Multi-task cooperative control device of intelligent truss manipulator

Abstract

The utility model discloses a multi-task cooperative control device of an intelligent truss manipulator, which comprises a bottom plate, a first conveying assembly, a second conveying assembly, a conveying-out assembly, two clamping mechanical arms and a distribution device, and is characterized in that the first conveying assembly and the second conveying assembly are arranged on the bottom plate side by side; the conveying-out assembly is arranged at the other end of the bottom plate in parallel. The two clamping mechanical arms are arranged at one end of the first conveying assembly and one end of the second conveying assembly correspondingly. The distribution device comprises a supporting frame, a distribution assembly and a control assembly, and the supporting frame is arranged on the bottom plate; the distribution assembly is arranged on the supporting frame in a sliding mode. The control assembly is arranged on the distribution assembly. Therefore, the problems that in the prior art, an intelligent truss mechanical arm is low in efficiency, poor in collaboration, insufficient in flexibility, weak in conflict processing capacity and the like in the aspect of multi-task cooperative control are effectively solved, efficient, flexible and safe material conveying and operation are achieved, and remarkable advantages are brought to industrial automatic production.

Description

Technical Field

[0001] This utility model relates to the technical field of industrial automation equipment, and in particular to a multi-task collaborative control device for intelligent gantry manipulators. Background Technology

[0002] In the field of industrial automation, the sorting, conveying, and gripping of materials are indispensable key links in the production line. Traditional material handling systems often rely on manual operation or simple mechanical devices, which are not only inefficient but also prone to errors, failing to meet the demands of modern industry for high efficiency, precision, and automation.

[0003] Especially in material sorting, the traditional approach is to mix materials together and then rely on manual labor or simple screening equipment for preliminary sorting. This method is not only time-consuming and labor-intensive, but also difficult to guarantee the accuracy of sorting, easily introducing human error. In addition, due to the lack of effective automated control during material conveying, problems such as material accumulation and blockage often occur, seriously affecting the smoothness and stability of the production line.

[0004] While some automated material handling systems have emerged in the market to address these issues, these systems often have limited functionality, only capable of simple material conveying or gripping, and cannot simultaneously meet the comprehensive needs of material sorting, conveying, and gripping. Furthermore, these systems suffer from deficiencies in collaborative control; the lack of effective communication and coordination between components limits the overall system's operational efficiency and stability.

[0005] Therefore, to overcome the shortcomings of existing technologies and improve the efficiency and accuracy of material handling, a multi-task collaborative control device for intelligent gantry robots is needed, capable of simultaneously classifying, conveying, and gripping materials, and possessing efficient collaborative control capabilities. This device needs to automatically receive and process externally input operating commands, classify, convey, and grip materials according to the commands, while ensuring collaborative work between components to improve the overall system's operational efficiency and stability. Utility Model Content

[0006] This utility model aims to at least partially solve one of the technical problems in the related art.

[0007] Therefore, the purpose of this utility model is to propose a multi-task collaborative control device for intelligent gantry manipulators. Through innovative structural design and intelligent control components, it effectively solves the problems of low efficiency, poor coordination, insufficient flexibility and weak conflict handling ability of existing intelligent gantry manipulators in multi-task collaborative control. It realizes efficient, flexible and safe material transfer and operation, bringing significant advantages to industrial automation production.

[0008] To achieve the above objectives, this utility model proposes a multi-task collaborative control device for an intelligent gantry manipulator, comprising a base plate, a first conveying assembly, a second conveying assembly, a transmission assembly, two gripping manipulators, and a distribution device, wherein:

[0009] The first conveying component and the second conveying component are arranged side by side on the base plate for conveying materials between different working areas.

[0010] The output component is arranged parallel to the other end of the base plate and is responsible for outputting unsorted materials.

[0011] The two gripping robotic arms are respectively installed at one end of the first conveying component and the second conveying component, and can perform operations such as gripping, transferring and placing materials.

[0012] The distribution device includes a support frame, a distribution assembly, and a control assembly, and its function is to distribute and manage materials or tasks, wherein:

[0013] The support frame is mounted on the base plate to provide support for the distribution components.

[0014] The distribution component is slidably mounted on the support frame to adjust its position to suit different working position requirements.

[0015] The control component is mounted on the distribution device, receives externally input operation commands, and converts them into control signals for each component.

