CN114454152A - Rope-driven stacking robot - Google Patents
Rope-driven stacking robot Download PDFInfo
- Publication number
- CN114454152A CN114454152A CN202210156820.4A CN202210156820A CN114454152A CN 114454152 A CN114454152 A CN 114454152A CN 202210156820 A CN202210156820 A CN 202210156820A CN 114454152 A CN114454152 A CN 114454152A
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- rope
- assembly
- actuator
- movable platform
- robot
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
Abstract
The invention discloses a rope-driven stacking robot which comprises a fixed cross beam, a longitudinal beam, an actuator movable platform assembly and a rope-driven branched chain. Wherein, the longitudinal beam can be horizontally and rotatably arranged on the fixed cross beam; the actuator moving platform assembly comprises a moving platform and an actuator, and the actuator can be rotatably arranged on the moving platform around a vertical shaft; the two groups of rope driving branched chains respectively comprise a motor roller device, a guide pulley assembly, a rope outlet pulley assembly and parallel ropes, and the parallel ropes are led out from the motor roller device and are connected to the movable platform through the guide pulley assembly and the rope outlet pulley assembly in sequence; the parts of the plurality of ropes in each group of parallel ropes between the rope outlet pulley assembly and the movable platform are always kept parallel so as to restrict two rotational degrees of freedom of the actuator movable platform assembly and enable the actuator movable platform assembly to have two planar degrees of freedom. The robot has the advantages of obvious light weight, simple structure, large working space and capability of realizing the material stacking process with low cost and high efficiency.
Description
Technical Field
The invention relates to the technical field of robots and automation, in particular to a rope-driven stacking robot.
Background
With the rapid advance of the warehouse logistics industry, the application of robots in stacking is increasing. The robot is called a stacking robot or a palletizing robot, has a plurality of freedom degrees of motion, and can complete the processes of material grabbing, transportation, attitude determination, placement and the like.
Most of the existing stacking robots are serial articulated stacking robots, moving branch chains of the existing stacking robots are stacked layer by layer, and moving parts are large in inertia. In order to reduce inertia, the size of the robot body is generally small, but the small size results in a small working space range and large power consumption of the robot.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention aims to provide a rope-driven stacking robot which has the advantages of remarkable light weight, simple structure, large working space and capability of realizing the material stacking process with low cost and high efficiency.
A rope-driven stacking robot according to an embodiment of the present invention includes:
fixing the cross beam;
the rotating beam assembly comprises a longitudinal beam, and the longitudinal beam is horizontally and rotatably arranged on the fixed cross beam;
an actuator moving platform assembly located below the rotating beam assembly, the actuator moving platform assembly comprising a moving platform and an actuator, the actuator being rotatably mounted on the moving platform about a vertical axis;
the rope driving branch chains comprise two groups, each group of rope driving branch chains comprises a motor roller device, a guide pulley assembly, a rope outlet pulley assembly and parallel ropes, the motor roller devices, the guide pulley assemblies and the rope outlet pulley assemblies of the two groups of rope driving branch chains are all arranged on the longitudinal beam, and in each group of rope driving branch chains, the parallel ropes are led out from the motor roller devices and are connected to the movable platform through the guide pulley assemblies and the rope outlet pulley assemblies in sequence; when each group of rope driving branched chains controls the length of the parallel ropes between the rope outlet pulley assembly and the movable platform through the motor roller device, the parts of the ropes in each group of parallel ropes between the rope outlet pulley assembly and the movable platform are always kept parallel, so that two rotational degrees of freedom of the actuator movable platform assembly are restrained, and the actuator movable platform assembly has two planar degrees of freedom.
