WO2020118685A1 - 一种智能取放机器人 - Google Patents

一种智能取放机器人 Download PDF

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Publication number
WO2020118685A1
WO2020118685A1 PCT/CN2018/121171 CN2018121171W WO2020118685A1 WO 2020118685 A1 WO2020118685 A1 WO 2020118685A1 CN 2018121171 W CN2018121171 W CN 2018121171W WO 2020118685 A1 WO2020118685 A1 WO 2020118685A1
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WO
WIPO (PCT)
Prior art keywords
pick
place
plate
robot according
gear shaft
Prior art date
Application number
PCT/CN2018/121171
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English (en)
French (fr)
Inventor
余永建
朱胜虎
李信
崔鹏景
陈志娜
奚宽鹏
Original Assignee
江苏恒顺醋业股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Priority claimed from CN201811515425.0A external-priority patent/CN109368258B/zh
Priority claimed from CN201822079390.2U external-priority patent/CN209177548U/zh
Application filed by 江苏恒顺醋业股份有限公司 filed Critical 江苏恒顺醋业股份有限公司
Publication of WO2020118685A1 publication Critical patent/WO2020118685A1/zh

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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
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials

Definitions

  • the invention relates to a robot, especially an intelligent pick and place robot.
  • the method of placing wine vinegar, bran, rice bran and other vinegar ingredients in the vinegar tank is usually adopted for fermentation.
  • the microorganisms on the surface of the vinegar mixture will continue to ferment due to full contact with oxygen, which will cause the surface of the vinegar mixture to continue to heat up, but excessively high temperatures will cause the microorganisms to stop growing and fermentation to stop, which is not conducive to brewing; at the same time, vinegar
  • the microorganisms inside the mixture are fermented slowly due to lack of oxygen, which is also not conducive to brewing.
  • the distilling operation is usually adopted to deal with this situation, that is, the inside and outside of the vinegar mixture is turned over to ensure the fermentation of microorganisms inside and outside the vinegar mixture.
  • the temperature in the vinegar dip tank is usually measured in real time by using a temperature measuring rod as the basis for the operation of turning over the dip.
  • a temperature measuring rod as the basis for the operation of turning over the dip.
  • how to automate the pick-and-place process has now become the core element of the intelligent turning operation.
  • the object of the present invention is to provide an intelligent pick and place robot to realize a fully automatic and intelligent pick and place operation.
  • An intelligent pick and place robot including a support platform, a rotation mechanism and a control mechanism installed on the support platform, a lifting mechanism installed on and rotating with the rotation mechanism, and being installed on the lifting mechanism
  • a pick-and-place mechanism that lifts with it.
  • the pick-and-place mechanism has a gripping section.
  • the pick-and-place mechanism picks up the object to be picked and placed through the gripping section.
  • the rotating mechanism, the lifting mechanism, and the pick-and-place mechanism are respectively The control mechanism signals are correlated.
  • the principle of the present invention is that the rotation mechanism, the lifting mechanism and the pick-and-place mechanism on the support platform are controlled by the control mechanism signal to form a linkage.
  • the control mechanism signals are used to control the rotation of the rotating mechanism to drive the lifting mechanism to rotate, thereby driving the pick and place mechanism to rotate above the objects to be picked, and then using the control mechanism signals to control the lifting mechanism to descend to drive the pick and place mechanism
  • the signal of the control mechanism is then used to control the pick and place mechanism to grab the object to be picked and placed through the grasping part and recycle it. The process is reversed when putting back the items to be retrieved.
  • This structure realizes a fully automatic and intelligent pick-and-place operation through a rotating mechanism, a lifting mechanism, and a pick-and-place mechanism that are associated with the signal of the control mechanism.
  • the rotating mechanism adopts a rotary drive, and the rotating mechanism is provided with a servo motor associated with the signal of the control mechanism.
  • the lifting mechanism includes a driving device A, an upper transmission shaft, a lower transmission shaft, a transmission device, a lifting seat, and a vertical column, the vertical column is installed on the rotating mechanism and rotates with it, the upper transmission shaft, the lower The transmission shafts are respectively laterally installed on the upper and lower ends of the uprights, the driving device A is connected to the upper transmission shaft and is signal-associated with the control mechanism, and the transmission device is wound around the upper transmission shaft and the lower transmission Rotation is formed on the shaft, the lifting seat is fixed on the conveying device and lifts as it reciprocates, and the pick-and-place mechanism is fixed on the lifting seat.
  • the lifting seat includes a linear slide rail, a slider, and a ring-shaped base
  • the linear slide rail is vertically fixed on the upright post
  • the slider is installed on the linear slide rail
  • the ring-shaped base It is sleeved on the upright post
  • the inner side of the ring-shaped base is fixed to the slider and the conveying device respectively
  • the outer side is fixed to the pick-and-place mechanism.
  • the ring-shaped base of this structure is fixed at multiple points by a slider and a transmission device to form a stable lifting structure, and at the same time, the ring-shaped base is sleeved on the upright to prevent its overturning.
  • the lifting mechanism further includes a top plate and a cushion pad, the top plate is fixed on the upper end of the column, the cushion pads are respectively disposed on the top and bottom of the lifting seat, corresponding to the limit position of the reciprocating rotation of the conveying device
  • the two upper and lower cushions cooperate with the top plate and the rotating mechanism to form mechanical limit protection.
  • This structure uses the driving device A to realize the electronic limit, and uses the top plate, the rotating mechanism and the cushion to realize the mechanical limit protection, and ensures that the lifting mechanism is effectively protected.
  • the transmission device includes a chain and a sprocket, the sprocket is sleeved on the upper transmission shaft and the lower transmission shaft, and the chain is wound around the two upper and lower sprockets to form a rotation.
  • the pick-and-place mechanism includes a driving device B, a clamp fixing rod, and a finger clamp.
  • the clamp fixing rod is connected to the lifting mechanism and lifts with it.
  • the finger clamp is installed at the front end of the clamp fixing rod.
  • the driving device B is connected to the finger grip and is signal-associated with the control mechanism, and the finger grip forms the grasping portion.
