CN109607168A - A kind of intelligent machine arm system picked and placed for goods and materials - Google Patents
A kind of intelligent machine arm system picked and placed for goods and materials Download PDFInfo
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- CN109607168A CN109607168A CN201811458969.8A CN201811458969A CN109607168A CN 109607168 A CN109607168 A CN 109607168A CN 201811458969 A CN201811458969 A CN 201811458969A CN 109607168 A CN109607168 A CN 109607168A
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Classifications
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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
- B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
-
- 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
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention discloses a kind of intelligent machine arm systems picked and placed for goods and materials, belong to mechanical arm system technical field.It solves existing warehouse to be mostly only used for picking and placing the cargo of two quadrant shelf with mechanical arm, and existing machinery arm can only pick and place the cargo in horizontal linear direction, lead to the problem of inconvenience to scene actual use.It further include X-axis upper rail, X-axis lower railway and the package mechanical arm being arranged between X-axis upper rail and X-axis lower railway including shelf；The package mechanical arm includes the Z axis slide rail being vertically arranged, the Y-axis mechanical arm being arranged in Z axis slide rail, the R shaft mechanical arm being arranged on Y-axis mechanical arm and loading platform, the gripper being arranged on R shaft mechanical arm；Idler wheel setting is got on the right track in X-axis upper rail by X-axis in the top of Z axis slide rail, and the bottom of Z axis slide rail is arranged in X-axis lower railway by X-axis lower railway idler wheel.
Description
Technical field
The present invention relates to mechanical arm system technical fields, more particularly to are related specifically to a kind of intelligence picked and placed for goods and materials
Mechanical arm system.
Background technique
It is widely applied currently, intelligent machine arm has been carried out in all trades and professions.1962, AMF Inc., the U.S. made
The practical teaching playback industrial machine arm of First in the world is made.By development in more than 50 years, Japan, the U.S., France, moral
The industrial machine arm product of state has reached its maturity and perfect, has become a kind of standard device and is widely applied by industry,
A collection of influential reputable industrial robotic arm company is sequentially formed, such as company, transnational group ABB Robotics, Japan
FANUC etc..
In China, to the nineties in last century, China develops plane articulation type and puts together machines arm, rectangular co-ordinate robotic arm.
By development in more than 20 years, China had been able to produce Partial key components, develop arc-welding, spot welding, stacking, assembly,
The industrial machines arm such as injection molding, punching press, spraying forms the enterprise that a batch has exploitation and production capacity.The China of beginning in 2010 work
Industry robotic arm rush of demand, to the end of the year 2012, adding up mounting industrial robotic arm altogether is more than 100,000, the industrial machine arm in the world
16.28% is accounted in installation total amount.In addition, domestic many start-up groups are also released with the exploration that intelligent machine arm promotes and applies
Many civilian mechanical arms of low cost, such as 7Bot, DoBot.
In existing mechanical arm system, warehouse mechanical arm belongs to a macrotaxonomy.By preliminary search, related patents are very
It is more, such as 201711067208.5 " a kind of mechanical arms for loading and unloading goods ", 201420472048.8 " electric energy metering device storehouse managements
System and its mechanical arm ", 201610373214.2 " a kind of warehouse Intelligent transfer robots ", 201820124206.9 " remove in warehouse
Transport robot ", 201810046843.3 " all directionally movable robots applied to intelligent repository " etc..But existing warehouse is used
Mechanical arm is mostly only used for picking and placing the cargo of 2 quadrant shelf, and existing warehouse mechanical arm can only pick and place horizontal linear direction
Cargo.Scene is actually used and generates inconvenience.
Summary of the invention
It is mostly only used for picking and placing the cargo of 2 quadrant shelf, and existing machinery to solve existing warehouse with mechanical arm
Arm can only pick and place the cargo in horizontal linear direction, lead to the problem of inconvenience to scene actual use, the present invention provides one kind
The intelligent machine arm system picked and placed for goods and materials.
To achieve the goals above, the invention adopts the following technical scheme:
A kind of intelligent machine arm system picked and placed for goods and materials, including shelf, further include X-axis upper rail, X-axis lower railway with
And the package mechanical arm between X-axis upper rail and X-axis lower railway is set；The package mechanical arm includes the Z axis being vertically arranged
Sliding rail, the Y-axis mechanical arm being arranged in Z axis slide rail, the R shaft mechanical arm being arranged on Y-axis mechanical arm and loading platform, setting exist
Gripper on R shaft mechanical arm；Idler wheel setting is got on the right track in X-axis upper rail by X-axis in the top of Z axis slide rail, Z axis slide rail
Bottom is arranged in X-axis lower railway by X-axis lower railway idler wheel；
The R shaft mechanical arm includes the first hollow rotating platform and is used to drive the first hollow rotating platform along Y-axis mechanical arm
The first servo motor that the direction at place rotates, it is hollow that the first hollow rotating platform by R axis connection plate is connected with second
Rotating platform, the second hollow rotating platform are connected with for driving the second hollow rotating platform where Z axis mechanical arm
The second servo motor that direction rotates, and R shaft mechanical arm is connect by R axis connection plate with gripper.
