CN116281118A - Truss robot for solid waste disposal and working method thereof - Google Patents

Abstract

The invention discloses a truss robot for solid waste disposal and a working method thereof. The truss robot comprises a frame, a triaxial moving mechanism and a carrying executing mechanism. The carrying mechanical claw comprises a clamping claw fixing seat, a clamping claw movable seat, a first rotary clamping plate, a second rotary clamping plate, a clamping driving assembly and a rotary driving assembly. The clamping jaw movable seat is in sliding connection with the clamping jaw fixing seat. The clamping driving assembly drives the clamping jaw movable seat to slide on the clamping jaw fixing seat. The first rotary clamping plate and the second rotary clamping plate are respectively and rotatably connected to the clamping jaw fixing seat and the clamping jaw movable seat. The first rotating clamping plate and the second rotating clamping plate are opposite to each other. According to the invention, through the cooperation of the support, the moving unit and the executing unit arranged on the truss, the waste material barrel can be effectively transferred from the initial position to the designated position, the current state of the waste material barrel is detected through the tension sensor to determine the working step, the grabbing and dumping of the waste material barrel are realized, and the preparation is made for the next working procedure.

Description

Truss robot for solid waste disposal and working method thereof

Technical Field

The invention belongs to the technical field of special robots, and particularly relates to a truss robot for solid waste disposal and a working method thereof.

Background

Truss robots are also called gantry robots, and belong to rectangular coordinate robots. Is a full-automatic industrial device which is used for adjusting the work station of the workpiece or realizing the functions of track movement of the workpiece on the basis of a rectangular X, Y and Z three-coordinate system. The truss type robot can carry objects and operating tools to finish various operations, has high speed, high precision and good dustproof and antifouling properties, and can meet the requirements of actual production and life.

Solid waste refers to solid, semi-solid and gaseous objects placed in containers that lose their original value of use or are discarded in production and living and other human activities, as well as objects and substances contained in the management of solid waste according to law and administration regulations. The solid waste is harmful to the environment, and in the process of carrying, the solid waste can spend large manpower and material resources, so that the solid waste treatment efficiency is greatly limited.

Disclosure of Invention

The invention aims to provide a truss robot for solid waste disposal and a working method thereof, which are used for solving the problems of resource waste and environmental pollution caused by high manpower and material resources consumption due to low solid waste disposal efficiency in the background technology.

A truss robot for solid waste disposal comprises a frame, a triaxial moving mechanism and a carrying executing mechanism. The triaxial moving mechanism is arranged on the frame and drives the carrying executing mechanism to move. The carrying executing mechanism comprises a hoisting disc, a first tension sensor, a second tension sensor and a carrying mechanical claw. The hoisting disc is connected with the tail end of the triaxial moving mechanism through two first tension sensors and two second tension sensors which are arranged side by side. The first tension sensor and the second tension sensor are symmetrically connected to two sides of the top of the lifting disc. Hooks are arranged on two sides of the bottom of the lifting disc.

The carrying mechanical claw comprises a clamping claw fixing seat, a clamping claw movable seat, a first rotary clamping plate, a second rotary clamping plate, a clamping driving assembly and a rotary driving assembly. A plurality of downward grooves are formed in the clamping jaw fixing seat. Under the state that the carrying mechanical claw is arranged on the lifting disc, each groove on the clamping claw fixing seat is hung on the hooks on two sides of the lifting disc.

The clamping jaw movable seat is in sliding connection with the clamping jaw fixing seat. The clamping driving assembly drives the clamping jaw movable seat to slide on the clamping jaw fixing seat. The first rotary clamping plate and the second rotary clamping plate are respectively and rotatably connected to the clamping jaw fixing seat and the clamping jaw movable seat. The first rotating clamping plate and the second rotating clamping plate are opposite to each other.

The rotary driving assembly comprises a rotary servo motor and a transmission mechanism; the transmission mechanism comprises a telescopic transmission shaft and a second belt transmission assembly. The two ends of the telescopic transmission shaft are respectively and rotatably connected to the clamping jaw movable seat and the clamping jaw fixed seat. One end of the telescopic transmission shaft is driven to rotate by a rotary servo motor. The two ends of the telescopic transmission shaft are respectively connected with the first rotary clamping plate and the second rotary clamping plate through the second belt transmission assembly in a transmission way.

Preferably, the telescopic transmission shaft comprises a first rotating shaft, a universal joint coupling, a spline shaft and a second rotating shaft. The first rotating shaft is rotationally connected to the clamping jaw fixing seat. The second rotating shaft is rotatably connected to the clamping jaw movable seat. One end of the spline shaft is driven with the end part of the first rotating shaft through a universal joint coupling. The second rotating shaft and the spline shaft form spline connection.

Preferably, the rotary driving assembly further comprises a planetary reducer. The rotary servo motor and the planetary reducer are fixedly arranged on the clamping jaw fixing seat. An output shaft of the rotary servo motor is fixed with an input port of the planetary reducer. The transmission mechanism also comprises a first belt transmission assembly. The first belt drive assembly includes a first timing belt and a first timing wheel. The first rotating shaft and the output shaft of the planetary reducer are both fixedly provided with a first synchronous wheel. The first synchronous wheel on the first rotating shaft is in transmission connection with the first synchronous wheel on the output shaft of the planetary reducer through a first synchronous belt.

