicability in the fields of industrial automation, logistics storage and the like, and economic benefits are remarkable.

Description

Technical Field

[0001] This utility model belongs to the field of mechanical processing and manufacturing technology, and specifically relates to a track-type moving structure for a gripping robot. Background Technology

[0002] In existing technologies, material loading and palletizing operations generally employ a single gripping robot operating independently, which has the following technical drawbacks:

[0003] (1) Efficiency bottleneck: Single-equipment operation cannot meet the needs of large-scale production;

[0004] (2) Poor continuous operation capability of equipment: The continuous operation of the entire production chain is highly dependent on the interval of a single piece of equipment, and the equipment downtime is too long.

[0005] (3) Limited flexibility: Traditional serial material transfer mode is difficult to achieve multi-device collaborative operation.

[0006] The aforementioned problems have led to increased production costs and slow production line response times for enterprises, creating an urgent need for a track-based mobile structure that can support multi-machine joint control and improve logistics efficiency. Utility Model Content

[0007] To address the shortcomings of existing technologies, the purpose of this utility model is to provide a track-type moving structure for gripping robots. By designing a track-type moving structure, multiple robots can be coordinated and operated efficiently, addressing the deficiencies of material loading and palletizing devices.

[0008] To achieve the above objectives, this utility model provides the following technical solution: a track-type moving structure for a gripping robot, comprising a track system, a material conveying system, a moving platform, a gripping robot, and a control system;

[0009] The track system includes a track support and a track, with the track fixedly installed on the top of the track support;

[0010] The material conveying system includes material conveying rollers and a buffer belt;

[0011] The mobile platform includes a portal frame, a frame drive device, guide wheels, and a braking device;

[0012] The grasping robot includes a robotic arm and sensors;

[0013] The control system includes a controller and a communication module.

[0014] Preferably, the material conveying roller is configured as a segmented structure, with each segment equipped with an independent drive device and adjacent drive devices spaced apart.

[0015] Preferably, the buffer belt is located at the end of the material conveying roller to adjust the material conveying cycle.

[0016] Preferably, the mobile platform has a material passage area below the portal frame, and the portal size is adapted to the gripping range of the robotic arm of the gripping robot.

[0017] Preferably, the moving frame drive device includes a motor and a reducer, and the motor drives the moving platform to move along the track through the reducer.

[0018] Preferably, the guide wheels are installed on both sides of the bottom of the mobile platform, forming a rolling engagement with the track.

[0019] Preferably, the braking device of the mobile platform is located at the front end of the mobile platform and includes an electromagnetic brake and a mechanical limit block.

[0020] Preferably, the robotic arm of the grasping robot has a multi-joint structure, with a gripper or vacuum suction cup installed at the end.

[0021] Preferably, the sensors on the gripping robot include a vision sensor and a pressure sensor, which are respectively installed at the end of the robotic arm and on the material contact surface for positioning and gripping operations.

[0022] Preferably, the controller is equipped with a PLC module and a motion control card, and the communication module supports dual-mode communication via Ethernet and wireless WiFi.

[0023] Compared with the prior art, the beneficial effects of this utility model are:

[0024] 1. Multi-machine coordinated operation significantly improves efficiency: Parallel processing capability is improved, and multiple gripping robots can work together through a track-type moving structure. The single-line single-device mode is upgraded to a distributed cluster operation mode, which improves operation efficiency and eliminates single-point bottlenecks. Material transfer and gripping cycle are separated, avoiding the constraints of traditional single-device start-up and shutdown on the entire production line, and improving production continuity.

[0025] 2. Modular design, flexible to adapt to different scenarios: The track layout is free, and the track support and track as a whole are easy to disassemble and assemble. Different types of track combinations can be configured to adapt to different workshop layout requirements. At the same time, it has the ability to be quickly modified. The segmented material conveying rollers and buffer belts are independently controlled, and equipment can be added, removed or parameters adjusted without the whole machine being shut down.

[0026] 3. Dynamic material management and optimized production cycle: The buffer belt achieves dynamic material buffering through frequency conversion speed regulation. Combined with the start and stop control of the segmented rollers, it ensures that the material supply and the robot's grasping rhythm are completely synchronized, while achieving zero-stop transmission. The doorway-type moving frame of the mobile platform door allows materials to flow across equipment. When the previous station is grasped, the subsequent material has already been preloaded to the next station through the doorway, achieving a seamless connection of "grabbing and transmitting at the same time".