X-axis upper rail idler wheel of the invention is for Z axis slide rail along X-axis upper rail walking sliding and fixed function；Z axis slide rail
It moves up and down for package mechanical arm, to adjust height crawl package；X-axis lower railway idler wheel is for Z axis slide rail along X-axis
Lower railway walking sliding and fixed function；Y-axis mechanical arm is used for the side-to-side movement of gripper and loading platform；R shaft mechanical arm is used
In the rotation of gripper, to complete being removed and placed into for cargo；Loading platform is used for cargo shelving when being removed or placed into.
Further, the Z axis slide rail include Z axis straight line mould group, the Z axis connecting plate being arranged in Z axis straight line mould group with
And the Z axis servo motor for driving Z axis straight line mould group to move up and down.
Further, the Y-axis mechanical arm includes the first Y-axis straight line mould group, is arranged in below the first Y-axis straight line mould group
Second Y-axis straight line mould group, the first Y-axis for driving the first Y-axis straight line mould group to be moved forward and backward along the direction where Y-axis mechanical arm
Servo motor, the second Y-axis servo electricity for driving the second Y-axis straight line mould group to be moved forward and backward along the direction where Y-axis mechanical arm
Machine and the Y-axis connecting plate connecting with Z axis connecting plate, the R shaft mechanical arm pass through R axis connection plate and the first Y-axis straight line mould group
Connection.
Further, the loading platform includes platform board and for platform board to be connected to the second Y-axis straight line mould group
Platform connecting plate.
Further, the gripper includes the clamping jaw connecting plate connecting with the second hollow rotating platform, is arranged in clamping jaw
Flexible electric cylinders on connecting plate, the end of flexible electric cylinders are connected with clamping jaw electric cylinders, connected in clamping jaw electric cylinders by sliding block there are two
It is oppositely arranged and is used to grab the picking clamping jaw of cargo.
Further, clamping plate mounting base, the clamping plate mounting base are installed on the clamping jaw connecting plate close to clamping jaw electric cylinders
On light source, range sensor, the CCD connecting with range sensor are installed.
Further, the X-axis upper rail idler wheel includes the upper junction plate connecting with Z axis straight line mould group, is arranged in upper company
Upper rail idler wheel on fishplate bar, the upper driving motor for driving upper rail idler wheel to move in X-axis gets on the right track, upper driving motor
Output end be connected with speed reducer, and upper speed reducer is connect by gear with upper junction plate.
Further, the X-axis lower railway idler wheel includes the lower connecting plate connecting with Z axis straight line mould group, is arranged in lower company
Lower railway idler wheel on fishplate bar, the lower driving motor for driving lower railway idler wheel to move in X-axis lower railway, lower driving motor
Output end be connected with lower speed reducer, and lower speed reducer is connect by lower gear with lower connecting plate.
Further, the shelf have 4, and 4 shelf and the intelligent machine arm system picked and placed for goods and materials are set too
In empty cabin, wherein two shelf or so are oppositely arranged, other two shelf is oppositely arranged up and down, and 4 shelf form a four-quadrant
Warehouse is limited, the intelligent machine arm system picked and placed for goods and materials is arranged in space capsule, the intelligent machine picked and placed for goods and materials
The X-axis upper rail and X-axis lower railway of arm system are arranged on the partition of space capsule.
Compared with the prior art, the invention has the beneficial effects that:
1, X-axis of the invention upper rail idler wheel is for Z axis slide rail along X-axis upper rail walking sliding and fixed function；Z axis is sliding
Rail moves up and down for package mechanical arm, to adjust height crawl package；X-axis lower railway idler wheel is for Z axis slide rail along X
Axis lower railway walking sliding and fixed function；Y-axis mechanical arm is used for the side-to-side movement of gripper and loading platform；R shaft mechanical arm
For the rotation of gripper, to complete being removed and placed into for cargo；Loading platform is used for cargo putting when being removed or placed into
It sets.The intelligent machine arm system picked and placed for goods and materials of the invention can not only take the cargo in common two quadrant warehouse
It puts, compared to the prior art, due to increasing R shaft mechanical arm, can solve from specific four-quadrant warehouse (space capsule) certainly
Dynamic the problem of picking and placing cargo.