[0016] This utility model's intelligent gantry robot multi-task collaborative control device, through innovative structural design and intelligent control components, effectively solves the problems of low efficiency, poor coordination, insufficient flexibility, and weak conflict handling capabilities in the multi-task collaborative control of existing intelligent gantry robots. It achieves efficient, flexible, and safe material transfer and operation, bringing significant advantages to industrial automated production.

[0017] In addition, the multi-task collaborative control device for the intelligent gantry robot proposed in the above application may also have the following additional technical features:

[0018] Specifically, the first conveying component includes a first conveyor frame and a first drive motor, wherein:

[0019] The first conveyor frame is mounted on the base plate as a support structure for material conveying, providing a conveying path for the material.

[0020] The output end of the first drive motor is connected to the first conveyor frame, driving the first conveyor frame to operate and moving the material on it.

[0021] Specifically, the second conveying component includes a second conveyor frame and a second drive motor, wherein:

[0022] The second conveyor is mounted on the base plate and functions similarly to the first conveyor, providing another parallel conveying path for materials.

[0023] The output end of the second drive motor is connected to the second conveyor frame, driving the second conveyor frame to operate and ensuring the movement of materials on the conveying path.

[0024] Specifically, the output component includes a third conveyor and a third drive motor, wherein:

[0025] The third conveyor is located at the other end of the base plate and conveys unsorted materials in.

[0026] The output end of the third drive motor is connected to the third conveyor frame, providing power for the material to be conveyed out.

[0027] Specifically, the dispensing assembly includes an electric slide, a slider, an electric telescopic rod, and a clamping plate, wherein:

[0028] The electric slide table is mounted on the support frame, providing a sliding track and power for the slider, enabling the position adjustment of the distribution component within a certain range.

[0029] The slider is slidably mounted on the electric slide table and can slide on the electric slide table according to the control signal, driving subsequent components to different positions.

[0030] The electric telescopic rod is mounted on the slider and can extend and retract to adjust the working distance.

[0031] The clamping plate is movably mounted at the bottom of the electric telescopic rod for clamping and releasing items. The position of the clamping plate can be precisely controlled by the extension and retraction of the electric telescopic rod and the sliding of the slider to complete the clamping and releasing operation of the material.

[0032] Specifically, the control component includes a PLC controller, wherein:

[0033] The PLC controller is used to receive instructions and control the coordinated work of various components. As the brain of the entire system, it receives external input operation instructions and converts them into control signals for each component.

[0034] The PLC controller is connected to the electric slide, the electric telescopic rod, the clamping plate, the first drive motor, the second drive motor, the third drive motor, and the two clamping robotic arms to achieve coordinated control of the overall system.

[0035] The first, second, and third drive motors all use Siemens 1FT7 series motors. These motors feature high precision and high dynamic response, providing stable and reliable power to the first, second, and third conveyor frames to ensure efficient material transfer.

[0036] Main control unit: The Siemens S7-1500 series PLC is used as the main control unit. This PLC has powerful computing and processing capabilities, rich communication interfaces and high reliability. It can effectively receive instructions and coordinate the collaborative work of various components.

[0037] The advantages of this invention compared to existing technologies are as follows:

[0038] (1) Through the multi-task parallel processing module, multiple task requests can be processed at the same time, and the task execution order can be optimized, avoiding the waiting time of tasks and improving the working efficiency of the entire device. It is especially suitable for complex, multi-process production processes.

[0039] (2) The unified control of each component by the main control unit, as well as the reasonable layout and coordinated work of the distribution device and the clamping robot arm, enable all parts of the device to work closely together, reducing downtime and material accumulation caused by the lack of coordination between components, and achieving efficient material transfer and operation.

[0040] (3) The sliding setting of the electric slide table and slider in the distribution component, as well as the telescopicity of the electric telescopic rod, enable the entire device to flexibly adjust its working position and posture according to different production tasks and material size, shape and other factors, thereby improving the adaptability and versatility of the device.

[0041] (4) The introduction of the intelligent conflict resolution module can automatically detect and resolve conflicts during task execution, ensuring the safe operation of equipment and the smooth execution of tasks, and reducing equipment failures and production accidents caused by conflicts.

[0042] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0043] The above and / or additional aspects and advantages of this utility model will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, in which:

[0044] Figure 1 This is a schematic diagram of the multi-task collaborative control device for an intelligent gantry robot according to an embodiment of the present invention;

[0045] Figure 2A perspective view of a multi-task collaborative control device for an intelligent gantry robot according to another embodiment of the present invention;

[0046] Figure 3 A perspective view of a multi-task collaborative control device for an intelligent gantry robot according to another embodiment of the present invention;

[0047] Figure 4 This is a schematic diagram of the control connection of a multi-task collaborative control device for an intelligent gantry robot according to an embodiment of the present invention.