  • the finger clamp includes a clamp transmission shaft, a left gear shaft, a right gear shaft, a left fixing plate, a right fixing plate, a left clamping plate, and a right clamping plate
  • the clamping transmission shaft is respectively connected to the driving device B and the left gear shaft
  • the left gear shaft and the right gear shaft are arranged in parallel and relatively engaged
  • the left fixing plate and the right fixing plate are respectively fixed on the left gear shaft and the right gear shaft
  • the left clamping plate and the right clamping plate are respectively fixed on the The front end of the left fixing plate and the right fixing plate and the jaws are oppositely formed to form the gripping part
  • the driving device B drives the clamp transmission shaft to drive the left gear shaft and the right gear shaft to reciprocate and rotate relative to each other, driving the The jaws of the left splint and the right splint are engaged to grab the object to be taken.
  • the finger grip further includes a left guide plate and a right guide plate respectively having V-shaped guide openings and opposite directions, the left guide plate is disposed above the left clamping plate, and the right guide plate corresponds to the left
  • the guide plate is arranged below the right clamping plate, and the V-shaped guide openings of the left guide plate and the right guide plate respectively extend outward to expand the angle of the clamping opening, and this structure effectively expands the grasping of the grasping part range.
  • the upper and lower ends of the left gear shaft and the right gear shaft are respectively sleeved with upper bearings and lower bearings.
  • the upper bearings and lower bearings are installed in the upper cover plate and the lower cover plate, respectively.
  • the lower cover plate is fixed with the clamp fixing rod, and the upper cover plate sealing cover is provided at the front end of the clamp fixing rod. This structure ensures stable meshing rotation of the left gear shaft and the right gear shaft.
  • the tooth portions of the left gear shaft and the right gear shaft are located between the upper bearing and the lower bearing, and isolation devices are installed between the tooth portion and the upper bearing, and between the tooth portion and the lower bearing, respectively.
  • the upper bearing, the lower bearing and the tooth portion form a limit separation to avoid lateral friction between the upper bearing, the lower bearing and the tooth portion, and accelerate the wear of the upper bearing, the lower bearing and the tooth portion.
  • left fixing plate and the right fixing plate are sleeved on the left gear shaft and the right gear shaft, respectively, and fixed to the tooth portion, and the isolation device is installed on the left fixing plate, the right fixing plate and Between the lower bearings. This structure effectively ensures that the left fixing plate and the right fixing plate can rotate steadily with the meshing rotation of the left gear shaft and the right gear shaft.
  • the pick-and-place mechanism further includes a lower bottom plate, an angle-adjusting bracket, and a laser proximity switch.
  • the lower bottom plate is fixed to the fixture fixing rod, and the laser proximity switches are respectively installed on the lower bottom plate through the bracket
  • the left and right sides are associated with the control mechanism signals.
  • the laser signals emitted by the laser proximity switches on the left and right sides cross to form a sensing point.
  • the sensing point corresponds to the picking and placing position of the object to be placed
  • the gripping The grab position of the department reaches the pick and place position to complete the grab.
  • This structure accurately detects the pick-and-place position of the object to be picked and placed by using the induction points forming a cross, and controls the pick-up portion in parallel to pick up the pick-and-place position, thereby ensuring the picking accuracy.
  • the pick-and-place warehouse tube for storing the objects to be picked-and-placed
  • the pick-and-place warehouse tube is centered on the rotation mechanism, the length of the pick-and-place mechanism is a radius, and is evenly arranged on the support platform in the circumferential direction Side, used to store multiple items to be taken.
  • the walking mechanism also includes a walking mechanism installed at the bottom of the support platform, the walking mechanism is signal-associated with the control mechanism, and the walking mechanism is disposed on the track and walks along it to form a four-axis linkage structure.
  • the walking mechanism includes a driving device C, a transmission device, a longitudinal conveyor belt, a driving wheel, and a driven wheel.
  • the driving wheel and the driven wheel are arranged forward and backward and are respectively mounted on the bottom of the support platform through a bearing seat.
  • the longitudinal conveyor belt Rotating around the driving wheel and the driven wheel, the driving device C is connected to the driving wheel through the transmission device, the driving device C is associated with the control mechanism signal, the driving wheel and the driven wheel Fall on the track and walk along it.
  • the transmission device includes a rear transmission shaft and a vertical conveyor belt
  • the rear transmission shaft is installed at a position above the rear of the bracket platform through a bearing seat
  • the driving device C is connected to the rear transmission shaft
  • the vertical The directional conveyor belt is wound around the driving wheel and the rear transmission shaft to form a rotation.
  • the anti-collision assembly installed at the front end of the bracket platform, the anti-collision assembly includes an ultrasonic sensor and an anti-collision buffer seat installed at the front end of the ultrasonic sensor, the ultrasonic sensor is formed in association with the control mechanism signal Active anti-collision, the anti-collision buffer seat forms passive anti-collision protection.
  • the power supply assembly includes an electrically connected lithium battery pack and a charging brush plate, the lithium battery pack and the charging brush plate are respectively fixed on the support platform, the walking mechanism, the rotating mechanism, the lifting The mechanism, the pick and place mechanism, and the control mechanism are powered by the power supply assembly.
  • the control mechanism associated with the signals of the walking mechanism, the rotating mechanism, the lifting mechanism, and the pick and place mechanism is used to automatically control the walking, rotating, and lifting movements of the pick and place robot. Actions, pick-and-place actions, realize fully automatic and intelligent pick-and-place operations; 2. Rotation mechanism, lifting mechanism, and pick-and-place mechanism form a linkage, realizing precise pick-and-place operation for objects to be placed and placed.
  • FIG. 1 is a schematic diagram of a three-dimensional structure of the present invention
  • Figure 2 is a left side view of the present invention
  • Figure 3 is a schematic diagram of the structure of the rotating mechanism and the lifting mechanism
  • FIG. 4 is an enlarged schematic view of position A in FIG. 3;
  • Figure 5 is a schematic diagram of the structure above the top plate
  • FIG. 6 is an enlarged schematic diagram of the position of the slider and the linear slide rail
  • FIG. 8 is a schematic structural diagram of the picking and placing mechanism in a grabbing state
  • FIG. 10 is a schematic cross-sectional structural view of a finger grip
  • FIG. 11 is a schematic structural view of the walking mechanism.