According to the rope-driven stacking robot provided by the embodiment of the invention, the rope-driven stacking robot has the advantages that the actuator of the rope-driven stacking robot has three translational degrees of freedom and one rotational degree of freedom, materials can be transferred, the stacking of the materials at a specific angle is realized, the whole structure is simple, and the production and use costs are lower. Secondly, the rope-driven stacking robot has large working space, and on one hand, the movable platform assembly of the actuator can synchronously rotate along with the longitudinal beam, so that the working space of the movable platform assembly of the actuator is increased; on the other hand, the length adjustment range of the parallel ropes between the rope outlet pulley assembly and the movable platform is large, so that the working space of the movable platform assembly of the actuator is enlarged. Thirdly, the rope is used for driving the branched chain to replace a rigid rod, so that compared with the prior serial articulated stacking robot driven by the rigid rod, the rope-driven stacking robot provided by the embodiment of the invention has the characteristic of light weight, the load generated by self motion is smaller, and the characteristic of high load of a parallel robot is inherited. Therefore, the rope-driven stacking robot has the characteristics of light weight, large working space, low cost and high efficiency.
According to some embodiments of the invention, the fixed beam is a top mounted suspended beam or a floor mounted gantry beam.
According to some embodiments of the invention, when the fixed beam is the suspension beam, the swivel beam assembly is arranged on an underside of the suspension beam; when the fixed cross beam is the gantry cross beam, the rotating beam assembly is arranged on the upper side of the gantry cross beam.
According to some embodiments of the invention, the actuator moving platform assembly further comprises a rotary drive assembly, the actuator being mounted on the moving platform by the rotary drive assembly, the rotary drive assembly driving the actuator to rotate about the vertical axis.
According to some embodiments of the invention, the stringer comprises a stringer deck and a longitudinal link, the lower end of the longitudinal link being fixed to the upper surface of the stringer deck and dividing the stringer deck into opposing first and second sides, the length of the first side being less than the length of the second side, the upper end of the longitudinal link being horizontally rotatably mounted on the fixed cross-beam; the motor drum arrangements of the two sets of rope drive branches are arranged at the first side of the stringer deck.
According to some embodiments of the invention, in one of the two sets of rope drive branches, the guide sheave assembly and the payout sheave assembly are arranged at the first side of the stringer deck; in the other of the two sets of rope drive branches, the guide pulley assembly is disposed at the longitudinal connection and the second side of the stringer deck, and the payout pulley assembly is disposed at the second side of the stringer deck.
According to some embodiments of the invention, the number of ropes in the parallel ropes of both sets of rope driving branches is two.
According to some embodiments of the invention, the mobile platform has four cable connection points thereon, the four cable connection points being symmetrical with respect to the geometric center of the mobile platform; the parallel ropes of one group of rope driving branched chains of the two groups of rope driving branched chains are correspondingly connected with two rope connecting points of the four rope connecting points, the parallel ropes of the other group of rope driving branched chains of the two groups of rope driving branched chains are correspondingly connected with the other two rope connecting points of the four rope connecting points, and a connecting line between the two rope connecting points and a connecting line between the other two rope connecting points are arranged in an X-shaped crossed manner.
According to some embodiments of the invention, the projection of the center of gravity of the actuator moving platform assembly in the horizontal plane is located in a quadrilateral formed by connecting four cable connecting points in sequence and is close to the geometric center of the moving platform.
According to some embodiments of the present invention, the motor-drum device includes a drum mounting seat fixedly mounted on the longitudinal beam, a drum rotatably supported on the drum mounting seat, one end of the parallel rope is wound on the drum, and a servo motor for driving the drum to rotate forward and backward to change the length of the parallel rope between the rope-out pulley assembly and the movable platform.
According to some embodiments of the invention, the rope-driven stacker robot is mounted with the center of rotation of the stringer near the end of the material conveyor belt.
According to some embodiments of the invention, when the rope drives the stacking robot to work, the movable platform passes through a vertical projection area of a rotation center of the longitudinal beam, and the height of the movable platform is relatively high, the actuator is rotated to adjust a material rotation angle on the actuator.
Additional aspects and advantages of the 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.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic structural view of a rope-driven stacker robot according to an embodiment of the present invention.
Fig. 2 is a schematic structural view of a motor drum device in a rope-driven stacker robot according to an embodiment of the present invention.
Fig. 3 is a schematic structural diagram of an actuator moving platform assembly in the rope-driven stacking robot according to the embodiment of the invention.