[0048] As shown in the figure: 1. Base plate; 2. First conveying assembly; 3. Second conveying assembly; 4. Output assembly; 5. Clamping robotic arm; 6. Distribution device; 61. Support frame; 62. Distribution assembly; 63. Control assembly; 21. First conveying frame; 22. First drive motor; 31. Second conveying frame; 32. Second drive motor; 41. Third conveying frame; 42. Third drive motor; 621. Electric slide table; 622. Slider; 623. Electric telescopic rod; 624. Clamping plate; 631. PLC controller. Detailed Implementation

[0049] The embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention. Rather, the embodiments of the present invention include all variations, modifications, and equivalents falling within the spirit and scope of the appended claims.

[0050] The multi-task collaborative control device for the intelligent gantry robot of this utility model is described below with reference to the accompanying drawings.

[0051] like Figures 1-4 As shown, the multi-task collaborative control device for the intelligent gantry robot of this utility model embodiment includes a base plate 1, a first conveying component 2, a second conveying component 3, a transmission component 4, two gripping robotic arms 5, and a distribution device 6. The first conveying component 2 and the second conveying component 3 are arranged side by side on the base plate 1, and the transmission component 4 is arranged parallel to the other end of the base plate 1. The two gripping robotic arms 5 are respectively arranged at one end of the first conveying component 2 and the second conveying component 3. The distribution device 6 includes a support frame 61, a distribution component 62, and a control component 63. The support frame 61 is arranged on the base plate 1, the distribution component 62 is slidably arranged on the support frame 61, and the control component 63 is arranged on the distribution component 62, receiving externally input operation commands and converting them into control signals for each component.

[0052] The device primarily consists of a base plate 1, a first conveying assembly 2, a second conveying assembly 3, an output assembly 4, two gripping robotic arms 5, and a distribution device 6. The base plate 1 serves as the supporting foundation for the entire device, ensuring the stable installation and operation of all components. The first conveying assembly 2 and the second conveying assembly 3 are arranged side-by-side on the base plate 1 for the transfer of sorted materials. The output assembly 4 is parallel to the other end of the base plate 1, responsible for transferring unsorted materials one by one. The two gripping robotic arms 5 are respectively located at one end of the first conveying assembly 2 and the second conveying assembly 3, responsible for gripping and transferring the sorted materials.

[0053] The dispensing device 6 is the core component of the entire device, comprising a support frame 61, a dispensing assembly 62, and a control assembly 63. The support frame 61 is securely mounted on the base plate 1, providing a sliding track for the dispensing assembly 62. The dispensing assembly 62 is slidably mounted on the support frame 61 and can move flexibly on the support frame 61 according to the instructions of the control assembly 63 to achieve precise material dispensing. The control assembly 63 is located on the dispensing assembly 62 and is responsible for receiving external input operating commands and converting them into control signals for each component, ensuring that the entire device can operate efficiently according to a preset process.

[0054] Workflow

[0055] 1. Material output: Unsorted materials are placed one by one on the output component 4 and, as the output component 4 operates, are passed backward to the vicinity of the distribution device 6.

[0056] 2. Material Distribution: When material arrives within the sensing range of the distribution device 6, the control component 63 issues a command to the distribution component 62 according to preset distribution rules. The distribution component 62 slides on the support frame 61 to the location of the material and uses its gripping or pushing mechanism to accurately place the material onto the first conveying component 2 or the second conveying component 3. During this process, the sliding accuracy of the distribution component 62 and the stability of the gripping / pushing mechanism are crucial to ensure that the material is accurately classified.

[0057] 3. Material transfer: The sorted materials are transferred forward on the first conveyor component 2 and the second conveyor component 3 respectively, ready to enter the next process.

[0058] 4. Material Gripping: When the material is transferred to the gripping range of the gripping robotic arms 5, the two gripping robotic arms 5 grip the material on the first conveying component 2 and the second conveying component 3 according to the instructions of the control component 63. The design of the gripping robotic arms 5 takes into account factors such as the shape, material, and gripping force of the material, ensuring that the material can be firmly gripped and transferred to the designated position.

[0059] In one embodiment of this utility model, such as Figures 1-4 As shown, the first conveying component 2 includes a first conveying frame 21 and a first drive motor 22, wherein the first conveying frame 21 is mounted on the base plate 1, and the output end of the first drive motor 22 is connected to the first conveying frame 21.