  • An intelligent pick-and-place robot combined with its application in picking and placing of a temperature measuring rod in a vinegar tank, illustrates its specific structure.
  • FIG. 1 and 2 it includes a stand platform 1, a rotating mechanism 2, a lifting mechanism 3, a pick and place mechanism 4, a control mechanism 5, a pick and place warehouse tube 6, a walking mechanism 7, an anti-collision assembly 8, and a power supply assembly 9.
  • the object to be taken is the temperature measuring rod 100 as shown in FIG. 1.
  • the walking mechanism 7 of the intelligent pick-and-place robot is installed at the bottom of the support platform 1 and falls along the rails of the vinegar pool.
  • the rotating mechanism 2 and the control mechanism 5 are installed on the support platform 1, the lifting mechanism 3 is installed on the rotating mechanism 2 and rotates with it, the pick and place mechanism 4 is installed on the lifting mechanism 3 and lifts with it, and the pick and place mechanism 4 has a grab The picking and placing mechanism 4 picks up the temperature measuring rod 100 through the picking section.
  • the rotating mechanism 2, the lifting mechanism 3, the pick and place mechanism 4, and the walking mechanism 7 are respectively signal-connected with the control mechanism 5.
  • the pick-and-place warehouse tube 6 is set on the side of the bracket platform 1 with the rotation mechanism 2 as the center, the length of the pick-and-place mechanism 4 as the radius, and the circumferential direction are evenly distributed.
  • the grabber grabs the temperature measuring rod 100 one by one and stores it to the pick Put in the warehouse tube.
  • the rotating mechanism 2 adopts a slewing drive, and the rotating mechanism 2 is provided with a servo motor 21 associated with a signal of the control mechanism 5.
  • the lifting mechanism 3 specifically includes a driving device A31, an upper transmission shaft 32, a lower transmission shaft 33, a transmission device 34, a lifting seat 35, a column 36, a top plate 37, a cushion 38, and the column 36 is mounted on The rotating mechanism 2 rotates with it.
  • the upper transmission shaft 32 and the lower transmission shaft 33 are installed laterally on the upper and lower ends of the column 36 respectively.
  • the driving device A31 is connected to the upper transmission shaft 32 and is associated with the signal from the control mechanism 5.
  • the transmission device 34 is wound around Rotation is provided on the upper transmission shaft 32 and the lower transmission shaft 33, the lifting seat 35 is fixed on the conveying device 34 and lifts as it reciprocates, and the pick-and-place mechanism 4 is fixed on the lifting seat 35.
  • the top plate 37 is fixed on the upper end of the upright column 36, and the cushion pads 38 are respectively disposed on the top and bottom of the lifting seat 35, corresponding to the limit position of the reciprocating rotation of the conveyor 34, and the two upper and lower cushion pads 38 cooperate with the top plate 37 and the rotating mechanism 2 to form a mechanical limit Bit protection.
  • the driving device A31 is specifically an electrically connected servo motor A31-1 and a reducer A31-2.
  • the driving device A31 and the upper transmission shaft 32 are located above the top plate 37 and are sealed by a stainless steel protective cover to resist acid rot .
  • the transmission device 34 preferably adopts a chain 341 and a sprocket 342.
  • the sprocket 342 is sleeved on the upper transmission shaft 32 and the lower transmission shaft 33, and the chain 341 is wound around the two upper and lower sprockets 342 to form a rotation.
  • the lifting seat 35 specifically includes a linear slide rail 351, a slider 352, and a ring-shaped base 353.
  • the linear slide rail 351 is vertically fixed on the upright 36.
  • the slider 352 is mounted on the linear slide 351, and the ring-shaped base 353 is sleeved.
  • the inner side of the ring-shaped base 353 is fixed to the slider 352 and the conveyor 34, respectively, and the outer side is fixed to the pick-and-place mechanism 4.
  • the pick-and-place mechanism 4 specifically includes a driving device B41, a clamp fixing rod 42, a finger clamp 43, a lower base plate 44, an angle-adjusting bracket 45, a laser proximity switch 46, and a clamp fixing rod 42 connected to the lift
  • the mechanism 3 moves up and down with it.
  • the finger clamp 43 is installed at the front end of the clamp fixing rod 42.
  • the driving device B41 is connected to the finger clamp 43 and is in signal connection with the control mechanism 5.
  • the lower base plate 44 is fixed to the clamp fixing rod 42.
  • the laser proximity switch 46 is The bracket 45 is installed on the left and right sides of the lower base plate 44 and is associated with the signal of the control mechanism 5.
  • the finger grip 43 specifically includes a grip transmission shaft 431, a left gear shaft 432, a right gear shaft 433, a left fixing plate 434, a right fixing plate 435, a left clamping plate 436, a right clamping plate 437, a left guide plate 438, and a right guide
  • the plate 439, the upper bearing 4310, the lower bearing 4311, the upper cover 4312, the lower cover 4313, the clamp transmission shaft 431 are respectively connected to the driving device B41 and the left gear shaft 432, and the left gear shaft 432 and the right gear shaft 433 are arranged in parallel and relatively engaged
  • the left fixing plate 434 and the right fixing plate 435 are respectively fixed on the left gear shaft 432 and the right gear shaft 433, and the left clamping plate 4
  • the left guide plate 438 and the right guide plate 439 respectively have V-shaped guide openings and are facing in opposite directions.
  • the left guide plate 438 is disposed above the left clamping plate 436, and the right guide plate 439 is corresponding to the left guide plate 438 disposed below the right clamping plate 437.
  • the left The V-shaped guide openings of the guide plate 438 and the right guide plate 439 respectively extend outward to enlarge the angle of the jaws.
  • the upper bearing 4310 and the lower bearing 4311 are sleeved on the upper and lower ends of the left gear shaft 432 and the right gear shaft 433, respectively.
  • the upper bearing 4310 and the lower bearing 4311 are installed in the upper cover 4312, the lower cover 4313, and the upper cover 4312, respectively 3.
  • the lower cover plate 4313 is fixed to the clamp fixing rod 42, and the upper cover plate 4312 is sealed at the front end of the clamp fixing rod 42.