Reference numerals:
rope-driven stacking robot 1000
Fixed cross beam 1
Actuator moving platform component 3
Rope drive branch 4
Coupling 4014 fourth reducer 4015 fourth encoder 4016 guide pulley assembly 402
Cable-out pulley assembly 403 parallel rope 404 quadrilateral ABCD
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
A rope driven stacker robot 1000 according to an embodiment of the present invention will be described with reference to fig. 1 to 3.
As shown in fig. 1 to 3, a cable driven stacking robot 1000 according to an embodiment of the present invention includes a fixed beam 1, a rotating beam assembly 2, an actuator moving platform assembly 3, and a cable driving branch chain 4. The rotating beam assembly 2 comprises a longitudinal beam 201, and the longitudinal beam 201 can be horizontally and rotatably arranged on the fixed cross beam 1; the actuator moving platform assembly 3 is positioned below the rotating beam assembly 2, the actuator moving platform assembly 3 comprises a moving platform 301 and an actuator 302, and the actuator 302 is rotatably arranged on the moving platform 301 around a vertical shaft; two groups of rope driving branched chains 4 are provided, each group of rope driving branched chain 4 comprises a motor roller device 401, a guide pulley component 402, a rope outlet pulley component 403 and a parallel rope 404, the motor roller devices 401, the guide pulley components 402 and the rope outlet pulley components 403 of the two groups of rope driving branched chains 4 are all arranged on the longitudinal beams 201, in each group of rope driving branched chains 4, the parallel ropes 404 are led out from the motor roller devices 401 and are connected to the movable platform 301 through the guide pulley components 402 and the rope outlet pulley components 403 in sequence; when each group of rope driving branched chains 4 controls the length of the parallel ropes 404 between the rope outlet pulley assembly 403 and the movable platform 301 through the motor roller device 401, the parts of the ropes in each group of parallel ropes 404 between the rope outlet pulley assembly 403 and the movable platform 301 are always kept parallel, so that two rotational degrees of freedom of the actuator movable platform assembly 3 are restrained, and the actuator movable platform assembly 3 has two planar degrees of freedom.
Specifically, the fixed beam 1 is used to support the rotating beam assembly 2 while providing a mounting location for the rotating beam assembly 2. The rotating beam assembly 2 comprises a longitudinal beam 201, and the longitudinal beam 201 is horizontally and rotatably arranged on the fixed cross beam 1; that is to say, the longitudinal beam 201 can rotate horizontally, and because the two groups of rope driving branched chains 4 connected with the actuator moving platform assembly 3 are both arranged on the longitudinal beam 201, the longitudinal beam 201 can drive the moving platform 301 to rotate horizontally when rotating, so that the moving platform 301 can realize translational freedom along the left-right direction in fig. 1, the working space of the moving platform 301 is increased, and thus, materials can be transferred from one place to another place for stacking.
As shown in fig. 1, the actuator moving platform assembly 3 is located below the rotating beam assembly 2, the actuator moving platform assembly 3 includes a moving platform 301 and an actuator 302, and the actuator 302 is rotatably mounted on the moving platform 301 around a vertical axis, so that the rotation angle of the material on the actuator 302 can be adjusted by controlling the rotation of the actuator 302, and the material can be palletized at a specific angle.