[0060] It can be understood that the first conveyor frame 21 is a support structure for material transfer. The first conveyor frame 21 is firmly installed on the base plate 1 and is arranged in parallel with the second conveyor assembly 3. The first conveyor frame 21 is equipped with a wear-resistant and non-slip conveyor belt or rollers to reduce friction between the material and the conveyor frame and improve the transfer efficiency.

[0061] The first drive motor 22 serves as the power source for the first conveying assembly 2, and its output end is tightly connected to the first conveyor frame 21. When the motor starts, its output shaft drives the conveyor belt or rollers to rotate through the transmission mechanism, thereby achieving stable material transport.

[0062] In one embodiment of this utility model, such as Figures 1-4 As shown, the second conveying assembly 3 includes a second conveying frame 31 and a second drive motor 32. The second conveying frame 31 is mounted on the base plate 1, and the output end of the second drive motor 32 is connected to the second conveying frame 31.

[0063] It is understood that the second conveyor frame 31 is arranged side by side with the first conveyor frame 21 on the base plate 1, and its design principle is the same as that of the first conveyor frame 21, aiming to ensure the smooth transfer of materials. The second conveyor frame 31 is also equipped with wear-resistant and non-slip conveyor belts or rollers to adapt to the transfer requirements of different materials.

[0064] The second drive motor 32 provides power to the second conveying assembly 3, and its output end is connected to the second conveyor frame 31. By precisely controlling the motor's speed and torque, the material can be smoothly and quickly transferred on the second conveyor frame 31.

[0065] Workflow

[0066] 1. Material Classification: Unclassified materials are first transferred to the distribution device 6 via the conveying component 4. The distribution device 6 accurately places the materials onto the first conveying component 2 or the second conveying component 3 for classification processing according to preset distribution rules.

[0067] 2. Motor Start-up and Material Transfer: When material is placed on the first conveyor frame 21 or the second conveyor frame 31, the corresponding drive motor (first drive motor 22 or second drive motor 32) receives the start command from the control component 63 and begins operation. The transmission mechanism drives the conveyor belt or rollers to rotate, achieving smooth and rapid material transfer.

[0068] 3. Material reaches designated position: Driven by the drive motor, the material is transported along the conveyor to the designated position. At this time, the gripping robotic arm 5, according to the instructions of the control component 63, grips the material and transfers it to the next process.

[0069] In one embodiment of this utility model, such as Figures 1-4 As shown, the output component 4 includes a third conveyor frame 41 and a third drive motor 42. The third conveyor frame 41 is located at the other end of the base plate 1, and the output end of the third drive motor 42 is connected to the third conveyor frame 41.

[0070] It can be understood that the third conveyor 41 is the main carrier for material transmission. The third conveyor 41 is set at the other end of the base plate 1, forming a parallel layout with the first conveyor component 2 and the second conveyor component 3.

[0071] The third drive motor 42 is the power source for the transmission component 4. Its output end is connected to the third conveyor frame 41. By driving the conveyor belt, rollers or other conveying mechanisms, it realizes the backward transfer of materials.

[0072] Workflow

[0073] 1. Material placement: Unsorted materials are placed one by one at the starting end of the third conveyor 41, ready for transfer.

[0074] 2. Motor Start-up: After the materials are placed, the third drive motor 42 receives the start command from the control component 63 and begins to operate. Its output end drives the conveyor belt or rollers on the third conveyor frame 41 to rotate through the transmission mechanism, realizing the backward transfer of materials.

[0075] 3. Material Transfer: Driven by the third drive motor 42, the material moves backward along the transfer path of the third conveyor frame 41. During the transfer process, the stability and wear resistance of the third conveyor frame 41 ensure that the material can be transferred smoothly and quickly to the vicinity of the distribution device 6.

[0076] 4. Material Distribution: When materials are transferred to the sensing range of the distribution device 6, the distribution component 62 accurately places the materials onto the first conveying component 2 or the second conveying component 3 for classification processing according to preset distribution rules. At this time, the transmission task of the output component 4 is completed, and it awaits the next round of material placement and transmission.

[0077] In one embodiment of this utility model, such as Figures 1-4As shown, the dispensing assembly 62 includes an electric slide 621, a slider 622, an electric telescopic rod 623, and a clamping plate 624. The electric slide 621 is mounted on the support frame 61, the slider 622 is slidably mounted on the electric slide 621, the electric telescopic rod 623 is mounted on the slider 622, and the clamping plate 624 is movably mounted on the bottom of the electric telescopic rod 623 for clamping and releasing items.

