CN115321063A - Two-degree-of-freedom pure-translation suspension type parallel rope-driven transfer robot - Google Patents

Abstract

The invention discloses a suspended parallel rope-driven handling robot with two degrees of freedom pure translation, comprising a lifting part, a clamping part and a frame, the lifting parts are symmetrically arranged on both sides of the top of the frame, and the clamping part is arranged on the machine In the middle of the bottom of the frame, the lifting part includes a cantilever, a first reel group, a second reel group, a load-bearing platform, a servo motor and a wire rope. Corresponding to the same plane, both sides of each reel of the double reel structure are provided with wire ropes that move synchronously; the clamping part includes a screw stepping motor, a cargo clip, a line rail and a slider, and the load-bearing platform The bottom is provided with a wire rail, the cargo clip is movably clamped to the wire rail through a slider set at the upper end, and the cargo clip is driven by a screw stepping motor. The two-degree-of-freedom pure translation suspended parallel rope-driven handling robot is suitable for small container handling, with a high degree of automation, and can save warehouse shelf space at the same time.

Description

A two-degree-of-freedom purely translational suspended parallel rope-driven handling robot

technical field

The invention relates to the technical field related to material transportation, in particular to a two-degree-of-freedom pure translation suspension type parallel rope-driven handling robot.

Background technique

With the rapid rise of my country's manufacturing industry and the explosive growth of online shopping, the logistics industry has also developed accordingly, but at the same time, this has also brought considerable pressure to logistics and warehousing. The traditional way of sorting goods by hand is inefficient and far from meeting the high-speed and high-efficiency needs of the express logistics industry. Therefore, various handling robots have been put into practical use in logistics and warehousing.

The existing transportation methods of logistics warehousing are as follows: 1. The forklift AGV carries the pallet goods from the goods stacking place through the fork to the side of the shelf, and lifts the fork to directly put the goods on the shelf. However, this method has certain limitations. Generally, the forklift AGV is only suitable for handling large-scale objects such as pallets and shelves, and it is cumbersome when used for small box-type cargo handling in express logistics. In addition, the height of the forklift mast limits the height of the goods on the shelf, which greatly reduces the vertical space utilization of the warehouse. 2. The heavy-duty AGV carries the goods to the forks of the stacker next to the shelf, and the stacker then lifts the goods to put the goods on the shelves. This method is also mostly used for the logistics turnover of stacked pallet goods, which is relatively small for small box goods. Overkill. At the same time, the transport of the goods on the AGV to the stacker requires the cooperation of the conveyor belt, which increases the requirements for the layout of the logistics site and takes up a lot of space. It is also more costly to equip a row of shelves with a mobile stacker.

To sum up, the existing methods of putting goods on the shelves in logistics warehousing and handling are not suitable for small material boxes or small box-type goods transported by express delivery, and the efficiency is low, taking up a large space and high cost.

Contents of the invention

The purpose of the present invention is to provide a two-degree-of-freedom purely translational suspension type parallel rope-driven handling robot to solve the problem of low efficiency of the current material storage when handling small box-type goods proposed in the above background technology.

In order to achieve the above purpose, the present invention provides the following technical solutions: a two-degree-of-freedom purely translational suspension type parallel rope-driven handling robot,

It includes a lifting part, a clamping part and a frame. The lifting part is symmetrically arranged on both sides of the top of the frame, and the clamping part is arranged in the middle of the bottom of the frame.

The lifting part includes a cantilever, a first reel set, a second reel set, a load-bearing platform, a servo motor and a steel wire rope, the first reel set and the second reel set have the same size, and the cantilever is provided with two , the first reel set and the second reel set are respectively rotatably connected to one of the cantilever arms, and a servo motor for driving the first reel set or the second reel set is installed on the cantilever, the first reel set and the second reel set The reel groups are double-drum structures side by side. The two reels at the front and rear ends of the double-drum structure correspond to the front and rear ends of the load-bearing platform on the same plane. There are steel wire ropes that move synchronously, and the steel wire ropes on both sides of the drum are respectively connected to the top of the load-bearing platform and the two sides of the end corresponding to its position;

The clamping part includes a screw stepping motor, a cargo clip, a wire rail and a slider. The bottom of the load-bearing platform is provided with a wire rail. Rod stepper motor drive.