As shown in fig. 1, there are two groups of rope driving branched chains 4, each of the two groups of rope driving branched chains 4 includes a motor roller device 401, a guide pulley assembly 402, a rope outlet pulley assembly 403 and a parallel rope 404, the motor roller device 401, the guide pulley assembly 402 and the rope outlet pulley assembly 403 of the two groups of rope driving branched chains 4 are all installed on the longitudinal beam 201, and in each group of rope driving branched chains 4, the parallel rope 404 is led out from the motor roller device 401 and is connected to the movable platform 301 through the guide pulley assembly 402 and the rope outlet pulley assembly 403 in sequence. It is understood that the motor-drum device 401 is used to drive the parallel rope 404, changing the length of the parallel rope 404 between the movable platform 301 and the rope-out pulley assembly 403; the guide pulley assembly 402 and the cable-out pulley assembly 403 are used for guiding and reversing the parallel ropes 404 on one hand and enabling the parallel ropes 404 to move more smoothly on the other hand; compared with the prior art of the serial articulated stacking robot driven by the rigid rod, the rope-driven stacking robot 1000 of the invention has the following advantages by using the rope-driven branched chain 4 to replace the rigid rod: firstly, the mass of the robot is greatly reduced, so that the load caused by the mass of the robot is reduced, the energy consumption required for driving the robot to move can be reduced, and the robot has the characteristic of light weight; secondly, the two groups of parallel ropes 404 are adopted to bear stress together, and the advantage of high load capacity of the parallel robot is inherited; thirdly, the use of the rope driving branched chain 4 avoids complex hinges such as spherical hinges and the like which are used in large quantity by the rigid rod moving branched chain in the prior art, and has simple structure and low cost; the length adjustment range of the fourth and parallel ropes 404 between the rope-out pulley assembly 403 and the movable platform 301 is large, so that the movement range of the movable platform 301 is enlarged, and the working space of the robot is enlarged.
As shown in fig. 1, since the actuator moving platform assembly 3 is suspended below the rotating beam assembly 2 by the parallel ropes 404, the parallel ropes 404 can be ensured to be always in a tensioned state by the self weight of the actuator moving platform assembly 3 or the self weight of the actuator moving platform assembly 3 and the gripped material. When each group of rope driving branched chains 4 controls the length of the parallel ropes 404 between the rope outlet pulley assembly 403 and the movable platform 301 through the motor roller device 401, the parts of the ropes in each group of parallel ropes 404 between the rope outlet pulley assembly 403 and the movable platform 301 are always kept parallel, so that two rotational degrees of freedom of the actuator movable platform assembly 3 are restrained, and the actuator movable platform assembly 3 has two planar degrees of freedom. It can be understood that the two rotational degrees of freedom of the actuator movable platform assembly 3 are constrained so that the actuator movable platform 301 is not easy to rotate around a horizontal rotation shaft when translating, thereby reducing the possibility that the actuator movable platform assembly 3 tilts and turns over from a horizontal state when grabbing materials, and enabling the motion of the actuator movable platform assembly 301 to be more stable; the two planar degrees of freedom of the actuator moving platform assembly 3 refer to the translational degree of freedom of the actuator moving platform assembly 3 capable of moving in the front-back direction and the up-down direction in fig. 1, that is, the vertical plane where the horizontal extending direction of the longitudinal beam 201 is located is the moving plane of the actuator moving platform assembly 3, the actuator moving platform assembly 3 can realize three-dimensional planar movement by combining the translational degree of freedom of the rotating beam assembly 2 driving the moving platform 301 to move, and meanwhile, the actuator 302 also has a rotational degree of freedom around the vertical axis relative to the moving platform 301, so that the actuator 302 has three planar degrees of freedom and one rotational degree of freedom, and can meet the requirement of daily material stacking work.
The rope-driven stacking robot 1000 according to the embodiment of the present invention has the following advantages that the actuator 302 of the rope-driven stacking robot 1000 according to the first embodiment of the present invention has three translational degrees of freedom and one rotational degree of freedom, can transfer materials, and can stack the materials at a specific angle, and the rope-driven stacking robot has a simple overall structure and is low in production and use costs. Secondly, the rope-driven stacking robot 1000 has a large working space, and on one hand, the actuator movable platform assembly 3 can synchronously rotate along with the longitudinal beam 201, so that the working space of the actuator movable platform assembly 3 is increased; on the other hand, the length adjustment range of the parallel ropes 404 between the rope-out pulley assembly 403 and the movable platform 301 is large, so that the working space of the movable platform assembly 3 of the actuator is increased. Thirdly, the rope-driven stacking robot 1000 has the characteristic of light weight and smaller load generated by self movement compared with the prior series-connection articulated stacking robot technology driven by a rigid rod piece by using the rope-driven branch chain 4 to replace the rigid rod piece, and inherits the characteristic of high load of the parallel robot. Therefore, the rope-driven stacking robot 1000 of the present invention has the characteristics of light weight, large working space, low cost and high efficiency.