[0078] As can be understood, the electric slide table 621 is the basic support and moving component of the distribution assembly 62, and is firmly mounted on the support frame 61. It provides a linear motion platform on which the slider 622 can slide smoothly and precisely. The stroke, speed, and accuracy parameters of the electric slide table 621 are selected and configured according to the actual application requirements.

[0079] The slider 622 is slidably mounted on the electric slide table 621, and reciprocating motion along a straight line is achieved by driving the electric slide table 621.

[0080] The electric telescopic rod 623 is vertically mounted on the slider 622, and its telescopic movement is driven by a motor and realized through a transmission mechanism. The telescopic stroke and speed parameters of the electric telescopic rod 623 are selected and configured according to the size of the item and the clamping requirements. It is responsible for driving the clamping plate 624 to move up and down to achieve the clamping and release of the item.

[0081] A clamping plate 624 is movably mounted at the bottom of the electrically operated telescopic rod 623 for directly clamping and releasing items. The clamping plate 624 is designed with consideration for the size, shape, and material of the items to ensure secure clamping and smooth release when needed. The clamping plate 624 is typically made of wear-resistant, non-slip materials to improve clamping stability and reliability.

[0082] Workflow

[0083] 1. Item transfer to destination: The transmitting component 4 transfers the unclassified item to the working range of the distribution component 62. At this time, the control component 63 determines whether the item should be distributed to the first transmission component 2 or the second transmission component 3 according to the preset distribution rules.

[0084] 2. The electric slide table drives the slider to move: The control component 63 sends a command to the electric slide table 621 to drive the slider 622 to move linearly along the electric slide table 621 until the electric telescopic rod 623 and the clamping plate 624 on the slider 622 are aligned with the item to be assigned.

[0085] 3. The electric telescopic rod drives the clamping plate to hold the item: When the slider 622 is in position, the control component 63 sends a command to the electric telescopic rod 623 to drive it to telescopically extend, causing the clamping plate 624 to move downward and clamp the item. The clamping force of the clamping plate 624 is adjusted according to the material and size of the item to ensure the stability and reliability of the clamping.

[0086] 4. The slider moves the clamping plate to the target position: After clamping the item, the control component 63 sends a command to the electric slide table 621 again, driving the slider 622 to move linearly along the electric slide table 621, moving the item above the first conveying component 2 or the second conveying component 3.

[0087] 5. Release of the item by the electric telescopic rod: When the slider 622 is in position, the control component 63 sends a command to the electric telescopic rod 623, driving it to perform a reverse telescopic movement, which in turn moves the clamping plate 624 upward and releases the item. At this time, the item is accurately placed on the first conveying component 2 or the second conveying component 3, awaiting subsequent transmission and processing.

[0088] In one embodiment of this utility model, such as Figures 1-4 As shown, the control component 63 includes a PLC controller 631, which is used to receive instructions and control the coordinated operation of each component. The PLC controller 631 is connected to the electric slide table 621, the electric telescopic rod 623, the clamping plate 624, the first drive motor 22, the second drive motor 32, the third drive motor 42 and the two clamping robotic arms 5 to realize the coordinated control of the overall system.

[0089] As can be understood, the control component 63 mainly consists of a PLC controller 631, which possesses powerful logic control and multi-task processing capabilities. The PLC controller 631 is connected to various execution components via its input / output modules, including an electric slide 621, an electric telescopic rod 623, a clamping plate 624, a first drive motor 22, a second drive motor 32, a third drive motor 42, and two clamping robotic arms 5. Furthermore, the PLC controller 631 also incorporates a multi-task parallel processing module and a conflict resolution module to achieve coordinated control and efficient operation of the overall system.

[0090] Multi-task parallel processing module: This module allows the PLC controller 631 to handle multiple control tasks simultaneously, such as the transfer, sorting, clamping, and moving of items. It can rationally allocate system resources according to the priority and urgency of tasks, ensuring that each task can be carried out efficiently and in an orderly manner.

[0091] Conflict resolution module: During multi-task parallel processing, conflicts may arise between components or lead to resource contention. The conflict resolution module is responsible for monitoring and handling these conflicts, ensuring that each component operates according to the predetermined program logic and sequence of actions, thus preventing system crashes or task failures.

[0092] Workflow

[0093] 1. Command Reception: The PLC controller 631 receives control commands from the operator panel, host computer, or other command sources through its input modules. These commands may include starting or stopping a task, adjusting component action parameters, etc.