Preferably, the second belt transmission assembly includes a second synchronizing wheel and a second synchronizing belt. The first rotating shaft, the second rotating shaft, the first rotating clamping plate and the second rotating clamping plate are all coaxially fixed with a second synchronous wheel. The first rotating shaft is connected with a second synchronous wheel on the first rotating clamping plate through a first and a second synchronous belt. The second rotating shaft is connected with a second synchronous wheel on the second rotating clamping plate through a second synchronous belt. And the clamping jaw fixing seat and the clamping jaw movable seat are both rotationally connected with a synchronous idler wheel. The two synchronous idler wheels are respectively meshed with the two second synchronous belts.

Preferably, the clamping jaw fixing seat is fixedly provided with a clamping jaw sliding block. The clamping jaw movable seat is fixedly provided with a clamping jaw linear slide rail. The clamping jaw sliding block is in sliding connection with the clamping jaw fixing seat through a clamping jaw linear sliding rail.

Preferably, a plurality of claw hooks are arranged on the opposite sides of the first rotating clamping plate and the second rotating clamping plate.

Preferably, the clamping driving assembly comprises an opening and closing servo motor, a clamping gear and a clamping rack. The opening and closing servo motor is fixedly arranged on the clamping jaw fixing seat. A clamping gear is fixed on an output shaft of the opening and closing servo motor; the clamping rack is fixed on the clamping jaw movable seat. The clamping gear is meshed with the clamping rack.

Preferably, the frame comprises a supporting frame and a truss; the bottom ends of the four supporting frames are fixed with the ground through screws. The top ends of the four supporting frames are respectively and fixedly connected with the two ends of the two groups of trusses. The two groups of trusses are equal in height and are arranged at intervals. The triaxial moving mechanism is arranged between the two groups of trusses.

Preferably, the three-axis moving mechanism comprises an X-axis moving truss, a two-stage X-axis driving unit, a Y-axis moving plate, a Y-axis driving unit, a Z-axis moving column and a Z-axis driving unit. The X-axis movable truss is connected to the frame in a sliding manner along the X-axis direction and is driven by a two-stage X-axis driving unit. The Y-axis moving plate is connected to the X-axis moving truss in a sliding manner along the Y-axis direction and is driven by the Y-axis driving unit. The Z-axis moving column is connected to the Y-axis moving plate in a sliding manner along the Z-axis direction and is driven by the Z-axis driving unit. The X-axis direction, the Y-axis direction and the Z-axis direction are perpendicular to each other.

Preferably, the two-stage X-axis driving unit includes a first X-axis driving unit, a one-stage moving truss, and a second X-axis driving unit. The first X-axis driving unit comprises a first-stage X-axis linear slide rail, a first-stage X-axis helical gear and a first-stage X-axis servo motor; two primary X-axis linear slide rails are fixed at the tops of the two groups of trusses; a plurality of first-stage X-axis sliding blocks are connected on the four first-stage X-axis linear sliding rails in a sliding manner. The first-stage movable trusses are fixed on the first-stage X-axis sliding blocks. The first-stage X-axis helical racks are fixed on both groups of trusses; two first-stage X-axis servo motors are respectively fixed on two sides of the first-stage movable truss. The output shafts of the two primary X-axis servo motors are respectively fixed with a primary X-axis bevel gear. The two first-stage X-axis bevel gears are respectively meshed with the two first-stage X-axis bevel racks. The second X-axis driving unit comprises a second X-axis linear slide rail, a second X-axis helical rack, a second X-axis sliding block, a second X-axis helical gear and a second X-axis servo motor; two secondary X-axis linear slide rails are fixed on two sides of the top of the primary movable truss; a plurality of secondary X-axis sliding blocks are connected on the four secondary X-axis linear sliding rails in a sliding way. The X-axis movable trusses are fixed on the two-stage X-axis sliding blocks. Two groups of trusses are fixed with two-stage X-axis helical racks; two second-stage X-axis servo motors are respectively fixed on two sides of the X-axis movable truss. Two secondary X-axis bevel gears are fixed on the output shafts of the two secondary X-axis servo motors. The two secondary X-axis bevel gears are respectively meshed with the two secondary X-axis bevel racks.

Preferably, the Y-axis driving unit comprises a Y-axis linear slide rail, a Y-axis helical rack, a Y-axis helical gear and a Y-axis servo motor; the X-axis movable truss consists of a front X-axis branch truss and a rear X-axis branch truss which are arranged at intervals; the tops of the two X-axis branch trusses of the X-axis movable truss are fixedly provided with Y-axis linear sliding rails; each Y-axis linear slide rail is connected with a Y-axis linear slide block in a sliding way; the bottom surface of the Y-axis moving plate is fixedly connected with each Y-axis linear slide block. The Y-axis inclined rack is fixedly arranged on the side part of the X-axis movable truss; the Y-axis servo motor is fixedly arranged on the Y-axis moving plate; and a Y-axis bevel gear is fixed on an output shaft of the Y-axis servo motor. The Y-axis bevel gear is meshed with the Y-axis bevel gear rack.

Preferably, the Z-axis driving unit comprises a Z-axis sliding block vertical plate, a Z-axis linear sliding rail, a Z-axis inclined rack, a Z-axis inclined gear and a Z-axis servo motor; two Z-axis sliding block vertical plates which are arranged at intervals are fixedly arranged at the bottom of the Y-axis moving plate; and Z-axis linear sliding blocks are fixed on opposite side surfaces of the two Z-axis sliding block vertical plates. Both sides of the vertically arranged Z-axis moving column are respectively fixed with a Z-axis linear slide rail. The Z-axis linear sliding rails on two sides of the Z-axis moving column are respectively and slidably connected with the Z-axis linear sliding blocks on the two Z-axis sliding block vertical plates. A plurality of Z-axis diagonal racks are fixed on the side part of the Z-axis moving column; the Z-axis servo motor is fixedly arranged on the Y-axis moving plate; and a Z-axis bevel gear is fixed on the Z-axis servo motor. The Z-axis bevel gear is meshed with the Z-axis bevel gear rack. The Z-axis servo motor controls the movement of the Z-axis moving column in the Z-axis direction.