Detailed description of the invention
Fig. 1 is the intelligent machine arm system schematic diagram picked and placed for goods and materials of the invention；
Fig. 2 is the structural schematic diagram of package mechanical arm of the invention；
Fig. 3 is the structural schematic diagram of Z axis slide rail of the invention；
Fig. 4 is the structural schematic diagram of Y-axis mechanical arm of the invention；
Fig. 5 is the structural schematic diagram of R shaft mechanical arm of the invention；
Fig. 6 is the structural schematic diagram of gripper of the invention；
Fig. 7 is the structural schematic diagram of X-axis upper rail idler wheel of the invention；
Fig. 8 is the structural schematic diagram of X-axis lower railway idler wheel of the invention；
Fig. 9 is the structural schematic diagram of loading platform of the invention；
Figure 10 is the schematic diagram of package mechanical arm crawl outside package of the invention；
Figure 11 is the schematic diagram of package mechanical arm crawl inside package of the invention；
Figure 12 is the schematic diagram that " gripper " of the invention passes through that R shaft mechanical arm is rotated by 90 ° upwards；
Figure 13 is the schematic diagram that the intelligent machine arm system picked and placed for goods and materials of the invention works in four-quadrant warehouse.
Marked in the figure: 1- shelf, 2-X axis upper rail, 3-X axis lower railway, 4- package mechanical arm, 5-Z axis sliding rail, 6-Y axis
Mechanical arm, 7-R shaft mechanical arm, 8-X axis upper rail idler wheel, 9-X axis lower railway idler wheel, 10- gripper, 11- loading platform, 12-Z
Axis straight line mould group, 13-Z axis connection plate, 14-Z axis servo motor, 15-Y axis connection plate, 16- the first Y-axis servo motor, 17-
One Y-axis straight line mould group, 18- the second Y-axis servo motor, 19- the second Y-axis straight line mould group, 20- first servo motor, 21- second are watched
Take motor, 22- the second hollow rotating platform, 23- the first hollow rotating platform, 24-R axis connection plate, 25- clamping jaw connecting plate, 26-
Flexible electric cylinders, 27- range sensor, 28- light source, 29-CCD, 30- clamping jaw electric cylinders, 31- picking clamping jaw, the upper driving motor of 32-,
The upper speed reducer of 33-, 34- gear, 35- get on the right track idler wheel, 36- upper junction plate, 37- track lubrication block, driving motor under 38-,
Speed reducer under 39-, 40- lower railway idler wheel, 41- lower gear, 42- platform board, 43- platform connecting plate, 44- lower connecting plate, 45- goods
Packet.
Specific embodiment
The present invention will be further described with reference to the examples below, and described embodiment is only present invention a part
Embodiment is not whole embodiment.Based on the embodiments of the present invention, those skilled in the art are not making
Other embodiments used obtained, belong to protection scope of the present invention under the premise of creative work.
Embodiment 1:
As shown in Figure 1, a kind of intelligent machine arm system picked and placed for goods and materials, including shelf 1, it is as shown in figure 13, described
Shelf 1 have 4, and 4 shelf 1 and the intelligent machine arm system picked and placed for goods and materials are set in space capsule, wherein two shelf
1 or so is oppositely arranged, other two about 1 shelf is oppositely arranged, and 4 shelf 1 form a four-quadrant warehouse, described to be used for object
The intelligent machine arm system that money picks and places is arranged in space capsule, the X-axis upper rail 2 for the intelligent machine arm system that goods and materials pick and place
It is arranged on the partition of space capsule with X-axis lower railway 3.As shown in Fig. 2, further include X-axis upper rail 2, X-axis lower railway 3 and
Package mechanical arm 4 between X-axis upper rail 2 and X-axis lower railway 3 is set；The package mechanical arm 4 includes the Z being vertically arranged
Axis sliding rail 5, the Y-axis mechanical arm 6 being arranged in Z axis slide rail 5, the R shaft mechanical arm 7 being arranged on Y-axis mechanical arm 6 and loading platform
11, the gripper 10 on R shaft mechanical arm 7 is set；The top of Z axis slide rail 5 setting of idler wheel 8 is got on the right track in X-axis upper rail by X-axis
In road 2, the bottom of Z axis slide rail 5 is arranged in X-axis lower railway 3 by X-axis lower railway idler wheel 9；
As shown in figure 3, the Z axis slide rail 5 includes Z axis straight line mould group 12, the Z axis being arranged in Z axis straight line mould group 12 company
Fishplate bar 13 and for drive Z axis straight line mould group 12 move up and down Z axis servo motor 14.