[0094] 2. Instruction Parsing and Task Allocation: Upon receiving an instruction, the multi-task parallel processing module of the PLC controller 631 parses the instruction and allocates it to the corresponding execution component based on the nature and priority of the task. Simultaneously, the conflict resolution module begins monitoring for potential conflicts.

[0095] 3. Component Collaborative Operation: Under the command of the PLC controller 631, the various execution components begin to work collaboratively. For example, the electric slide table 621 and the electric telescopic rod 623 cooperate to complete the clamping and transfer operations of the items; the first drive motor 22 and the second drive motor 32 drive the conveying components to transfer the items; the clamping robotic arm 5, under the control of the PLC controller 631, performs precise clamping and placement operations on the items.

[0096] 4. Feedback and Monitoring: During operation, the PLC controller 631 receives feedback signals from various actuators, such as status signals from position sensors and limit switches, through its input modules. These feedback signals are used to monitor the operating status of each component, ensuring they operate according to the predetermined program. If an abnormal situation occurs, such as component failure or action conflict, the conflict resolution module of the PLC controller 631 will immediately take protective measures, such as stopping the operation of the relevant component or issuing an alarm signal.

[0097] It should be noted that the control method of this application can be automatically controlled by a controller. The control method of the controller can be implemented by simple programming by those skilled in the art, which is common knowledge in the field. Furthermore, this application is mainly used to protect mechanical structures, so the control method and circuit connection will not be explained in detail here.

[0098] Specific usage procedures or operation methods:

[0099] I. Start-up Operation of the Device

[0100] 1. Turn on the power:

[0101] Turn on the main power switch to supply power to the multi-task collaborative control device of the entire intelligent gantry robot. The PLC controller 631 begins initialization, performing self-tests on itself and all connected components to check whether the internal program is normal and whether the connections of each component are normal.

[0102] Each drive motor (first drive motor 22, second drive motor 32, and third drive motor 42) enters standby mode, waiting for the start command from the PLC controller 631.

[0103] The electric slide 621, electric telescopic rod 623, and clamping plate 624 also enter their initial positions, awaiting subsequent operation commands.

[0104] II. Material Input and Output Component Operation

[0105] 1. Placement of materials:

[0106] The operator places the unsorted materials one by one at the starting end of the third conveyor 41 of the outgoing component 4. This ensures the materials are placed neatly and avoids transmission failures caused by improper placement.

[0107] The third drive motor 42 receives a start command from the PLC controller 631 and drives the conveyor belt or rollers on the third conveyor frame 41 to rotate through its output terminal, starting the backward transfer of materials. The PLC controller 631 controls the operation of the third drive motor 42 according to preset transmission speed and force parameters.

[0108] 2. Materials are transferred to the vicinity of the distribution device:

[0109] Driven by the third drive motor 42, the material moves smoothly backward along the transmission path of the third conveyor frame 41. During the transmission process, the PLC controller 631 receives feedback signals from the position sensors or limit switches on the third conveyor frame 41 to monitor the position of the material.

[0110] When the material is transferred to the sensing range of the distribution device 6, the PLC controller 631 determines that the material has reached the distribution position based on the signal from the position sensor and proceeds to the next step of the operation.

[0111] III. Operation of the Dispensing Device

[0112] 1. Assigning component location and preparation:

[0113] The PLC controller 631 determines whether the current material should be allocated to the first conveying component 2 or the second conveying component 3 according to the preset allocation rules.

[0114] The PLC controller 631 sends instructions to the electric slide table 621, driving the slider 622 to move linearly along the electric slide table 621. According to preset positioning parameters, the PLC controller 631 precisely controls the movement speed and distance of the electric slide table 621, so that the electric telescopic rod 623 and the clamping plate 624 on the slider 622 are aligned with the material to be dispensed.

[0115] During the movement of slider 622, PLC controller 631 continuously receives position feedback signals from electric slide table 621 to ensure the positional accuracy of slider 622. If a deviation occurs, PLC controller 631 will adjust the drive parameters of electric slide table 621 to return it to the correct position.

[0116] 2. Material clamping operation:

[0117] When the slider 622 reaches the designated position, the PLC controller 631 sends a command to the electric telescopic rod 623 to drive it to extend and retract, thereby moving the clamping plate 624 downward. The PLC controller 631 controls the movement speed and force of the electric telescopic rod 623 according to the preset clamping force parameters of the clamping plate 624, so that the clamping plate 624 accurately clamps the material.