According to some embodiments of the present invention, the fixed beam 1 is a top-mounted suspended beam or a floor-mounted gantry beam, which can be selected according to actual conditions.
According to some embodiments of the invention, when the fixed beam 1 is a suspension beam, the rotation beam assembly 2 is arranged on the lower side of the suspension beam; when the fixed beam 1 is a gantry beam, the rotating beam assembly 2 is arranged on the upper side of the gantry beam. The appropriate arrangement can be selected according to actual conditions to meet actual use requirements.
According to some embodiments of the present invention, the rotating beam assembly 2 further includes a longitudinal beam driving assembly for driving the longitudinal beam 201 to rotate, when the fixed cross beam 1 is a suspended cross beam, the longitudinal beam driving assembly includes a first driving mounting seat, a first flange, a first speed reducer, a first servo motor and a first encoder, the first servo motor is provided with the first speed reducer and the first encoder, the first driving mounting seat is used for mounting the first servo motor and the first speed reducer, the first servo motor realizes closed-loop control through the first encoder, the first driving mounting seat is mounted below the suspended cross beam, the first flange is fixedly connected with the top of the longitudinal beam 201, and the first speed reducer realizes driving the longitudinal beam 201 to rotate through being connected with the first flange. When the fixed cross beam 1 is a gantry cross beam, the longitudinal beam driving assembly comprises a second driving mounting seat, a second flange plate, a second speed reducer, a second servo motor and a second encoder, the second servo motor is provided with the second speed reducer and the second encoder, the second driving mounting seat is used for mounting the second servo motor and the second speed reducer, the second servo motor realizes closed-loop control through the second encoder, the second driving mounting seat is mounted above the gantry cross beam, the second flange plate is fixedly connected with the bottom of the longitudinal beam 201, and the second speed reducer is connected with the second flange plate to drive the longitudinal beam 201 to rotate.
According to some embodiments of the present invention, as shown in fig. 3, the actuator moving platform assembly 3 further includes a rotation driving assembly 303, the actuator 302 is mounted on the moving platform 301 through the rotation driving assembly 303, and the rotation driving assembly 303 drives the actuator 302 to rotate around a vertical axis, so that the actuator 302 has a one-dimensional rotation freedom around the vertical direction to adjust a rotation angle of the actuator 302, so as to stack the materials at a specific angle. In particular, the end effector 302 may be a suction cup or a jaw.
In some specific embodiments, the rotation driving assembly 303 includes a joint motor, a third driving mounting seat, and a third flange, the joint motor is fixedly mounted on the third driving mounting seat, the third driving mounting seat is mounted on the movable platform 301, the actuator 302 is fixedly mounted on the third flange, and the joint motor drives the third flange to rotate, so as to drive the actuator 302 to rotate. Alternatively, the rotation driving assembly 303 is a combination of a common motor and a worm gear or a belt transmission, so as to drive the actuator 302 to rotate.
According to some embodiments of the present invention, as shown in fig. 1, the longitudinal beam 201 includes a longitudinal beam platform 2011 and a longitudinal connecting portion 2012, a lower end of the longitudinal connecting portion 2012 is fixed on an upper surface of the longitudinal beam platform 2011 and divides the longitudinal beam platform 2011 into a first side and a second side, a length of the first side is smaller than a length of the second side, and an upper end of the longitudinal connecting portion 2012 is horizontally and rotatably mounted on the fixed cross beam 1. It can be understood that the length of the first side is smaller than the length of the second side, so that the free end of the second side of the longitudinal beam platform 2011 is far away from the rotation center, and therefore the working space of the actuator moving platform assembly 3 can be further improved, and meanwhile, the phenomenon that the longitudinal beam platform 2011 is bent due to the fact that the overall length of the longitudinal beam platform 2011 is too long can be avoided, and the positioning accuracy of the actuator 302 is affected. The motor drum devices 401 of the two groups of rope-driven branched chains 4 are arranged on the first side of the longitudinal beam platform 2011, so that the center of gravity of the combined longitudinal beam 201 and the motor drum devices 401 can be located near the rotating shaft of the longitudinal beam 201, and further, the rotation of the longitudinal beam 201 is ensured to be more stable.