The working method of the truss robot for solid waste disposal comprises the following steps:

step one, judging whether a carrying mechanical claw is used according to the appearance of the treated ton barrel.

Under the condition that the hook ring is arranged at the top of the handled ton barrel, the truss robot adopts a hanging mode. In the lifting mode, the truss robot does not use a carrying mechanical claw, and the ton barrel is transferred in a lifting mode.

The truss robot adopts a gripping mode under the condition that the top of the handled ton barrel is free of a hook ring. In the clamping mode, the truss robot uses a carrying mechanical claw to transfer the ton barrel in a clamping mode; at this time, the carrying gripper is hooked up using a hoist plate. After the lifting disc hooks the carrying mechanical claw, if the difference between the pulling forces measured by the first pulling force sensor and the second pulling force sensor is within a preset range, the lifting disc and the carrying mechanical claw are correctly closed and hooked, and clamping can be performed; otherwise, the lifting disk and the carrying mechanical claw are not completely hooked, and the carrying mechanical claw is re-hooked.

And secondly, under the hanging mode, the triaxial moving mechanism drives the hanging disc to move to the upper part of the ton barrel to be treated. The triaxial moving mechanism drives the lifting disc to hook the lifting ring on the ton barrel to be treated.

Under the clamping mode, the three-axis moving mechanism drives the carrying mechanical claw to move, so that the first rotating clamping plate and the second rotating clamping plate respectively move to two sides of the ton barrel to be treated. The clamping driving assembly drives the first rotating clamping plate and the second rotating clamping plate to be close to each other, so that the first rotating clamping plate and the second rotating clamping plate clamp the ton barrel to be treated.

And thirdly, the three-axis moving mechanism drives the ton barrel to move to a target position.

And fourthly, in a lifting mode, after the three-axis moving mechanism places the ton barrel at a target position, the lifting disk is separated from the lifting ring on the handled ton barrel.

Under the clamp mode, the rotary driving assembly drives the first rotary clamping plate and the second rotary clamping plate to synchronously rotate, so that the ton barrel overturns, and objects in the ton barrel are dumped cleanly. And then, the rotary driving assembly drives the first rotary clamping plate and the second rotary clamping plate to reset, so that the ton barrel is reset. Finally, the three-shaft moving mechanism drives the ton barrel to return to the initial position, and the carrying mechanical claw is separated from the ton barrel.

The beneficial effects of the invention are as follows:

1. the carrying executing mechanism is controlled by a large servo motor and a small servo motor; the high torque motor (namely a rotary servo motor) is responsible for controlling the dumping action of the carrying executing mechanism; the low torque motor (namely the opening and closing servo motor) is responsible for controlling the clamping action of the carrying executing mechanism.

2. According to the invention, the two-stage X-axis driving unit is distributed on the trusses at two sides through the linear transmission guide rail on the H-shaped truss, and the guide rail interacts with the sliding blocks to obtain stable guiding adhesive force, so that the guiding is more stable; the inner sides of the H-shaped trusses are distributed by the diagonal racks, and other driving units are driven by the first-stage servo motor to move along the X-axis direction, so that stable moving precision is obtained; because the control mode of the X-axis driving unit is redundant control, the fault shutdown time can be reduced, and the stability of the system is improved; because the X-axis driving unit is divided into two-stage driving units, the moving range of the X-axis direction is greatly improved, and the wider task requirements can be met.

3. The Y-axis driving unit can horizontally move in the Y-axis direction under the cooperation of the servo motor and the diagonal rack through the linear guide rail arranged on the primary moving truss and the sliding block arranged at the bottom of the Y-axis moving plate; under the cooperation of the linear slide rail and the slide block, the Y-axis driving unit vertically obtains stable adhesive force, so that the guiding is more stable; under the cooperation of the bevel gear rack and the gear of the servo motor, the Y-axis driving unit obtains higher-precision motion control; the Y-axis driving unit is provided with the driving and transmission mechanism at one side of the Y-axis moving plate, and the Z-axis moving beam of the Z-axis driving unit is arranged in the middle, so that sufficient working space is provided for the carrying executing mechanism, and meanwhile, the interference problem possibly occurring in the Z axis during the Y-axis movement is avoided.

4. According to the Z-axis driving unit, through the vertical linear guide rail arranged on the Z-axis moving beam and the sliding block arranged in the Z-axis sliding block vertical plate, the Z-axis driving unit can horizontally move in the Z-axis direction under the cooperation of the servo motor and the diagonal rack; under the cooperation of the linear slide rail and the slide block, the Z-axis driving unit vertically obtains stable adhesive force, so that the guiding is more stable; under the cooperation of the bevel gear rack and the gear of the servo motor, the Z-axis driving unit obtains higher-precision motion control;

drawings

FIG. 1 is a schematic diagram of the overall structure of the present invention;

FIG. 2 is a schematic diagram of a two-stage X-axis driving unit according to the present invention;

FIG. 3 is a schematic diagram of a Y-axis driving unit according to the present invention;

FIG. 4 is a schematic diagram of a Z-axis driving unit according to the present invention;

FIG. 5 is a schematic front view of a handling actuator according to the present invention;

FIG. 6 is a schematic side view of a transport actuator according to the present invention;

fig. 7 is a schematic perspective view of a handling actuator according to the present invention.