  • the teeth 4314 of the left gear shaft 432 and the right gear shaft 433 are located between the upper bearing 4310 and the lower bearing 4311.
  • Separation devices 4315 are installed between the teeth 4314 and the upper bearing 4310 and between the teeth 4314 and the lower bearing 4311.
  • the upper bearing 4310, the lower bearing 4311, and the tooth portion 4314 form a limit partition.
  • the left fixing plate 434 and the right fixing plate 435 are sleeved on the left gear shaft 432 and the right gear shaft 433, respectively, and are fixed to the bottom surface of the tooth portion 4314 by countersunk bolts 4316, and the isolating device 4315 is installed on the left fixing plate 434, the right fixing Between the plate 435 and the lower bearing 4311.
  • the isolating device 4315 may use a finger washer or a convex ring part integrally formed with the left gear shaft 432 and the right gear shaft 433.
  • the walking mechanism 7 specifically includes a driving device C71, a transmission device 72, a longitudinal conveyor belt 73, a driving wheel 74, and a driven wheel 75.
  • the driving wheel 74 and the driven wheel 75 are arranged forward and backward and are respectively mounted on the support platform through a bearing seat 1 At the bottom, the longitudinal conveyor belt 73 is wound around the driving wheel 74 and the driven wheel 75 to form a revolution.
  • the driving device C71 is connected to the driving wheel 74 through the transmission device 72.
  • the driving device C71 is associated with the signal from the control mechanism 5.
  • the driving wheel 74 and the driven wheel 75 fall Walk on and along the wall track of the vinegar pool.
  • the transmission device 72 includes a rear transmission shaft 721 and a vertical conveyor belt 722.
  • the rear transmission shaft 721 is installed at a position above the rear of the bracket platform 1 through a bearing housing.
  • the driving device C71 is connected to the rear transmission shaft 721, and the vertical conveyor belt 722 is wound around Rotation is provided on the driving wheel 74 and the rear transmission shaft 721.
  • the driving device C71 is specifically a servo motor C71-1 and a reducer C71-2 that are electrically connected.
  • an anti-collision assembly 8 is also provided.
  • the anti-collision assembly 8 is installed at the front end of the support platform 1.
  • the anti-collision assembly 8 includes an ultrasonic sensor 82 and an anti-collision buffer seat installed at the front end of the ultrasonic sensor 82 81.
  • the ultrasonic sensor 82 is associated with the control mechanism 5 to form an active anti-collision, and the anti-collision buffer seat 81 forms passive anti-collision protection.
  • a power supply assembly 9 is further provided.
  • the power supply assembly 9 includes an electrically connected lithium battery pack 91 and a charging brush plate 92, and the lithium battery pack 91 and the charging brush plate 92 are respectively fixed on the support platform 1