[0118] The clamping plate 624 adjusts its clamping force according to the shape and material of the material to ensure that the material is firmly gripped. The PLC controller 631 monitors the actual clamping force of the clamping plate 624 through a pressure sensor or other feedback device, and completes the material clamping operation when the set clamping force range is reached.

[0119] IV. Material Distribution Operation

[0120] 1. Material transfer:

[0121] After the material is clamped by the clamping plate 624, the PLC controller 631 sends a command to the electric slide table 621 again, driving the slider 622 to move linearly along the electric slide table 621, moving the material above the predetermined first conveying component 2 or second conveying component 3.

[0122] During the movement of slider 622, PLC controller 631 continuously receives position feedback signals from electric slide table 621 to ensure that slider 622 accurately moves the material to the target position.

[0123] 2. Material release operation:

[0124] After the slider 622 moves the material to the target position, the PLC controller 631 sends a command to the electric telescopic rod 623 to drive it to perform a reverse telescopic movement, which in turn moves the clamping plate 624 upward to release the material.

[0125] The material is accurately placed on the first conveying component 2 or the second conveying component 3. The PLC controller 631 records the material's destination information according to the material's assigned position for subsequent monitoring and management.

[0126] V. Operation of the First and Second Transmission Components

[0127] 1. Material classification and transfer:

[0128] Once the material is placed on the first conveying component 2 or the second conveying component 3, the PLC controller 631 sends a start command to the corresponding drive motor (first drive motor 22 or second drive motor 32).

[0129] The corresponding drive motor starts running, and its output drives the conveyor belt or rollers on the first conveyor frame 21 or the second conveyor frame 31 to rotate through the transmission mechanism, realizing the classified transfer of materials. The PLC controller 631 adjusts the speed and torque of the drive motor according to the type of material and the requirements of subsequent processes to ensure smooth and fast material transfer.

[0130] 2. Material transfer monitoring and adjustment:

[0131] During material transfer, the PLC controller 631 continuously monitors the position of the material on the first conveying assembly 2 and the second conveying assembly 3 through feedback devices such as position sensors or limit switches. If the material transfer speed is too fast or too slow, the PLC controller 631 will adjust the speed of the corresponding drive motor to ensure that the material can reach the next process position on time.

[0132] VI. Operation of the clamping robotic arm

[0133] 1. Material handling preparation:

[0134] When the material is transferred to the gripping range of the gripping robotic arm 5, the PLC controller 631 determines the position and status of the material based on the signals from the position sensor or other sensing devices.

[0135] The PLC controller 631 adjusts the gripping parameters of the gripping robotic arm 5, such as gripping force and gripping angle, according to the shape, size, and weight of the material and the requirements of the next process.

[0136] 2. Material clamping operation:

[0137] The PLC controller 631 sends a gripping command to the gripping robotic arm 5, which then grips the material on the first conveying assembly 2 or the second conveying assembly 3 according to the command. The gripping action of the gripping robotic arm 5 adjusts its joint angles and the opening and closing degree of its grippers according to a preset program to ensure that the material is firmly grasped.

[0138] The PLC controller 631 adjusts the gripping force of the robotic arm 5 based on feedback information during the gripping process, such as feedback from the gripping force sensor, to prevent materials from slipping or being damaged.

[0139] 3. Material transfer operation:

[0140] After the gripper arm 5 picks up the material, the PLC controller 631 controls the gripper arm 5 to transfer the material to the designated position based on the position information of the next process. The PLC controller 631 will precisely control the movement path and speed of the gripper arm 5 based on the position information and movement trajectory planning to ensure that the material is accurately transferred to the processing or storage position of the next process.

[0141] VII. Operation Monitoring and Adjustment of the Equipment

[0142] 1. Operational status monitoring:

[0143] Throughout the operation of the device, the PLC controller 631 continuously receives feedback information from various components, including the operating status of each drive motor, the position information of the electric slide table 621 and the electric telescopic rod 623, the working status of the clamping plate 624, and the clamping and transfer status of the clamping robotic arm 5.

[0144] The PLC controller 631 will display this information on the operating interface, allowing operators to view the operating status of the device, including whether each component is working properly, and the progress of material transfer and processing.

[0145] 2. Exception handling:

[0146] If the conflict resolution module of the PLC controller 631 detects a conflict in component actions or a competition for resources, such as multiple components simultaneously attempting to operate on the same material or location, the conflict resolution module will take appropriate measures. These measures may include pausing the actions of some components, adjusting the execution order of tasks, or reallocating resources to ensure stable system operation.