Detailed Description

For the purposes of promoting an understanding of the principles and advantages of the disclosure, reference will now be made in detail to the following specific examples.

It is noted that unless otherwise defined, technical or scientific terms used in one or more embodiments of the present disclosure should be taken in a general sense as understood by one of ordinary skill in the art to which the present disclosure pertains. The use of the terms "first," "second," and the like in one or more embodiments of the present description does not denote any order, quantity, or importance, but rather the terms "first," "second," and the like are used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that elements or items preceding the word are included in the element or item listed after the word and equivalents thereof, but does not exclude other elements or items. The terms "connected" or "connected," and the like, are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", etc. are used merely to indicate relative positional relationships, which may also be changed when the absolute position of the object to be described is changed.

As shown in fig. 1 to 7, a truss robot for solid waste disposal can solve the problems of resource waste and environmental pollution caused by high manpower and material resources consumed due to low solid waste disposal efficiency in the prior art. The truss robot for solid waste disposal comprises a frame 1, a triaxial moving mechanism 2 and a carrying executing mechanism 3.

The frame 1 comprises a support frame 4 and a truss 5; the bottom ends of the four supporting frames 4 are fixed with the ground through screws. The top ends of the four supporting frames 4 are respectively and fixedly connected with the two ends of the two groups of trusses 5. The two groups of trusses 5 are equal in height and are arranged at intervals. The triaxial moving mechanism 2 is installed between two groups of trusses 5 and is used for driving the carrying executing mechanism 3 to move in three degrees of freedom, and meanwhile, the whole robot framework can be stabilized, and an H-shaped structure is formed. The three-axis moving mechanism 2 includes an X-axis moving truss 26, a two-stage X-axis driving unit 6, a Y-axis moving plate 27, a Y-axis driving unit 7, a Z-axis moving column 35, and a Z-axis driving unit 8;

the two-stage X-axis driving unit 6 includes a first X-axis driving unit, a one-stage moving truss 23, and a second X-axis driving unit. The first X-axis driving unit comprises a first-stage X-axis linear slide rail 11, a first-stage X-axis helical gear 12, a first-stage X-axis helical gear 13 and a first-stage X-axis servo motor 14; two primary X-axis linear slide rails 11 are fixed at the top of each of the two groups of trusses 5; a plurality of first-stage X-axis sliding blocks 15 are connected on the four first-stage X-axis linear sliding rails 11 in a sliding manner. The primary moving trusses 23 are fixed on each primary X-axis slider 15. The first-stage X-axis helical racks 12 are fixed on the two groups of trusses 5; two first-stage X-axis servo motors 14 are respectively fixed at two sides of the first-stage movable truss 23. The output shafts of the two primary X-axis servo motors 14 are respectively fixed with a primary X-axis bevel gear 13. Two first-stage X-axis bevel gears 13 are respectively meshed with the two first-stage X-axis bevel racks 12. The two primary X-axis servomotors 14 redundantly control the movement of the primary moving trusses 23 in the X-axis direction.

The second X-axis driving unit comprises a second X-axis linear slide rail 19, a second X-axis inclined rack 20, a second X-axis sliding block 25, a second X-axis inclined gear 21 and a second X-axis servo motor 22; two secondary X-axis linear slide rails 19 are fixed on two sides of the top of the primary movable truss 23; a plurality of secondary X-axis sliding blocks 25 are connected on the four secondary X-axis linear sliding rails 19 in a sliding way. An X-axis moving truss 26 is fixed to each secondary X-axis slider 25. Two groups of trusses 5 are respectively fixed with a secondary X-axis helical rack 20; two secondary X-axis servomotors 22 are fixed to each side of the X-axis moving truss 26. The output shafts of the two secondary X-axis servo motors 22 are respectively fixed with a secondary X-axis bevel gear 21. The two secondary X-axis bevel gears 21 are respectively meshed with the two secondary X-axis bevel racks 20. Two secondary X-axis servomotors 22 redundantly control the movement of the X-axis moving gantry 26 in the X-axis direction.

The Y-axis drive unit 7 includes a Y-axis linear slide rail 28, a Y-axis helical rack 29 (only part of which is shown in fig. 3), a Y-axis helical gear 30, and a Y-axis servo motor 31; the X-axis movable truss 26 consists of a front X-axis branch truss and a rear X-axis branch truss which are arranged at intervals; the tops of the two X-axis branch trusses of the X-axis movable truss 26 are fixedly provided with Y-axis linear sliding rails 28; each Y-axis linear slide rail 28 is connected with a Y-axis linear slide block 32 in a sliding way; the bottom surface of the Y-axis moving plate 27 is fixedly connected to each Y-axis linear slider 32. The Y-axis movable plate 27 plays a role of connecting the two X-axis branch trusses; the Y-axis diagonal rack 29 is fixedly installed at the side of the X-axis movable truss 26; the Y-axis servo motor 31 is fixedly arranged on the Y-axis moving plate; a Y-axis bevel gear 33 is fixed to the output shaft of the Y-axis servo motor 31. The Y-axis bevel gear 33 is meshed with the Y-axis bevel gear 29; the Y-axis servo motor 31 controls movement of the Y-axis moving plate 27 in the Y-axis direction.