  • the walking mechanism 7, the rotating mechanism 2, the lifting mechanism 3, the pick and place mechanism 4, and the control mechanism 5 are powered by the power module 9.
  • the control mechanism When grabbing the temperature measuring rod, the control mechanism controls the driving wheel and the driven wheel to walk on the wall track of the vinegar tank through the signal of the driving device C to control the pick and place robot to travel stably to each temperature measuring rod; it is controlled by the servo motor signal Rotary drive rotation to drive the finger clamp to rotate above the grab position of the temperature measuring rod; the transmission device A signal is used to control the transmission device to rotate between the upper transmission shaft and the lower transmission shaft to drive the lifting base to move up and down, thereby driving the finger clamp to move up and down To the grab position of the temperature measuring rod; the driving device B signals to control the reciprocating rotation of the clamp transmission shaft to drive the left gear shaft and the right gear shaft to mesh relatively, thereby driving the left splint on the left fixing plate and the right splint clamping on the right fixing plate Connect the mouth to grab the temperature measuring rod; and then coordinate the rotation mechanism, lifting mechanism, and pick and place mechanism to store the temperature measuring rod in the pick and place warehouse tube.
  • This embodiment implements a fully automatic and intelligent temperature-measuring rod picking and placing operation, which provides guarantee for accurately determining the turning time and performing the turning operation of the turning machine.

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  • Mechanical Engineering (AREA)
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Abstract

本发明公开了一种智能取放机器人，包括支架平台、安装在所述支架平台上的旋转机构和控制机构、安装在所述旋转机构上并随其旋转的升降机构、安装在所述升降机构上并随其升降的取放机构，所述取放机构具有抓取部，所述取放机构通过所述抓取部抓取待取放物，所述旋转机构、升降机构、取放机构分别与所述控制机构信号关联。本发明的优点是：1、利用与行走机构、旋转机构、升降机构、取放机构信号关联的控制机构自动控制取放机器人的行走动作、旋转动作、升降动作、取放动作，实现了全自动、智能化的取放操作；2、旋转机构、升降机构、取放机构形成联动，实现了对于待取放物的精准取放操作。

Description

一种智能取放机器人 技术领域
本发明涉及一种机器人，尤其是一种智能取放机器人。
背景技术
进行黑醋酿造时，通常采用将酒酪、麸皮、稻糠等醋醅料放置在醋醅池中发酵的方式。而该方式中，醋醅料表面的微生物由于充分接触氧气，会持续发酵，导致醋醅料表面持续升温，但过高的温度则会导致微生物停止生长，发酵停止，不利于酿造；同时，醋醅料内部的微生物由于缺少氧气，则发酵缓慢，同样不利于酿造。
目前，通常采用翻醅操作应对此种情况，即将醋醅料内外进行翻转，以同时保证醋醅料内外部微生物的发酵。而在翻醅前，通常采用测温杆实时测量醋醅池内的温度，以作为翻醅的操作依据，然而，现有技术中，需要在翻醅前取回测温杆及在翻醅后放回测温杆，该取放过程如何自动化操作现已成为实现智能化翻醅操作的核心要素。
发明内容
发明目的：针对上述问题，本发明的目的是提供一种智能取放机器人，以实现全自动、智能化的取放操作。
技术方案：一种智能取放机器人，包括支架平台、安装在所述支架平台上的旋转机构和控制机构、安装在所述旋转机构上并随其旋转的升降机构、安装在所述升降机构上并随其升降的取放机构，所述取放机构具有抓取部，所述取放机构通过所述抓取部抓取待取放物，所述旋转机构、升降机构、取放机构分别与所述控制机构信号关联。
本发明的原理是：通过控制机构信号控制支架平台上的旋转机构、升降机构、取放机构形成联动。在抓取待取放物时，利用控制机构信号控制旋转机构旋转，带动升降机构旋转，从而带动取放机构旋转至待取放物上方，再利用控制机构信号控制升降机构下降，带动取放机构下降至与待取放物对应高度，之后再利用控制机构信号控制取放机构通过抓取部抓取待取放物，并进行回收。在放回待取放物时，过程相反。本结构通过与控制机构信号关联的旋转机构、升降机构、取放机构实现了全自动、智能化的取放操作。
优选的，所述旋转机构采用回转驱动，所述旋转机构上设置有与所述控制机构信号关联的伺服电机。
优选的，所述升降机构包括驱动装置A、上传动轴、下传动轴、传送装置、升降座、 立柱，所述立柱安装在所述旋转机构上并随其旋转，所述上传动轴、下传动轴分别横向安装在所述立柱的上端和下端，所述驱动装置A与所述上传动轴连接并与所述控制机构信号关联，所述传送装置绕设在所述上传动轴、下传动轴上形成回转，所述升降座固定在所述传送装置上并随其往复回转而升降，所述取放机构固定在所述升降座上。