[0027] 4. High-precision control and enhanced stability: The mobile platform achieves precise positioning through the cooperation of guide wheels and tracks, combined with the electromagnetic and mechanical dual redundancy design of the braking device. At the same time, the end of the robotic arm of the gripping robot can be equipped with a dual-mode actuator of vacuum suction cup and gripper, which, together with the real-time positioning of vision sensors, can adapt to the gripping of materials of different shapes or weights.

[0028] 5. Cost and efficiency win-win: Multiple machines share the track system and material handling system, reducing hardware investment. The segmented drive only starts when needed, which greatly reduces energy consumption compared to the traditional continuous drive mode. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the overall structure of a track-type moving structure for a grasping robot according to the present invention;

[0030] Figure 2 This utility model Figure 1 Enlarged structural diagram at point A in the middle;

[0031] Figure 3 This is a schematic diagram of the connection structure between the mobile platform and the grasping robot of this utility model;

[0032] Figure 4 This is a schematic diagram of the mobile platform structure of this utility model;

[0033] Figure 5 This is a schematic diagram illustrating the operating principle of a track-type moving structure for a gripping robot according to this utility model.

[0034] In the diagram: 1. Track system; 101. Track support; 102. Track; 2. Material conveying system; 201. Material conveying roller; 202. Buffer belt; 3. Mobile platform; 301. Doorway-type mobile frame; 302. Mobile frame drive device; 303. Guide wheel; 4. Gripping robot. Detailed Implementation

[0035] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below through embodiments and in conjunction with the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0036] The following reference Figures 1-5 This application describes a track-type moving structure for a gripping robot provided in one embodiment.

[0037] A track-type moving structure for a gripping robot includes a track system 1, a material conveying system 2, a moving platform 3, a gripping robot 4, and a control system.

[0038] The track system 1 includes a track support 101 and a track 102. The track 102 is fixedly installed on the top of the track support 101 to ensure its stability and levelness. The track 102 can be a rail or a guide rail or other track equipment with guiding function.

[0039] Material conveying system 2 includes material conveying roller 201 and buffer belt 202;

[0040] The mobile platform 3 includes a portal frame 301, a mobile frame drive device 302, guide wheels 303, and a braking device;

[0041] The grasping robot 4 includes a robotic arm and sensors;

[0042] The control system includes a controller and a communication module.

[0043] Furthermore, the material conveying roller 201 is configured with a segmented structure, with each segment equipped with an independent drive device. Adjacent drive devices are spaced apart, conveying the material horizontally to the gripper of the gripping robot 4. The drive device is replaced every certain distance between roller segments. When it is necessary for the material to stop moving, the drive device at that point stops transmitting power, and the material stops moving forward.

[0044] Furthermore, a buffer belt 202 is installed at the end of the material conveying roller 201 to adjust the material conveying rhythm, so that the material is fed in accordance with the grasping and stacking rhythm of the gripping robot 4 302303.

[0045] Furthermore, a material passage area is provided below the portal-type mobile frame 301 of the mobile platform 3, and the portal size is adapted to the gripping range of the robotic arm of the gripping robot 4.

[0046] In a further embodiment, the mobile frame drive device 302 includes a motor and a reducer, the motor driving the mobile platform 3 to move along the track 102 via the reducer.

[0047] In a further embodiment, guide wheels 303 are installed on both sides of the bottom of the mobile platform 3, forming a rolling engagement with the track 102 to ensure smooth platform movement.

[0048] In a further embodiment, the braking device of the mobile platform 3 is located at the front end of the mobile platform 3 and includes an electromagnetic brake and a mechanical limit block for emergency stopping or precise positioning.

[0049] In a further embodiment, the robotic arm of the grasping robot 4 has a multi-joint structure with a gripper or vacuum suction cup at the end, and has multiple degrees of freedom for grasping and placing objects.

[0050] In a further embodiment, the sensors on the gripping robot 4 include a vision sensor and a pressure sensor, which are respectively located at the end of the robotic arm and the material contact surface for positioning and gripping operations.