Preferably, the frame is in an inverted "U" shape, extension rods are arranged forward on both sides of the top of the frame, and the first reel set and the second reel group are fixed on the extension rods.

Preferably, rope guide pulleys are provided on both sides of each drum of the first drum group and the second drum group, and the wire ropes on both sides of each drum pass through the wire guide pulleys.

Preferably, there are two groups of line rails, and the line rails are arranged parallel and symmetrically with respect to the left and right ends of the load-bearing platform.

Preferably, the top four corners of the load-bearing platform are respectively equipped with rivets, and the two steel wire ropes on each corner of the load-bearing platform are fixed on the rivets.

Compared with the prior art, the beneficial effect of the present invention is that the two-degree-of-freedom purely translational suspension-type parallel rope-driven handling robot has the following advantages,

1. The present invention can cooperate with the heavy-duty AGV to realize the whole-process automation of logistics storage, replace human labor, and realize efficient operation;

2. The present invention adopts a parallel structure driven by double motors, four reels and eight ropes, which has high precision, rapid dynamic response, and can quickly and accurately load goods on shelves. Specifically,

The lifting part in this patent can realize two-degree-of-freedom translational movement. Compared with the prior art, the number of motors is reduced while completing the two-degree-of-freedom translational movement, avoiding the redundant drive caused by the number of motors being greater than the number of degrees of freedom. The problem of internal force resistance of parallel ropes reduces the complexity of motor control and the energy consumption caused by internal force resistance of motors;

3. The volume of the present invention is small, but the scope of work is very wide. Using the logistics warehouse of the present invention can reduce the arrangement distance of the shelves. Compared with the transportation by AGV forklift, the arrangement of the shelves can be made closer. At the same time, the close arrangement of the shelves can To realize the maximum utilization of the warehouse space, the motor arrangement and the inclined rope drive arrangement of the present invention enable the movement of the moving platform to use some dynamic trajectories to expand its horizontal movement range beyond the horizontal projection range of the two motors, thus expanding the scope of the present invention. project workspace;

4. The present invention has its own cargo clips to pick up the goods, completes the docking of the goods with the AGV, without the need for a conveyor belt, and is also suitable for putting on the shelves of box-type goods such as small material boxes.

5. The present invention has the ability to adapt to changes in the position of the center of mass of the moving platform, guarantees the tension of the ropes during lifting, and can well complete the loading and loading work for the material boxes with uneven mass distribution. The present invention uses two motors to drive eight ropes The layout greatly increases the horizontal projection range of the moving platform wrapped by the rope lifting point without increasing the number of motors. Without increasing the number of motors, the stable centroid range area of the moving platform is increased. Therefore, compared with the layout scheme with fewer ropes, this scheme has a larger stable centroid position area, and at the same time, this scheme makes the center of mass of the moving platform load Maintains tension on all ropes during position changes. In this way, it is ensured that even the material boxes with uneven mass distribution can be well loaded and put on the shelves;

6. The present invention adopts a rope-driven method, which has a simple structure and is convenient to disassemble and assemble. Compared with some hydraulically driven forklift devices, it is easier to maintain and clean.

Description of drawings

Fig. 1 is a schematic diagram of the three-dimensional structure of the present invention;

Fig. 2 is a schematic diagram of the front view structure of the present invention;

Fig. 3 is a schematic view of the top view structure of the present invention;

Fig. 4 is a front view enlarged structure schematic diagram of the reel position of the present invention;

Fig. 5 is a side view structural schematic diagram of Fig. 4 of the present invention;

Fig. 6 is a schematic diagram of the three-dimensional structure of the clamping part of the present invention.