The Z-axis driving unit 8 comprises a Z-axis sliding block vertical plate 34, a Z-axis linear sliding rail 36, a Z-axis inclined rack 37, a Z-axis inclined gear 38 and a Z-axis servo motor 39; two Z-axis sliding block vertical plates 34 which are arranged at intervals are fixedly arranged at the bottom of the Y-axis moving plate 27; the opposite sides of the two Z-axis slide risers 34 are each fixed with a Z-axis linear slide 41. Both sides of the vertically arranged Z-axis moving column 35 are respectively fixed with a Z-axis linear slide rail 36. The Z-axis linear slide rails 36 on both sides of the Z-axis moving column 35 are slidably connected to the Z-axis linear slides 41 on the two Z-axis slide risers 34, respectively. A plurality of Z-axis inclined racks 37 which are vertically arranged are fixed on the side part of the Z-axis moving column 35; the Z-axis servo motor 39 is fixedly mounted on the Y-axis moving plate 27; a Z-axis bevel gear 42 is fixed to the Z-axis servo motor 39. The Z-axis bevel gear 42 is meshed with the Z-axis bevel gear 37. The Z-axis servo motor 39 controls the movement of the Z-axis moving column 35 in the Z-axis direction.

The carrying actuator 3 includes a hoist tray 40, a first tension sensor 441, a second tension sensor 442, and a carrying gripper. A mounting plate is fixed to the bottom end of the Z-axis moving column 35. A first tension sensor 441 and a second tension sensor 442 are fixed to the mounting plate. The first and second tension sensors 441 and 442 are located on opposite sides of the Z-axis moving column 35, respectively.

Two abdicating holes are formed in the mounting plate. The positions of the two relief holes correspond to the first and second tension sensors 441 and 442, respectively. The detection parts of the first and second tension sensors 441 and 442 respectively pass through the abdication holes from top to bottom and are fixed with the top of the lifting disk 40. The detection parts of the first and second tension sensors 441 and 442 are symmetrically disposed at both sides of the top center position of the hoist disk 40.

Two hooks are arranged on two sides of the bottom of the lifting disk 40. The first tension sensor 441 and the second tension sensor 442 can detect the gravity conditions of the two sides of the lifting disk 40, so as to determine whether the hooks of the two sides of the lifting disk 40 accurately hook the target object (such as a carrying mechanical claw).

The handling gripper is detachably connected to the lifting tray 40 for gripping and turning the ton barrels storing waste. The carrying mechanical claw comprises a clamping claw fixing seat 43, a clamping claw movable seat 47, a first rotary clamping plate 48, a second rotary clamping plate 49, a clamping driving assembly and a rotary driving assembly. Four grooves facing downwards are provided on the jaw fixing base 43. The positions of the grooves on the clamping jaw fixing seat 43 correspond to the positions of the four hooks on the lifting disk 40 respectively. The carrying gripper can be hung on each hook of the hanging tray 40 through each groove. A jaw slider 53 is fixed to the jaw fixing base 43. The jaw movable seat 47 is fixed with a jaw linear slide rail 54. The clamping jaw sliding block 53 is in sliding connection with the clamping jaw fixing seat 43 through a clamping jaw linear sliding rail 54. The first rotary clamping plate 48 and the second rotary clamping plate 49 are respectively connected to the clamping jaw fixing seat 43 and the clamping jaw movable seat 47 in a rotating way through bearings. The first rotating clamping plate 48 and the second rotating clamping plate 49 are arranged opposite to each other. The opposite sides of the first rotary clamping plate 48 and the second rotary clamping plate 49 are provided with a plurality of claw hooks which are matched with the latticed ton barrels 55 to improve clamping stability.

The clamping drive assembly includes an opening and closing servo motor 45, a clamping gear 50 and a clamping rack 52. The opening and closing servo motor 45 is fixedly installed on the clamping jaw fixing seat 43. A clamping gear 50 is fixed on the output shaft of the opening and closing servo motor 45; a clamping rack 52 is fixed on the clamping jaw movable seat 47. The clamping gear 50 is engaged with a clamping rack 52.

The rotary drive assembly includes a rotary servo motor 46, a planetary reducer 51 and a transmission mechanism; the rotary servo motor 46 and the planetary reducer 51 are fixedly mounted on the jaw fixing base 43. An output shaft of the rotary servo motor 46 is fixed to an input port of the planetary reducer 51. The transmission mechanism comprises a first belt transmission assembly, a telescopic transmission shaft and a second belt transmission assembly.

The telescopic transmission shaft comprises a first rotating shaft 9, a universal joint coupling 10, a spline shaft 16 and a second rotating shaft 17. The first rotary shaft 9 is rotatably connected to the jaw fixing base 43 through a bearing. The second rotating shaft 17 is rotatably connected to the jaw movable seat 47 through a bearing. One end of the spline shaft 16 is driven with the end of the first rotating shaft 9 through the universal joint coupling 10. The other end of the spline shaft 16 is provided with external splines. The end face of the second rotating shaft 17 facing the first rotating shaft 9 is provided with spline grooves. Spline grooves on the second rotating shaft 17 and external splines on the spline shaft 16 form spline connection, so that the first rotating shaft 9 and the second rotating shaft 17 can only axially slide, and the first rotating clamping plate 48 and the second rotating clamping plate 49 can be driven in a rotating mode while opening, closing and closing actions of the carrying mechanical claws are not affected.

The first belt drive assembly includes a first timing belt 18 and a first timing wheel 20. The first synchronizing wheel 20 is fixed to both the first shaft 9 and the output shaft of the planetary reducer 51. The first synchronizing wheel 20 on the first rotating shaft 9 is in driving connection with the first synchronizing wheel 20 on the output shaft of the planetary reducer 51 through the first synchronizing belt 18.