According to some embodiments of the present invention, as shown in fig. 1, in one of the two sets of rope drive branches 4, the guide pulley assembly 402 and the out-line pulley assembly 403 are arranged at a first side of the stringer platform 2011; in the other of the two sets of rope drive branches 4, the guide pulley assembly 402 is arranged at the second side of the longitudinal tie 2012 and the stringer platform 2011 and the payout pulley assembly 403 is arranged at the second side of the stringer platform 2011. It can be understood that the parallel ropes 404 in one group of rope driving branches 4 pass through the guide pulley assembly 402 at the first side of the longitudinal beam platform 2011, then penetrate through the rope outlet pulley assembly 403 at the first side of the longitudinal beam platform 2011, and finally are connected to the movable platform 301; parallel ropes 404 in another group of rope driving branched chains 4 sequentially pass through guide pulley assemblies 402 located at longitudinal connecting portions 2012, guide pulley assemblies 402 located at the second side of a longitudinal beam platform 2011 and cable outlet pulley assemblies 403 located at the second side of the longitudinal beam platform 2011 and then are connected to the movable platform 301, so that the parallel ropes 404 in the two groups of rope driving branched chains 4 are located on two opposite sides, and thus the resultant force directions of the acting forces of the two groups of parallel ropes 404 can be as far as along the extension direction of the longitudinal beam platform 2011, tension and compression stress is realized, structural bending of the longitudinal beam platform 2011 is avoided, the bearing capacity of unit mass is improved, and the lightweight design of the longitudinal beam 201 is facilitated.
According to some embodiments of the invention, as shown in fig. 1 and 3, the number of ropes in the parallel ropes 404 of both groups of rope drive branches 4 is two. It can be understood that each group of rope driving branched chains 4 only adopts two ropes to control the movable platform 301, so that the whole robot has a simpler structure and is convenient to arrange and install.
According to some embodiments of the present invention, as shown in fig. 3, the movable platform 301 has four cable attachment points 3011, and the four cable attachment points 3011 are symmetrical with respect to the geometric center of the movable platform 301; thus, the movable platform 301 can be controlled more simply and conveniently. Parallel ropes 404 of one group of rope driving branched chains 4 of the two groups of rope driving branched chains 4 are correspondingly connected with two rope connection points 3011 of the four rope connection points 3011, parallel ropes 404 of the other group of rope driving branched chains 4 of the two groups of rope driving branched chains 4 are correspondingly connected with the other two rope connection points 3011 of the four rope connection points 3011, and connecting lines between the two rope connection points 3011 and connecting lines between the other two rope connection points 3011 are arranged in an X-shaped crossing mode. Therefore, the parallel ropes 404 can well restrain two rotational degrees of freedom of the movable platform 301, the restraint effect is good, the movable platform 301 is not easy to overturn in a non-motion plane, and the movable platform 301 is more stable when grabbing materials through the actuator 302. In one specific example, a ceramic eye is provided at the cable attachment point 3011 to reduce wear between the parallel cables 404 and the movable platform 301 during movement.
Preferably, the four cable attachment points 3011 are distributed, i.e., the cable attachment points 3011 are attached to the movable platform 301 as spaced apart as possible, to better and more easily control the corresponding movement of the movable platform 301 and to constrain the movable platform 301 from rotation in a non-moving plane.
According to some embodiments of the present invention, as shown in fig. 3, the projection of the center of gravity of the actuator moving platform assembly 3 in the horizontal plane is located within the quadrilateral ABCD formed by the sequential connection of the four cable connection points 3011 and close to the geometric center of the moving platform 301. Thus, when the parallel ropes 404 drive the movable platform 303 to move, the movable platform 303 is not easy to overturn, the operation is more stable, and the parallel ropes 404 can more easily realize the efficient control of the movable platform 303.