[0051] In a further embodiment, the controller is configured with a PLC module and a motion control card, and the communication module supports dual-mode communication of Ethernet and wireless WiFi, which is used to control the movement of the robotic arm of the mobile platform 3 and the gripping robot 4.

[0052] The specific working process of a track-type moving structure for a grasping robot according to the present application will be described in conjunction with the above embodiments: For example... Figure 1-5 As shown, a gripping robot 4 is installed above the mobile platform 3, and grippers are installed on the robotic arm of the gripping robot 4. The entire material conveying system is divided into a buffer area and a material transfer area. The buffer area is responsible for controlling the feeding frequency according to the system's gripping and stacking rhythm. Taking the gripping robot 4 gripping two bags of material at a time as an example (the gripper can adjust the gripping quantity according to the material, and this solution includes, but is not limited to, gripping two bags at a time). The buffer unit controls the simultaneous release of two bags of material each time. The distance between the two bags of material is appropriately lengthened. The material transfer area is divided into several small units, each with an independent power drive device that drives the material transfer roller 201 of its unit to rotate. The length of each unit is approximately equal to the length of two bags of material. When the first set of equipment grips the material, the power device of that unit stops providing power, and the material remains stationary in this unit, waiting to be gripped. The material transfer units before this unit can monitor the material position according to the position sensor and control their rotation or stop individually to ensure that incoming material does not affect the gripping of the material being gripped. When the first set of gripping robots 4 is transporting materials, the materials on the conveyor line can move through the doorway under the portal frame 301 to the next gripping device during this time interval, and then move to the next gripping device to stand still and wait to be gripped. During this process, the entire material transfer area does not stop moving. Different mechanical grippers can complete gripping and stacking at different units according to the palletizing or loading position.

[0053] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0054] The embodiments described above are merely illustrative of several implementations of this utility model, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of this utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.

Claims

1. A grasping robot track mobile structure, characterized by: The application relates to a material conveying system, which comprises a track system (1), a material conveying system (2), a moving platform (3), a grabbing robot (4) and a control system. The track system (1) comprises a track support (101) and a track (102), and the track (102) is fixedly installed on the top of the track support (101). The material conveying system (2) comprises a material conveying roller (201) and a buffer belt (202). The moving platform (3) comprises a door-holed moving frame (301), a moving frame driving device (302), a guide wheel (303) and a braking device. The grabbing robot (4) comprises a mechanical arm and a sensor. The control system comprises a controller and a communication module.

2. A track mobile structure for a picking robot according to claim 1, characterized in that: The material conveying roller (201) is arranged in a segmented structure, each segment of the roller is provided with an independent driving device, and adjacent driving devices are arranged at intervals.

3. A track mobile structure for a grasping robot according to claim 1, characterized in that: The buffer belt (202) is arranged at the end of the material conveying roller (201) and is used for adjusting the material conveying rhythm.

4. A track mobile structure for a grasping robot according to claim 1, characterized in that: The door-holed moving frame (301) of the moving platform (3) is provided with a material passing area below, and the door hole size is matched with the mechanical arm grabbing range of the grabbing robot (4).

5. A track mobile structure for a grasping robot according to claim 1, characterized in that: The moving frame driving device (302) comprises a motor and a speed reducer, and the motor drives the moving platform (3) to move along the track (102) through the speed reducer.

6. A track mobile structure for a grasping robot according to claim 1, characterized in that: The guide wheel (303) is installed on the bottom of the moving platform (3) and is in rolling cooperation with the track (102).

7. A track mobile structure for a grasping robot according to claim 1, characterized in that: The braking device of the moving platform (3) is arranged at the front end of the moving platform (3) and comprises an electromagnetic brake and a mechanical limiting block.

8. A track mobile structure for a grasping robot according to claim 1, characterized in that: The mechanical arm of the grabbing robot (4) is a multi-joint structure, and a clamping jaw or a vacuum chuck is installed at the end.

9. A track mobile structure for a grasping robot according to claim 1, characterized in that: The sensor of the grabbing robot (4) comprises a visual sensor and a pressure sensor, which are arranged at the end of the mechanical arm and a material contact surface respectively and are used for positioning and grabbing operation.

10. A track mobile structure for a grasping robot according to claim 1, characterized in that: The controller is provided with a PLC module and a motion control card, and the communication module supports dual-mode communication of Ethernet and wireless WiFi.

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