The second belt drive assembly includes a second timing wheel 24 and a second timing belt 44. The first rotating shaft 9, the second rotating shaft 17, the first rotating clamping plate 48 and the second rotating clamping plate 49 are coaxially fixed with the second synchronous wheel 24. The first shaft 9 is connected to the second synchronizing wheel 24 on the first rotating clamping plate 48 by a first and a second synchronizing belt 44. The second rotating shaft 17 is connected with the second synchronizing wheel 24 on the second rotating clamping plate 49 through a second synchronous belt 44. The clamping jaw fixing seat 43 and the clamping jaw movable seat 47 are both rotatably connected with a synchronous idler 54. Two synchronous idler gears 54 are respectively meshed with the two second synchronous belts 44 to realize tensioning and auxiliary transmission.

The working method of the truss robot for solid waste disposal comprises the following steps:

step one, it is determined whether or not to use the transport gripper based on the outer shape of the handled ton barrel 55.

In the case where a hook ring is provided on the top of the handled ton barrel 55, the truss robot adopts a hanging mode. In the lifting mode, the truss robot transfers the ton barrels 55 by lifting without using a transfer gripper.

The truss robot adopts a gripping mode without a hook ring at the top of the handled ton barrel 55. In the gripping mode, the truss robot uses a carrying mechanical claw to transfer the ton barrel 55 in a gripping mode; at this time, the carrying gripper is hooked up using the hoist tray 40. After the lifting disk 40 hooks the carrying mechanical claw, if the difference between the tensile forces measured by the first tensile force sensor 441 and the second tensile force sensor 442 is within a preset range, the lifting disk 40 and the carrying mechanical claw are correctly closed and hooked, so that the clamping can be performed; otherwise, it is indicated that the lifting tray 40 and the carrying gripper are not fully hooked, and the carrying gripper needs to be re-hooked.

In the second step, in the lifting mode, the triaxial moving mechanism 2 drives the lifting disk 40 to move to the position above the handled ton barrel 55. The triaxial moving mechanism 2 drives the lifting disk 40 to hook the lifting ring on the ton barrel 55 to be treated.

In the clamping mode, the three-axis moving mechanism 2 drives the carrying mechanical claw to move, so that the first rotary clamping plate 48 and the second rotary clamping plate 49 respectively move to two sides of the ton barrel 55 to be treated. The opening and closing servo motor 45 rotates forward to drive the first rotary clamping plate 48 and the second rotary clamping plate 49 to approach each other, so that the first rotary clamping plate 48 and the second rotary clamping plate 49 clamp the ton barrel 55 to be treated. The first and second tension sensors 441 and 442 sense the gravity value B synchronously, which indicates that the ton drum is grabbed.

And step three, the three-axis moving mechanism 2 drives the ton barrel 55 to move to the target position.

In the lifting mode, after the three-axis moving mechanism 2 places the ton bucket 55 at the target position, the lifting disk 40 is separated from the lifting ring on the ton bucket 55 to be treated.

In the clamping mode, the rotary servo motor 46 rotates positively to drive the first rotary clamping plate 48 and the second rotary clamping plate 49 to rotate synchronously, so that the ton barrel 55 overturns, and objects in the ton barrel 55 are dumped completely; when the sum of the pulling forces detected by the first and second pulling force sensors 441 and 442 is within the preset interval C, the dumping is illustrated as completed. Then, the rotary servo motor 46 is reversed to drive the first rotary clamping plate 48 and the second rotary clamping plate 49 to reset, so that the ton barrel 55 is reset. Finally, the three-axis moving mechanism 2 drives the ton barrel 55 to return to the initial position, and the carrying mechanical claw is separated from the ton barrel 55 through the reverse rotation of the opening and closing servo motor 45.

The present disclosure is intended to embrace all such alternatives, modifications and variances which fall within the broad scope of the appended claims. Any omissions, modifications, equivalents, improvements, and the like, which are within the spirit and principles of the one or more embodiments of the disclosure, are therefore intended to be included within the scope of the disclosure.

Claims (10)

1. A truss robot for solid waste disposal comprises a frame (1), a triaxial moving mechanism (2) and a carrying executing mechanism (3); the method is characterized in that: the three-axis moving mechanism (2) is arranged on the frame (1) and drives the carrying executing mechanism (3) to move; the carrying executing mechanism (3) comprises a lifting disc (40), a first tension sensor (441), a second tension sensor (442) and a carrying mechanical claw; the hoisting disc (40) is connected with the tail end of the triaxial moving mechanism (2) through two first tension sensors (441) and two second tension sensors (442) which are arranged side by side; the first tension sensor (441) and the second tension sensor (442) are symmetrically connected to two sides of the top of the lifting disc (40); hooks are arranged on two sides of the bottom of the lifting disc (40);

the carrying mechanical claw comprises a clamping claw fixing seat (43), a clamping claw movable seat (47), a first rotary clamping plate (48), a second rotary clamping plate (49), a clamping driving assembly and a rotary driving assembly; a plurality of downward grooves are formed in the clamping jaw fixing seat (43); in a state that the carrying mechanical claw is arranged on the lifting disc (40), each groove on the clamping claw fixing seat (43) is hung on hooks on two sides of the lifting disc (40);

the clamping jaw movable seat (47) is in sliding connection with the clamping jaw fixing seat (43); the clamping driving assembly drives the clamping jaw movable seat (47) to slide on the clamping jaw fixed seat (43); the first rotary clamping plate (48) and the second rotary clamping plate (49) are respectively and rotatably connected to the clamping jaw fixing seat (43) and the clamping jaw movable seat (47); the first rotary clamping plate (48) and the second rotary clamping plate (49) are opposite to each other;

the rotary driving assembly comprises a rotary servo motor (46) and a transmission mechanism; the transmission mechanism comprises a telescopic transmission shaft and a second belt transmission assembly; two ends of the telescopic transmission shaft are respectively and rotatably connected to the clamping jaw movable seat (47) and the clamping jaw fixed seat (43); one end of the telescopic transmission shaft is driven to rotate by a rotary servo motor (46); the two ends of the telescopic transmission shaft are respectively connected with the first rotary clamping plate (48) and the second rotary clamping plate (49) in a transmission way through a second belt transmission assembly.