[0147] When the PLC controller 631 receives a fault signal from a component, such as motor overload, sensor failure, or clamping failure, it will issue an alarm signal and display the fault information on the operation interface. Operators can then troubleshoot and handle the fault based on the alarm information.

[0148] 8. Shutdown of the equipment

[0149] 1. Stopping after task completion:

[0150] Once all material handling tasks are completed, the operator can send a stop command to the PLC controller 631 through the operating interface.

[0151] After receiving the stop command, the PLC controller 631 will send stop signals to the first drive motor 22, the second drive motor 32, and the third drive motor 42 in sequence to stop the operation of each transmission component.

[0152] The PLC controller 631 controls the electric slide table 621 to move the slider 622 to the initial position, the electric telescopic rod 623 to the initial length, the clamping plate 624 to the released state, and the two clamping robotic arms 5 to return to the initial position, waiting for the next operation.

[0153] 2. Emergency stop operation:

[0154] In case of emergency during operation, the operator can press the emergency stop button. Upon receiving the emergency stop signal, the PLC controller 631 immediately cuts off the power to all motors, stopping the device and ensuring the safety of personnel and equipment.

[0155] At the same time, the PLC controller 631 records the current status of the device so that it can resume operation based on the previous status information after the fault is cleared.

[0156] In summary, the multi-task collaborative control device for the intelligent gantry manipulator of this utility model, through innovative structural design and intelligent control components, effectively solves the problems of low efficiency, poor coordination, insufficient flexibility, and weak conflict handling ability of existing intelligent gantry manipulators in multi-task collaborative control. It achieves efficient, flexible, and safe material transfer and operation, bringing significant advantages to industrial automation production.

[0157] In the description of this specification, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0158] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0159] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A multi-task collaborative control device for an intelligent gantry robot, characterized in that, It includes a base plate (1), a first conveying assembly (2), a second conveying assembly (3), a transmission assembly (4), two gripping robotic arms (5), and a dispensing device (6), wherein, The first transmission component (2) and the second transmission component (3) are arranged side by side on the base plate (1); The transmission component (4) is arranged parallel to the other end of the base plate (1); The two gripping robotic arms (5) are respectively disposed at one end of the first conveying assembly (2) and the second conveying assembly (3); The dispensing device (6) includes a support frame (61), a dispensing assembly (62), and a control assembly (63), wherein, The support frame (61) is mounted on the base plate (1); The dispensing component (62) is slidably mounted on the support frame (61); The control component (63) is mounted on the distribution component (62), receives external input operation commands, and converts them into control signals for each component.

2. The multi-task collaborative control device for the intelligent gantry robot according to claim 1, characterized in that, The first conveying component (2) includes a first conveying frame (21) and a first drive motor (22), wherein, The first conveyor frame (21) is mounted on the base plate (1); The output end of the first drive motor (22) is connected to the first conveyor frame (21).

3. The multi-task collaborative control device for the intelligent gantry robot according to claim 2, characterized in that, The second conveying assembly (3) includes a second conveyor frame (31) and a second drive motor (32), wherein, The second conveyor frame (31) is mounted on the base plate (1); The output end of the second drive motor (32) is connected to the second conveyor frame (31).

4. The multi-task collaborative control device for the intelligent gantry robot according to claim 3, characterized in that, The output component (4) includes a third conveyor frame (41) and a third drive motor (42), wherein, The third conveyor (41) is located at the other end of the base plate (1); The output end of the third drive motor (42) is connected to the third conveyor frame (41).

5. The multi-task collaborative control device for the intelligent gantry robot according to claim 4, characterized in that, The dispensing assembly (62) includes an electric slide (621), a slider (622), an electric telescopic rod (623), and a clamping plate (624), wherein, The electric slide (621) is mounted on the support frame (61); The slider (622) is slidably mounted on the electric slide table (621); The electric telescopic rod (623) is mounted on the slider (622); The clamping plate (624) is movably disposed at the bottom of the electric telescopic rod (623) for clamping and releasing items.

6. The multi-task collaborative control device for the intelligent gantry robot according to claim 5, characterized in that, The control component (63) includes a PLC controller (631), wherein, The PLC controller (631) is used to receive instructions and control the coordinated operation of the components; The PLC controller (631) is connected to the electric slide (621), the electric telescopic rod (623), the clamping plate (624), the first drive motor (22), the second drive motor (32), the third drive motor (42), and the two clamping robotic arms (5) to achieve coordinated control of the overall system.

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