进一步，所述升降座包括线性滑轨、滑块、圈状底座，所述线性滑轨竖向固定在所述立柱上，所述滑块安装在所述线性滑轨上，所述圈状底座套设在所述立柱上，所述圈状底座内侧分别与所述滑块和传送装置固定，外侧与所述取放机构固定。本结构的圈状底座利用滑块、传送装置多点固定，形成稳定的升降结构，同时，圈状底座套设在立柱上也可防止其侧翻。
进一步，所述升降机构还包括顶板、缓冲垫，所述顶板固定在所述立柱上端，所述缓冲垫分别设置于所述升降座的顶部和底部，对应于所述传送装置往复回转的极限位置，上下两个所述缓冲垫分别配合所述顶板和旋转机构形成机械限位保护。本结构利用驱动装置A实现电子限位，利用顶板、旋转机构配合缓冲垫实现机械限位保护，保证了升降机构得到有效的升降保护。
优选的，所述传送装置包括链条和链轮，所述链轮套装在所述上传动轴、下传动轴上，所述链条绕设在上下两个所述链轮上形成回转。
优选的，所述取放机构包括驱动装置B、夹具固定杆、手指夹具，所述夹具固定杆连接在所述升降机构上并随其升降，所述手指夹具安装在所述夹具固定杆前端，所述驱动装置B与所述手指夹具连接并与所述控制机构信号关联，所述手指夹具形成所述抓取部。
优选的，所述手指夹具包括夹具传动轴、左齿轮轴、右齿轮轴、左固定板、右固定板、左夹板、右夹板，所述夹具传动轴分别连接所述驱动装置B和左齿轮轴，所述左齿轮轴、右齿轮轴平行设置且相对啮合，所述左固定板、右固定板分别固定在所述左齿轮轴、右齿轮轴上，所述左夹板、右夹板分别固定在所述左固定板、右固定板前端且夹口相对设置形成所述抓取部，所述驱动装置B驱动所述夹具传动轴带动所述左齿轮轴、右齿轮轴相对啮合往复旋转，带动所述左夹板、右夹板的夹口卡合以抓取所述待取放物。
进一步，所述手指夹具还包括分别具有V型导向开口且方向相对的左导向板、右导向板，所述左导向板设置于所述左夹板的上方，所述右导向板对应于所述左导向板设置于所述右夹板的下方，所述左导向板、右导向板的V型导向开口分别向外延伸以扩大所 述夹口的夹角，本结构有效扩大了抓取部的抓取范围。
进一步，所述左齿轮轴、右齿轮轴的上端和下端分别套设有上轴承、下轴承，所述上轴承、下轴承分别安装在上盖板、下盖板内，所述上盖板、下盖板与所述夹具固定杆固定，所述上盖板密封盖设在所述夹具固定杆前端。本结构保证了左齿轮轴、右齿轮轴的稳定啮合旋转。
进一步，所述左齿轮轴、右齿轮轴的齿部位于所述上轴承、下轴承之间，所述齿部与上轴承之间、齿部与下轴承之间分别安装有隔离装置以使所述上轴承、下轴承与齿部之间形成限位分隔，避免上轴承、下轴承与齿部之间出现横向摩擦，加速上轴承、下轴承与齿部的磨损。
进一步，所述左固定板、右固定板分别套设在所述左齿轮轴、右齿轮轴上且分别与所述齿部固定，所述隔离装置安装在所述左固定板、右固定板与下轴承之间。本结构有效保证左固定板、右固定板可随着左齿轮轴、右齿轮轴的啮合旋转而稳定相对旋转。
进一步，所述取放机构还包括下底板、调节角度的支架、激光接近开关，所述下底板与所述夹具固定杆固定，所述激光接近开关分别通过所述支架安装在所述下底板的左右两侧且与所述控制机构信号关联，左右两侧的所述激光接近开关发射的激光信号交叉形成感应点，所述感应点与待取放物的取放位置对应时，所述抓取部的抓取位置达到取放位置完成抓取。本结构利用形成交叉的感应点精准检测待取放物的取放位置，并联动控制抓取部对该取放位置实施抓取，保障了抓取精度。
进一步，还包括存放所述待取放物的取放仓管，所述取放仓管以所述旋转机构为圆心、以所述取放机构的长度为半径、周向均布设置在所述支架平台侧方，用于存放多个待取放物。
进一步，还包括安装在所述支架平台底部的行走机构，所述行走机构与所述控制机构信号关联，所述行走机构设置在轨道上并沿其行走，形成四轴联动结构。
优选的，所述行走机构包括驱动装置C、传动装置、纵向传送带、主动轮、从动轮，所述主动轮、从动轮前后设置且分别通过轴承座安装在所述支架平台底部，所述纵向传送带绕设在所述主动轮、从动轮上形成回转，所述驱动装置C通过所述传动装置连接所述主动轮，所述驱动装置C与所述控制机构信号关联，所述主动轮、从动轮落在所述轨道上并沿其行走。
优选的，所述传动装置包括后传动轴、竖向传送带，所述后传动轴通过轴承座安装 在所述支架平台后部上方位置，所述驱动装置C连接所述后传动轴，所述竖向传送带绕设在所述主动轮、后传动轴上形成回转。
进一步，还包括安装在所述支架平台前端的防撞组件，所述防撞组件包括超声波传感器和安装在所述超声波传感器前端的防撞缓冲座，所述超声波传感器与所述控制机构信号关联形成主动防撞，所述防撞缓冲座形成被动防撞保护。
进一步，还包括电源组件，所述电源组件包括电连接的锂电池组和充电刷板，所述锂电池组和充电刷板分别固定在所述支架平台上，所述行走机构、旋转机构、升降机构、取放机构、控制机构通过所述电源组件供电。
有益效果：与现有技术相比，本发明的优点是：1、利用与行走机构、旋转机构、升降机构、取放机构信号关联的控制机构自动控制取放机器人的行走动作、旋转动作、升降动作、取放动作，实现了全自动、智能化的取放操作；2、旋转机构、升降机构、取放机构形成联动，实现了对于待取放物的精准取放操作。
附图说明
图1为本发明立体结构示意图；
图2为本发明的左侧视图；
图3为旋转机构、升降机构的结构示意图；
图4为图3中A位置的放大示意图；
图5为顶板上方结构示意图；
图6为滑块、线性滑轨位置的放大示意图；
图7为升降座位置的放大剖视图；
图8为取放机构抓取状态的结构示意图；
图9为取放机构放开状态的结构示意图；
图10为手指夹具的剖视结构示意图；
图11为行走机构的结构示意图。
具体实施方式
下面结合附图和具体实施例，进一步阐明本发明，这些实施例仅用于说明本发明而不用于限制本发明的范围。
一种智能取放机器人，结合其在醋醅池内测温杆取放上的应用，说明其具体结构。
如附图1、2所示，包括支架平台1、旋转机构2、升降机构3、取放机构4、控制 机构5、取放仓管6、行走机构7、防撞组件8、电源组件9。
本实施例中，待取放物为如附图1中所示的测温杆100，测温时，测温杆100均布插入醋醅池内。智能取放机器人的行走机构7安装在支架平台1底部，并落在醋醅池的池壁轨道上沿其行走。旋转机构2、控制机构5安装在支架平台1上，升降机构3安装在旋转机构2上并随其旋转，取放机构4安装在升降机构3上并随其升降，取放机构4具有抓取部，取放机构4通过抓取部抓取测温杆100。旋转机构2、升降机构3、取放机构4、行走机构7分别与控制机构5信号关联。取放仓管6以旋转机构2为圆心、以取放机构4的长度为半径、周向均布设置在支架平台1侧方，抓取部在逐一抓取测温杆100后，将其存放到取放仓管内。
本实施例中，如附图3、4所示，旋转机构2采用回转驱动，该旋转机构2上设置有与控制机构5信号关联的伺服电机21。