In the figure: 1. Rack; 2. Cantilever; 3. The first reel group; 4. The second reel group; 5. Guide rope pulley; 6. Steel wire rope; 7. Load-bearing platform; 8. Screw stepping motor ; 9. Cargo clamp; 10. Servo motor; 11. Rivet; 12. Line rail; 13. Slider.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

Please refer to Figures 1-6, the present invention provides a technical solution: a two-degree-of-freedom purely translational suspension type parallel rope-driven handling robot,

Including the lifting part, the clamping part and the frame 1, the lifting part is symmetrically arranged on both sides of the top of the frame 1, and the clamping part is arranged in the middle of the bottom of the frame 1,

The lifting part includes a cantilever 2, a first reel set 3, a second reel set 4, a load-bearing platform 7, a servo motor 10 and a steel wire rope 6. The first reel set 3 and the second reel set 4 have the same size, and the cantilever 2 is set There are two, the first reel group 3 and the second reel group 4 are respectively rotatably connected to a cantilever 2, and the cantilever 2 is equipped with a servo motor 10 for driving the first reel group 3 or the second reel group 4, The first reel group 3 and the second reel group 4 are double-drum structures side by side. The two reels on the front and rear ends of the double-drum structure correspond to the front and rear ends of the load-bearing platform 7 respectively. The double-drum structure Both sides of each reel are provided with synchronously moving steel wire ropes 6, and the steel wire ropes 6 on both sides of the reel are respectively connected to the two sides of the top of the load-bearing platform 7 and its corresponding end;

The lifting part is bound on the top of the load-bearing platform 7 in parallel through four drums and eight steel wire ropes 6 structures, so that the center of mass area of the platform is stable when the load-bearing platform 7 is raised and lowered, and the stability is improved. Compared with the traditional electric hoist lifting scheme, this scheme There is a larger stable center of mass position area, and at the same time, this scheme can maintain the tension of all ropes when the position of the center of mass of the moving platform load changes. So as to ensure that the loading and racking work can be well completed for the material boxes with uneven mass distribution

The clamping part includes a screw stepping motor 8, a cargo clamp 9, a wire rail 12 and a slider 13. The bottom of the load-bearing platform 7 is provided with a wire rail 12, and the cargo clip 9 is movably clamped with the wire rail 12 through the slider 13 provided at the upper end. , the cargo clip 9 is driven by the screw stepping motor 8, and the cargo clip 9 can be a common cargo clip 9 on the market, so as to ensure that the goods can be docked and fixed. Let the goods move on the plane, and the purpose of changing the steps is to put the goods on the shelves.

When it needs to be explained, the specific structure of the screw mandrel structure is not specifically shown in the accompanying drawings of the present invention, but this structure is a known prior art, and is not the main invention point of the present invention, so the application does not describe in detail, because the The structure is a known prior art, and the present invention will not repeat it here.

Preferably, the frame 1 is in an inverted "U" shape, and both sides of the top of the frame 1 are provided with extension rods forward, and the first reel group 3 and the second reel group 4 are fixed on the extension rods, which can Ensure the lateral movement range of the goods, and it is also convenient to erect in the middle of some closely arranged shelves.

As preferably, the both sides of each drum of the first drum group 3 and the second drum group 4 are provided with guide rope pulleys 5, and the steel wire ropes 6 on both sides of each drum all pass through the guide rope pulleys 5, and pass through the guide rope pulleys 5. The rope pulley 5 reduces the frictional force suffered by the steel wire rope 6 and plays a role in protecting the rope.

Preferably, there are two groups of line rails 12, and the line rails 12 are arranged parallel and symmetrically with respect to the left and right ends of the load-bearing platform 7. One of the arrangements of rails 12.

As preferably, the top four corners of the load-bearing platform 7 are respectively equipped with rivets 11, and the two steel wire ropes 6 on each corner of the load-bearing platform 7 are all fixed on the rivets 11, and the rivets 11 can also allow the same position to The active force of the steel wire rope 6 on the load-bearing platform 7 is concentrated, and the stability of the lifting device is improved.