2. A truss robot for solid waste disposal according to claim 1, wherein: the telescopic transmission shaft comprises a first rotating shaft (9), a universal joint coupler (10), a spline shaft (16) and a second rotating shaft (17); the first rotating shaft (9) is rotationally connected to the clamping jaw fixing seat (43); the second rotating shaft (17) is rotationally connected to the clamping jaw movable seat (47); one end of the spline shaft (16) and the end of the first rotating shaft (9) are driven by a universal joint coupling (10); the second rotating shaft (17) and the spline shaft (16) form spline connection.

3. A truss robot for solid waste disposal according to claim 2, wherein: the rotary driving assembly also comprises a planetary reducer (51); the rotary servo motor (46) and the planetary reducer (51) are fixedly arranged on the clamping jaw fixing seat (43); an output shaft of the rotary servo motor (46) is fixed with an input port of the planetary reducer (51); the transmission mechanism also comprises a first belt transmission assembly; the first belt drive assembly comprises a first timing belt (18) and a first timing wheel (20); the first synchronous wheels (20) are fixed on the output shafts of the first rotating shaft (9) and the planetary reducer (51); a first synchronizing wheel (20) on the first rotating shaft (9) is in transmission connection with a first synchronizing wheel (20) on an output shaft of the planetary reducer (51) through a first synchronizing belt (18).

4. A truss robot for solid waste disposal according to claim 2, wherein: the second belt transmission assembly comprises a second synchronous wheel (24) and a second synchronous belt (44); the first rotating shaft (9), the second rotating shaft (17), the first rotating clamping plate (48) and the second rotating clamping plate (49) are coaxially fixed with a second synchronous wheel (24); the first rotating shaft (9) is connected with a second synchronous wheel (24) on the first rotating clamping plate (48) through a first synchronous belt (44); the second rotating shaft (17) is connected with a second synchronous wheel (24) on a second rotating clamping plate (49) through a second synchronous belt (44); the clamping jaw fixing seat (43) and the clamping jaw movable seat (47) are both rotationally connected with a synchronous idler wheel (54); the two synchronous idler wheels (54) are respectively meshed with the two second synchronous belts (44).

5. A truss robot for solid waste disposal according to claim 1, wherein: the opposite sides of the first rotary clamping plate (48) and the second rotary clamping plate (49) are provided with a plurality of claw hooks; the clamping driving assembly comprises an opening and closing servo motor (45), a clamping gear (50) and a clamping rack (52); the opening and closing servo motor (45) is fixedly arranged on the clamping jaw fixing seat (43); a clamping gear (50) is fixed on the output shaft of the opening and closing servo motor (45); a clamping rack (52) is fixed on the clamping jaw movable seat (47); the clamping gear (50) is meshed with the clamping rack (52).

6. A truss robot for solid waste disposal according to claim 1, wherein: the three-axis moving mechanism (2) comprises an X-axis moving truss (26), a two-stage X-axis driving unit (6), a Y-axis moving plate (27), a Y-axis driving unit (7), a Z-axis moving column (35) and a Z-axis driving unit (8); the X-axis movable truss (26) is connected to the frame (1) in a sliding manner along the X-axis direction and is driven by the two-stage X-axis driving unit (6); the Y-axis moving plate (27) is connected to the X-axis moving truss (26) in a sliding manner along the Y-axis direction and is driven by the Y-axis driving unit (7); the Z-axis moving column (35) is connected to the Y-axis moving plate (27) in a sliding manner along the Z-axis direction and is driven by the Z-axis driving unit (8); the X-axis direction, the Y-axis direction and the Z-axis direction are perpendicular to each other.

7. A truss robot for solid waste disposal according to claim 1, wherein: the two-stage X-axis driving unit (6) comprises a first X-axis driving unit, a one-stage movable truss (23) and a second X-axis driving unit; the first X-axis driving unit comprises a first-stage X-axis linear slide rail (11), a first-stage X-axis helical rack (12), a first-stage X-axis helical gear (13) and a first-stage X-axis servo motor (14); two primary X-axis linear slide rails (11) are fixed at the top of each of the two groups of trusses (5); a plurality of first-stage X-axis sliding blocks (15) are connected on the four first-stage X-axis linear sliding rails (11) in a sliding manner; the primary movable trusses (23) are fixed on the primary X-axis sliding blocks (15); the two groups of trusses (5) are respectively fixed with a first-stage X-axis helical rack (12); two first-stage X-axis servo motors (14) are respectively fixed on two sides of a first-stage movable truss (23); a first-stage X-axis bevel gear (13) is fixed on the output shafts of the two first-stage X-axis servo motors (14); the two first-stage X-axis bevel gears (13) are respectively meshed with the two first-stage X-axis bevel racks (12); the second X-axis driving unit comprises a second X-axis linear slide rail (19), a second X-axis inclined rack (20), a second X-axis sliding block (25), a second X-axis inclined gear (21) and a second X-axis servo motor (22); two secondary X-axis linear slide rails (19) are fixed on two sides of the top of the primary movable truss (23); a plurality of secondary X-axis sliding blocks (25) are connected on the four secondary X-axis linear sliding rails (19) in a sliding way; the X-axis movable trusses (26) are fixed on each two-stage X-axis sliding block (25); two groups of trusses (5) are respectively fixed with a secondary X-axis helical rack (20); two secondary X-axis servo motors (22) are respectively fixed on two sides of the X-axis movable truss (26); two secondary X-axis bevel gears (21) are fixed on the output shafts of the two secondary X-axis servo motors (22); the two secondary X-axis bevel gears (21) are respectively meshed with the two secondary X-axis bevel racks (20).