如附图3-7所示，升降机构3具体包括驱动装置A31、上传动轴32、下传动轴33、传送装置34、升降座35、立柱36、顶板37、缓冲垫38，立柱36安装在旋转机构2上并随其旋转，上传动轴32、下传动轴33分别横向安装在立柱36的上端和下端，驱动装置A31与上传动轴32连接并与控制机构5信号关联，传送装置34绕设在上传动轴32、下传动轴33上形成回转，升降座35固定在传送装置34上并随其往复回转而升降，取放机构4固定在升降座35上。顶板37固定在立柱36上端，缓冲垫38分别设置于升降座35的顶部和底部，对应于传送装置34往复回转的极限位置，上下两个缓冲垫38分别配合顶板37和旋转机构2形成机械限位保护。本实施例中，驱动装置A31具体为电连接的伺服电机A31-1和减速机A31-2，驱动装置A31、上传动轴32位于顶板37上方并通过不锈钢防护罩密封盖设，以抵挡酸腐。传送装置34优选采用链条341和链轮342，链轮342套装在上传动轴32、下传动轴33上，链条341绕设在上下两个所述链轮342上形成回转。升降座35具体包括线性滑轨351、滑块352、圈状底座353，线性滑轨351竖向固定在立柱36上，所述滑块352安装在线性滑轨351上，圈状底座353套设在立柱36上，圈状底座353内侧分别与滑块352和传送装置34固定，外侧与取放机构4固定。
如附图8-10所示，取放机构4具体包括驱动装置B41、夹具固定杆42、手指夹具43、下底板44、调节角度的支架45、激光接近开关46，夹具固定杆42连接在升降机构3上并随其升降，手指夹具43安装在夹具固定杆42前端，驱动装置B41与手指夹具 43连接并与控制机构5信号关联，下底板44与夹具固定杆42固定，激光接近开关46分别通过支架45安装在下底板44的左右两侧且与控制机构5信号关联，左右两侧的激光接近开关46发射的激光信号交叉形成感应点，该感应点与测温杆100的取放位置对应时，手指夹具的抓取位置达到该取放位置完成抓取。本实施例中，手指夹具43具体包括夹具传动轴431、左齿轮轴432、右齿轮轴433、左固定板434、右固定板435、左夹板436、右夹板437、左导向板438、右导向板439、上轴承4310、下轴承4311、上盖板4312、下盖板4313，夹具传动轴431分别连接驱动装置B41和左齿轮轴432，左齿轮轴432、右齿轮轴433平行设置且相对啮合，左固定板434、右固定板435分别固定在左齿轮轴432、右齿轮轴433上，左夹板436、右夹板437分别固定在左固定板434、右固定板435前端且夹口相对设置形成抓取部，驱动装置B41驱动夹具传动轴431带动左齿轮轴432、右齿轮轴433相对啮合往复旋转，带动左夹板436、右夹板437的夹口卡合以抓取测温杆100。左导向板438、右导向板439分别具有V型导向开口且方向相对，左导向板438设置于左夹板436的上方，右导向板439对应于左导向板438设置于右夹板437的下方，左导向板438、右导向板439的V型导向开口分别向外延伸以扩大夹口的夹角。上轴承4310、下轴承4311分别套设于左齿轮轴432、右齿轮轴433的上端和下端，上轴承4310、下轴承4311分别安装在上盖板4312、下盖板4313内，上盖板4312、下盖板4313与夹具固定杆42固定，上盖板4312密封盖设在夹具固定杆42前端。左齿轮轴432、右齿轮轴433的齿部4314位于上轴承4310、下轴承4311之间，齿部4314与上轴承4310之间、齿部4314与下轴承4311之间分别安装有隔离装置4315以使上轴承4310、下轴承4311与齿部4314之间形成限位分隔。左固定板434、右固定板435分别套设在左齿轮轴432、右齿轮轴433上且分别通过沉头螺栓4316与齿部4314的底面固定，隔离装置4315安装在左固定板434、右固定板435与下轴承4311之间。隔离装置4315可采用手指垫圈或与左齿轮轴432、右齿轮轴433一体成型的凸环部。
如附图11所示，行走机构7具体包括驱动装置C71、传动装置72、纵向传送带73、主动轮74、从动轮75，主动轮74、从动轮75前后设置且分别通过轴承座安装在支架平台1底部，纵向传送带73绕设在主动轮74、从动轮75上形成回转，驱动装置C71通过传动装置72连接主动轮74，驱动装置C71与控制机构5信号关联，主动轮74、从动轮75落在醋醅池的池壁轨道上并沿其行走。本实施例中，传动装置72包括后传动轴721、竖向传送带722，后传动轴721通过轴承座安装在支架平台1后部上方位置，驱 动装置C71连接后传动轴721，竖向传送带722绕设在主动轮74、后传动轴721上形成回转。本实施例中，驱动装置C71具体为电连接的伺服电机C71-1和减速机C71-2。
本实施例中，为实现防撞功能，还设置了防撞组件8，防撞组件8安装在支架平台1前端，防撞组件8包括超声波传感器82和安装在超声波传感器82前端的防撞缓冲座81，超声波传感器82与控制机构5信号关联形成主动防撞，防撞缓冲座81形成被动防撞保护。
本实施例中，为实现无线控制，还设置了电源组件9，电源组件9包括电连接的锂电池组91和充电刷板92，锂电池组91和充电刷板92分别固定在支架平台1上，行走机构7、旋转机构2、升降机构3、取放机构4、控制机构5通过电源组件9供电。
抓取测温杆时，控制机构通过驱动装置C信号控制主动轮、从动轮在醋醅池的池壁轨道上行走，以控制取放机器人稳定行进至各个测温杆处；通过伺服电机信号控制回转驱动旋转，以带动手指夹具旋转至测温杆抓取位置上方；通过驱动装置A信号控制传送装置在上传动轴、下传动轴之间旋转，以带动升降座上下升降，从而带动手指夹具升降至测温杆抓取位置；通过驱动装置B信号控制夹具传动轴往复回转，以带动左齿轮轴、右齿轮轴相对啮合，从而带动左固定板上的左夹板、右固定板上的右夹板夹口相接以抓取测温杆；再通过旋转机构、升降机构、取放机构联动配合，将测温杆存放到取放仓管内。
放回测温杆时，与抓取测温杆的过程相反。
本实施例实现了全自动、智能化的测温杆取放操作，为精准确定翻醅时间和进行翻醅机的翻醅操作提供了保障。

Claims (19)

  1. 一种智能取放机器人，其特征在于：包括支架平台(1)、安装在所述支架平台(1)上的旋转机构(2)和控制机构(5)、安装在所述旋转机构(2)上并随其旋转的升降机构(3)、安装在所述升降机构(3)上并随其升降的取放机构(4)，所述取放机构(4)具有抓取部，所述取放机构(4)通过所述抓取部抓取待取放物，所述旋转机构(2)、升降机构(3)、取放机构(4)分别与所述控制机构(5)信号关联。
  2. 根据权利要求1所述的一种智能取放机器人，其特征在于：所述旋转机构(2)采用回转驱动，所述旋转机构(2)上设置有与所述控制机构(5)信号关联的伺服电机(21)。
  3. 根据权利要求1所述的一种智能取放机器人，其特征在于：所述升降机构(3)包括驱动装置A(31)、上传动轴(32)、下传动轴(33)、传送装置(34)、升降座(35)、立柱(36)，所述立柱(36)安装在所述旋转机构(2)上并随其旋转，所述上传动轴(32)、下传动轴(33)分别横向安装在所述立柱(36)的上端和下端，所述驱动装置A(31)与所述上传动轴(32)连接并与所述控制机构(5)信号关联，所述传送装置(34)绕设在所述上传动轴(32)、下传动轴(33)上形成回转，所述升降座(35)固定在所述传送装置(34)上并随其往复回转而升降，所述取放机构(4)固定在所述升降座(35)上。