Working principle: place the device between the shelves, fix the goods through the cargo clip 9, and drive the servo motor 10 through the driving device. Under the action of the servo motor 10, the first reel group 3 and the second reel group 4 are lifted synchronously The steel wire rope 6 drives the goods up, using two servo motors 10 can ensure the two-plane translational movement of the rope parallel suspension moving platform, after rising to the specified position, drive the screw stepping motor 8, let the cargo clip 9 pass through the slider 13 Move on the line rail 12 and enter into the shelf.

The present invention is a parallel suspension mechanism of eight ropes actively driven by two motors. The motor is connected to the reel group, and the reel group is wound with ropes. By controlling the rotation angle of the motor, the length of the ropes is actively controlled to complete the end of the moving platform. Two degrees of freedom translational motion control.

The mobile platform is equipped with a clamping part to complete the pick-and-place function of handling. At the same time, the present invention greatly increases the horizontal projection range of the moving platform wrapped by the rope lifting point without increasing the number of motors. Without increasing the number of motors, the stable centroid range area of the moving platform is increased. Therefore, compared with the layout scheme with fewer ropes, this scheme has a larger stable centroid position area, and at the same time, this scheme makes the center of mass of the moving platform load Maintains tension on all ropes during position changes. In this way, it is ensured that the work of loading and putting on the shelves can be well completed for the material boxes with uneven mass distribution.

Although the embodiments of the present invention have been shown and described, those skilled in the art can understand that various changes, modifications and substitutions can be made to these embodiments without departing from the principle and spirit of the present invention. and modifications, the scope of the invention is defined by the appended claims and their equivalents.

Claims (5)

1. A two-degree-of-freedom purely translational suspension type parallel rope-driven handling robot, characterized in that: Including the lifting part, the clamping part and the frame (1), the lifting part is symmetrically arranged on both sides of the top of the frame (1), and the clamping part is arranged in the middle of the bottom of the frame (1), The lifting part includes a cantilever (2), a first reel set (3), a second reel set (4), a load-bearing platform (7), a servo motor (10) and a wire rope (6). The drum group (3) and the second drum group (4) are of the same size, and the cantilever (2) is provided with two, and the first drum group (3) and the second drum group (4) are respectively rotatably connected to a On the cantilever (2), the servomotor (10) driving the first reel group (3) or the second reel group (4) is installed on the cantilever (2), the first reel group (3) and the second reel group The two reel groups (4) are double-drum structures side by side. The two reels at the front and rear ends of the double-drum structure correspond to the front and rear positions of the load-bearing platform (7) respectively. Each of the double-drum structures Steel wire ropes (6) that move synchronously are arranged on both sides of each drum, and the steel wire ropes (6) on both sides of the drum are respectively connected to the top of the load-bearing platform (7) and the two sides of the end corresponding to its position; The clamping part includes a screw stepping motor (8), a cargo clamp (9), a wire rail (12) and a slider (13), and the bottom of the load-bearing platform (7) is provided with a wire rail (12), and the cargo The folder (9) is movably clamped with the line rail (12) through the slider (13) provided at the upper end, and the cargo folder (9) is driven by the screw rod stepping motor (8). 2. A two-degree-of-freedom purely translational suspension type parallel rope-driven handling robot according to claim 1, characterized in that: the frame (1) is an inverted "U" shape, and the frame (1 ) are provided with extension rods forward on both sides of the top, and the first reel group (3) and the second reel group (4) are fixed on the extension rods. 3. A two-degree-of-freedom purely translational suspended parallel rope-driven handling robot according to claim 1, characterized in that: the first reel set (3) and the second reel set (4) Both sides of each reel are provided with guide rope pulleys (5), and the wire ropes (6) on both sides of each reel pass through the guide rope pulleys (5). 4. A two-degree-of-freedom purely translational suspension-type parallel rope-driven handling robot according to claim 1, characterized in that: said line rails (12) are provided with two groups, and the line rails (12) are about The left and right ends of the load-bearing platform (7) are arranged in parallel and symmetrically. 5. A two-degree-of-freedom purely translational suspension type parallel rope-driven handling robot according to claim 1, characterized in that: the top four corners of the load-bearing platform (7) are respectively equipped with rivets (11) , two wire ropes (6) on each corner of the load-bearing platform (7) are all fixed on the rivets (11).

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