According to some embodiments of the present invention, the motor-drum device 401 includes a drum mounting base 4011, a drum 4012, and a servomotor 4013, the drum mounting base 4011 is fixedly mounted on the longitudinal beam 201, the drum 4012 is rotatably supported on the drum mounting base 4011, one end of the parallel rope 404 is wound on the drum 4012, the servomotor 4013 drives the drum 4012 to rotate forward and backward to change the length of the parallel rope 404 between the rope-out pulley assembly 403 and the moving platform 301, so as to realize the driving control of the moving platform 301, to constrain two rotational degrees of freedom of the actuator moving platform assembly 3, and to enable the actuator moving platform assembly 3 to have two planar degrees of freedom. Specifically, motor drum device 401 includes cylinder mount 4011, cylinder 4012, servo motor 4013, shaft coupling 4014, fourth reduction gear 4015 and fourth encoder 4016, servo motor 4013 is equipped with fourth reduction gear 4015 and fourth encoder 4016, servo motor 4013 realizes closed-loop control through fourth encoder 4016, servo motor 4013 passes through shaft coupling 4014 and the coaxial fixed connection of cylinder 4012 center pivot, parallel rope 404 twines on cylinder 4012, servo motor 4013 drive cylinder 4012 rotates, the realization is received and released parallel rope 404's winding, fourth reduction gear 4015 and servo motor 4013 fix on longeron platform 2011 through cylinder mount 4011.
According to some embodiments of the invention, when the rope-driven stacking robot 1000 is installed, the rotation center of the longitudinal beam 201 is close to the tail end of the material transmission belt, so that when the rope-driven stacking robot 1000 provided by the embodiments of the invention is used for grabbing materials on the material transmission belt, two groups of rope-driven branched chains 4 can be fully used for driving and controlling the movable platform 301 to perform high-speed reciprocating motion, the stacking process of the materials is realized, the rotation of the longitudinal beam 2011 is reduced, the energy consumption can be well reduced, and the working efficiency of the robot provided by the invention is improved.
According to some embodiments of the invention, when the rope-driven stacking robot 1000 works, the movable platform 301 passes through the vertical projection area of the rotation center of the longitudinal beam 201, and the height of the movable platform 301 is relatively high, the actuator 302 is rotated to adjust the material rotation angle on the actuator 302. It can be understood that, at this time, the length of the portion, below the longitudinal beam platform 2011, of the parallel ropes 404 in the two groups of rope driving branched chains 4 is short, the overall structure of the robot is stable, and the parallel ropes 404 and the movable platform 301 are not prone to swing, that is, the stacking robot of the present invention has high rigidity, and when the corner of the material is adjusted, the possibility of shaking is less. At this time, the real-time reaction force can be used for damping by controlling the rotation of the actuator 302, so that the uncontrolled swinging of the material and the parallel ropes 404 is avoided.
According to some embodiments of the present invention, the cable-out pulley assembly 403 includes a cable-out pulley seat and a cable-out pulley, the cable-out pulley seat is rotatably mounted on the longitudinal beam 201 through a revolute pair, so that the cable-out pulley assembly 403 can swing around a vertical axis of the revolute pair, so that the cable-out pulley assembly 403 can always swing along with the parallel cables 404, and further the cable-out pulley assembly 403 can automatically adjust an azimuth angle of the cable-out pulley, and the cable-out pulley and the corresponding cables are always coplanar, so that the single cables in the parallel cables 404 can always be kept parallel. The guide pulley assembly 402 includes a guide pulley block and a guide pulley rotatably mounted on the guide pulley block.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like are intended to mean that a particular feature, structure, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (12)
1. A cable driven stacking robot, comprising:
fixing the cross beam;
the rotating beam assembly comprises a longitudinal beam, and the longitudinal beam is horizontally and rotatably arranged on the fixed cross beam;
an actuator moving platform assembly located below the rotating beam assembly, the actuator moving platform assembly comprising a moving platform and an actuator, the actuator being rotatably mounted on the moving platform about a vertical axis;
the rope driving branch chains comprise two groups, the two groups of rope driving branch chains comprise motor roller devices, guide pulley assemblies, rope outlet pulley assemblies and parallel ropes, the motor roller devices, the guide pulley assemblies and the rope outlet pulley assemblies of the two groups of rope driving branch chains are all arranged on the longitudinal beam, and in each group of rope driving branch chains, the parallel ropes are led out from the motor roller devices and are connected to the movable platform through the guide pulley assemblies and the rope outlet pulley assemblies in sequence; when each group of rope driving branched chains controls the length of the parallel ropes between the rope outlet pulley assembly and the movable platform through the motor roller device, the parts of the ropes in each group of parallel ropes between the rope outlet pulley assembly and the movable platform are always kept parallel, so that two rotational degrees of freedom of the actuator movable platform assembly are restrained, and the actuator movable platform assembly has two planar degrees of freedom.