8. A truss robot for solid waste disposal according to claim 1, wherein: the Y-axis driving unit (7) comprises a Y-axis linear slide rail (28), a Y-axis helical rack (29), a Y-axis helical gear (30) and a Y-axis servo motor (31); the X-axis movable truss (26) consists of a front X-axis branch truss and a rear X-axis branch truss which are arranged at intervals; the tops of two X-axis branch trusses of the X-axis movable truss (26) are fixedly provided with Y-axis linear sliding rails (28); the Y-axis linear slide rails (28) are connected with Y-axis linear slide blocks (32) in a sliding manner; the bottom surface of the Y-axis moving plate (27) is fixedly connected with each Y-axis linear slide block (32); the Y-axis inclined rack (29) is fixedly arranged on the side part of the X-axis movable truss (26); the Y-axis servo motor (31) is fixedly arranged on the Y-axis moving plate; a Y-axis bevel gear (33) is fixed on the output shaft of the Y-axis servo motor (31); the Y-axis bevel gear (33) is meshed with the Y-axis bevel gear (29).

9. A truss robot for solid waste disposal according to claim 1, wherein: the Z-axis driving unit (8) comprises a Z-axis sliding block vertical plate (34), a Z-axis linear sliding rail (36), a Z-axis inclined rack (37), a Z-axis inclined gear (38) and a Z-axis servo motor (39); two Z-axis sliding block vertical plates (34) which are arranged at intervals are fixedly arranged at the bottom of the Y-axis moving plate (27); z-axis linear sliding blocks (41) are fixed on opposite side surfaces of the two Z-axis sliding block vertical plates (34); two sides of a Z-axis moving column (35) which is vertically arranged are fixed with Z-axis linear slide rails (36); the Z-axis linear slide rails (36) on two sides of the Z-axis moving column (35) are respectively and slidably connected with the Z-axis linear slide blocks (41) on the two Z-axis slide block vertical plates (34); a plurality of Z-axis diagonal racks (37) which are vertically arranged are fixed on the side part of the Z-axis moving column (35); the Z-axis servo motor (39) is fixedly arranged on the Y-axis moving plate (27); a Z-axis bevel gear (42) is fixed on the Z-axis servo motor (39); the Z-axis bevel gear (42) is meshed with the Z-axis bevel gear rack (37); a Z-axis servo motor (39) controls the movement of the Z-axis moving column (35) in the Z-axis direction.

10. A method of operating a truss robot for solid waste disposal as defined in claim 1 wherein: the method comprises the following steps:

step one, judging whether a carrying mechanical claw is used or not according to the appearance of a handled ton barrel (55);

under the condition that a hook ring is arranged at the top of the ton barrel (55) to be treated, the truss robot adopts a hanging mode; in the lifting mode, the truss robot does not use a carrying mechanical claw, and the ton barrel (55) is transferred in a lifting mode;

in the case that the top of the handled ton barrel (55) is free of a hook ring, the truss robot adopts a clamping mode; in the clamping mode, the truss robot uses a carrying mechanical claw to transfer the ton barrel (55) in a clamping mode; at this time, the carrying mechanical claw is hooked up by using the lifting disk (40); after the lifting disk (40) hooks the carrying mechanical claw, if the difference between the tensile forces measured by the first tension sensor (441) and the second tension sensor (442) is within a preset range, the lifting disk (40) and the carrying mechanical claw are correctly closed and hooked, so that clamping can be performed; otherwise, the lifting disc (40) and the carrying mechanical claw are not completely hooked, and the carrying mechanical claw is re-hooked;

step two, under the hanging mode, the triaxial moving mechanism (2) drives the hanging disc (40) to move to the upper part of the ton barrel (55) to be treated; the triaxial moving mechanism (2) drives the lifting disk (40) to hook the lifting ring on the ton barrel (55) to be treated;

in the clamping mode, the three-shaft moving mechanism (2) drives the carrying mechanical claw to move, so that the first rotary clamping plate (48) and the second rotary clamping plate (49) respectively move to two sides of the ton barrel (55) to be treated; the clamping driving assembly drives the first rotary clamping plate (48) and the second rotary clamping plate (49) to be close to each other, so that the first rotary clamping plate (48) and the second rotary clamping plate (49) clamp the ton barrel (55) to be treated;

step three, the three-axis moving mechanism (2) drives the ton barrel (55) to move to a target position;

step four, in a lifting mode, after the three-axis moving mechanism (2) places the ton bucket (55) at a target position, the lifting disk (40) is separated from a lifting ring on the ton bucket (55) to be treated;

under the clamping mode, the rotary driving assembly drives the first rotary clamping plate (48) and the second rotary clamping plate (49) to synchronously rotate, so that the ton barrel (55) is overturned, and objects in the ton barrel (55) are dumped cleanly; afterwards, the rotary driving assembly drives the first rotary clamping plate (48) and the second rotary clamping plate (49) to reset, so that the ton barrel (55) is aligned; finally, the three-shaft moving mechanism (2) drives the ton barrel (55) to return to the initial position, and the carrying mechanical claw is separated from the ton barrel (55).

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