  4. 根据权利要求3所述的一种智能取放机器人，其特征在于：所述升降座(35)包括线性滑轨(351)、滑块(352)、圈状底座(353)，所述线性滑轨(351)竖向固定在所述立柱(36)上，所述滑块(352)安装在所述线性滑轨(351)上，所述圈状底座(353)套设在所述立柱(36)上，所述圈状底座(353)内侧分别与所述滑块(352)和传送装置(34)固定，外侧与所述取放机构(4)固定。
  5. 根据权利要求3所述的一种智能取放机器人，其特征在于：所述升降机构(3)还包括顶板(37)、缓冲垫(38)，所述顶板(37)固定在所述立柱(36)上端，所述缓冲垫(38)分别设置于所述升降座(35)的顶部和底部，对应于所述传送装置(34)往复回转的极限位置，上下两个所述缓冲垫(38)分别配合所述顶板(37)和旋转机构(2)形成机械限位保护。
  6. 根据权利要求3所述的一种智能取放机器人，其特征在于：所述传送装置(34)包括链条(341)和链轮(342)，所述链轮(342)套装在所述上传动轴(32)、下传动轴(33)上，所述链条(341)绕设在上下两个所述链轮(342)上形成回转。
  7. 根据权利要求1所述的一种智能取放机器人，其特征在于：所述取放机构(4)包括驱动装置B(41)、夹具固定杆(42)、手指夹具(43)，所述夹具固定杆(42)连接在所述升降机构(3)上并随其升降，所述手指夹具(43)安装在所述夹具固定杆(42)前端，所述驱动装置B(41)与所述手指夹具(43)连接并与所述控制机构(5)信号关联，所述手指夹具(43)形成所述抓取部。
  8. 根据权利要求7所述的一种智能取放机器人，其特征在于：所述手指夹具(43)包括夹具传动轴(431)、左齿轮轴(432)、右齿轮轴(433)、左固定板(434)、右固定板(435)、左夹板(436)、右夹板(437)，所述夹具传动轴(431)分别连接所述驱动装置B(41)和左齿轮轴(432)，所述左齿轮轴(432)、右齿轮轴(433)平行设置且相对啮合，所述左固定板(434)、右固定板(435)分别固定在所述左齿轮轴(432)、右齿轮轴(433)上，所述左夹板(436)、右夹板(437)分别固定在所述左固定板(434)、右固定板(435)前端且夹口相对设置形成所述抓取部，所述驱动装置B(41)驱动所述夹具传动轴(431)带动所述左齿轮轴(432)、右齿轮轴(433)相对啮合往复旋转，带动所述左夹板(436)、右夹板(437)的夹口卡合以抓取所述待取放物。
  9. 根据权利要求8所述的一种智能取放机器人，其特征在于：所述手指夹具(43)还包括分别具有V型导向开口且方向相对的左导向板(438)、右导向板(439)，所述左导向板(438)设置于所述左夹板(436)的上方，所述右导向板(439)对应于所述左导向板(438)设置于所述右夹板(437)的下方，所述左导向板(438)、右导向板(439)的V型导向开口分别向外延伸以扩大所述夹口的夹角。
  10. 根据权利要求8所述的一种智能取放机器人，其特征在于：所述左齿轮轴(432)、右齿轮轴(433)的上端和下端分别套设有上轴承(4310)、下轴承(4311)，所述上轴承(4310)、下轴承(4311)分别安装在上盖板(4312)、下盖板(4313)内，所述上盖板(4312)、下盖板(4313)与所述夹具固定杆(42)固定，所述上盖板(4312)密封盖设在所述夹具固定杆(42)前端。
  11. 根据权利要求10所述的一种智能取放机器人，其特征在于：所述左齿轮轴(432)、右齿轮轴(433)的齿部(4314)位于所述上轴承(4310)、下轴承(4311)之间，所述齿部(4314)与上轴承(4310)之间、齿部(4314)与下轴承(4311)之间分别安装有隔离装置(4315)以使所述上轴承(4310)、下轴承(4311)与齿部(4314)之间形成限位分隔。
  12. 根据权利要求11所述的一种智能取放机器人，其特征在于：所述左固定板(434)、右固定板(435)分别套设在所述左齿轮轴(432)、右齿轮轴(433)上且分别与所述齿部(4314)固定，所述隔离装置(4315)安装在所述左固定板(434)、右固定板(435)与下轴承(4311)之间。
  13. 根据权利要求8所述的一种智能取放机器人，其特征在于：所述取放机构(4)还包括下底板(44)、调节角度的支架(45)、激光接近开关(46)，所述下底板(44)与所述夹具固定杆(42)固定，所述激光接近开关(46)分别通过所述支架(45)安装在所述下底板(44)的左右两侧且与所述控制机构(5)信号关联，左右两侧的所述激光接近开关(46)发射的激光信号交叉形成感应点，所述感应点与待取放物的取放位置对应时，所述抓取部的抓取位置达到取放位置完成抓取。
  14. 根据权利要求1所述的一种智能取放机器人，其特征在于：还包括存放所述待取放物的取放仓管(6)，所述取放仓管(6)以所述旋转机构(2)为圆心、以所述取放机构(4)的长度为半径、周向均布设置在所述支架平台(1)侧方。
  15. 根据权利要求1-14任一所述的一种智能取放机器人，其特征在于：还包括安装在所述支架平台(1)底部的行走机构(7)，所述行走机构(7)与所述控制机构(5)信号关联，所述行走机构(7)设置在轨道上并沿其行走。
  16. 根据权利要求15所述的一种智能取放机器人，其特征在于：所述行走机构(7)包括驱动装置C(71)、传动装置(72)、纵向传送带(73)、主动轮(74)、从动轮(75)，所述主动轮(74)、从动轮(75)前后设置且分别通过轴承座安装在所述支架平台(1)底部，所述纵向传送带(73)绕设在所述主动轮(74)、从动轮(75)上形成回转，所述驱动装置C(71)通过所述传动装置(72)连接所述主动轮(74)，所述驱动装置C(71)与所述控制机构(5)信号关联，所述主动轮(74)、从动轮(75)落在所述轨道上并沿其行走。
  17. 根据权利要求16所述的一种智能取放机器人，其特征在于：所述传动装置(72)包括后传动轴(721)、竖向传送带(722)，所述后传动轴(721)通过轴承座安装在所述支架平台(1)后部上方位置，所述驱动装置C(71)连接所述后传动轴(721)，所述竖向传送带(722)绕设在所述主动轮(74)、后传动轴(721)上形成回转。
  18. 根据权利要求15所述的一种智能取放机器人，其特征在于：还包括安装在所述支架平台(1)前端的防撞组件(8)，所述防撞组件(8)包括超声波传感器(82)和 安装在所述超声波传感器(82)前端的防撞缓冲座(81)，所述超声波传感器(82)与所述控制机构(5)信号关联形成主动防撞，所述防撞缓冲座(81)形成被动防撞保护。
  19. 根据权利要求15所述的一种智能取放机器人，其特征在于：还包括电源组件(9)，所述电源组件(9)包括电连接的锂电池组(91)和充电刷板(92)，所述锂电池组(91)和充电刷板(92)分别固定在所述支架平台(1)上，所述行走机构(7)、旋转机构(2)、升降机构(3)、取放机构(4)、控制机构(5)通过所述电源组件(9)供电。
PCT/CN2018/121171 2018-12-12 2018-12-14 一种智能取放机器人 WO2020118685A1 (zh)

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