2. The cable driven stacking robot of claim 1, wherein the fixed beam is a top mounted hanging beam or a floor mounted gantry beam.
3. The rope driven stacking robot of claim 2, wherein when said fixed beam is said suspension beam, said rotating beam assembly is disposed on an underside of said suspension beam; when the fixed cross beam is the gantry cross beam, the rotating beam assembly is arranged on the upper side of the gantry cross beam.
4. The cable driven palletizer robot as recited in claim 1, wherein the actuator moving platform assembly further comprises a rotary drive assembly, the actuator being mounted on the moving platform by the rotary drive assembly, the rotary drive assembly driving the actuator to rotate about the vertical axis.
5. The rope driven palletizing robot as recited in claim 1, wherein the stringer comprises a stringer deck and a longitudinal link, a lower end of the longitudinal link being fixed to an upper surface of the stringer deck and dividing the stringer deck into opposite first and second sides, a length of the first side being less than a length of the second side, an upper end of the longitudinal link being horizontally rotatably mounted on the fixed cross member; the motor drum arrangements of the two sets of rope drive branches are arranged at the first side of the stringer deck.
6. The cable driven stacker robot of claim 5, wherein in one of said cable drive branches of said two sets of said cable drive branches, said guide pulley assembly and said payout pulley assembly are disposed at said first side of said stringer deck; in the other of the two sets of rope drive branches, the guide pulley assembly is disposed at the longitudinal connection and the second side of the stringer deck, and the payout pulley assembly is disposed at the second side of the stringer deck.
7. The rope driven stacker robot of claim 6, wherein the number of ropes in the parallel ropes of both sets of rope driven branches is two.
8. The cable driven stacker robot of claim 7 wherein said movable platform has four cable attachment points, said four cable attachment points being symmetrical with respect to a geometric center of said movable platform; the parallel ropes of one group of rope driving branched chains of the two groups of rope driving branched chains are correspondingly connected with two rope connecting points of the four rope connecting points, the parallel ropes of the other group of rope driving branched chains of the two groups of rope driving branched chains are correspondingly connected with the other two rope connecting points of the four rope connecting points, and a connecting line between the two rope connecting points and a connecting line between the other two rope connecting points are arranged in an X-shaped crossed manner.
9. The cable driven palletizer robot as recited in claim 8, wherein a projection of a center of gravity of the actuator moving platform assembly in a horizontal plane is positioned within a quadrilateral formed by sequentially connecting four cable connection points and is close to a geometric center of the moving platform.
10. The cable-driven stacker robot according to any one of claims 1 to 9, wherein said motor-drum means comprises a drum mount, a drum fixedly mounted on said longitudinal beam, and a servo motor, said drum being rotatably supported on said drum mount, one end of said parallel cable being wound around said drum, said servo motor driving said drum to rotate forward and backward to change a length of said parallel cable between said payout pulley assembly and said movable platform.
11. The rope driven palletizer robot as recited in any one of claims 1 to 9, wherein the longitudinal beam has a center of rotation near a distal end of the material conveying belt when the rope driven palletizer robot is installed.
12. The rope driven stacker robot of any one of claims 1 to 9, wherein when said rope driven stacker robot is operating, said movable platform passes through a vertical projection area of a rotation center of said longitudinal beam and a height of said movable platform is relatively high, said actuator is rotated to adjust a material rotation angle on said actuator.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210156820.4A CN114454152A (en) | 2022-02-21 | 2022-02-21 | Rope-driven stacking robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210156820.4A CN114454152A (en) | 2022-02-21 | 2022-02-21 | Rope-driven stacking robot |
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