As shown in figure 5, the R shaft mechanical arm 7 includes the first hollow rotating platform and is used to drive the first hollow rotating platform
23 first servo motors 20 rotated along the direction where Y-axis mechanical arm 6, the first hollow rotating platform 23 are connected by R axis
Fishplate bar 24 is connected with the second hollow rotating platform 22, and the second hollow rotating platform 22 is connected with for driving the second hollow rotation
Turn the second servo motor 21 that platform 22 is rotated along the direction where Z axis mechanical arm, and R shaft mechanical arm 7 passes through R axis connection plate 24
It is connect with gripper 10.
As shown in figure 4, the Y-axis mechanical arm 6 includes the first Y-axis straight line mould group 17, is arranged in the first Y-axis straight line mould group 17
Second Y-axis straight line mould group 19 of lower section, for driving the first Y-axis straight line mould group 17 to move before and after the direction where Y-axis mechanical arm 6
Dynamic the first Y-axis servo motor 16 and for driving the second Y-axis straight line mould group 19 before and after the direction where Y-axis mechanical arm 6
The second mobile Y-axis servo motor 18, the R shaft mechanical arm 7 are connect by R axis connection plate 24 with the first Y-axis straight line mould group 17.
As shown in figure 9, the loading platform 11 is including platform board 42 and for platform board 42 to be connected to the second Y-axis straight line mould group 19
Platform connecting plate 43.
As shown in fig. 6, the gripper 10 includes the clamping jaw connecting plate 25 connecting with the second hollow rotating platform 22, setting
Flexible electric cylinders 26 on clamping jaw connecting plate 25, the end of flexible electric cylinders 26 are connected with clamping jaw electric cylinders 30, lead in clamping jaw electric cylinders 30
Cross picking clamping jaw 31 of the sliding block connection there are two being oppositely arranged and for grabbing cargo.In picking, clamping jaw electric cylinders 30 are first driven
Two sliding blocks move in the opposite direction so that the distance of two clamping jaws increases, then clamping jaw electric cylinders 30 drive two sliding blocks to phase
To direction it is mobile so that two picking clamping jaws 31 grab the handle for clamping package 45.In the clamping jaw connecting plate close to clamping jaw electric cylinders 30
Clamping plate mounting base is installed on 25, light source 28, range sensor 27 and range sensor 27 are installed in the clamping plate mounting base
The CCD29 of connection.
As shown in fig. 7, the X-axis upper rail idler wheel 8 includes the upper junction plate 36 connecting with Z axis straight line mould group 12, setting
Upper rail idler wheel 35 on upper junction plate 36, the upper driving electricity for driving upper rail idler wheel 35 to move in X-axis upper rail 2
Machine 32, the output end of upper driving motor 32 is connected with speed reducer 33, and upper speed reducer 33 passes through gear 34 and upper junction plate
36 connections.The upper junction plate 36 of the X-axis upper rail idler wheel 8 is equipped with the track lubrication block 37 for lubricating X-axis upper rail 2.
As shown in figure 8, the X-axis lower railway idler wheel 9 includes the lower connecting plate 44 connecting with Z axis straight line mould group 12, setting
In the lower railway idler wheel 40 on lower connecting plate 44, the electricity of the lower driving for driving lower railway idler wheel 40 to move in X-axis lower railway 3
Machine 38, the output end of lower driving motor 38 is connected with lower speed reducer 39, and lower speed reducer 39 passes through lower gear 41 and lower connecting plate
44 connections.The lower connecting plate 44 of the X-axis lower railway idler wheel 9 is equipped with the track lubrication block 37 for lubricating X-axis lower railway 3.
X-axis upper rail idler wheel 8 of the invention is for Z axis slide rail 5 along the 2 walking sliding of X-axis upper rail and fixed function；Z axis
Sliding rail 5 moves up and down for package mechanical arm 4, to adjust height crawl package 45；X-axis lower railway idler wheel 9 is used for Z axis
Sliding rail 5 is along the walking of X-axis lower railway 3 sliding and fixed function；Y-axis mechanical arm 6 is used for the left and right of gripper 10 and loading platform 11
Movement；R shaft mechanical arm 7 is used for the rotation of gripper 10, the installation of camera and clamping jaw electric cylinders 30；Distance on gripper 10 passes
Sensor 27 and CCD29 are used to take pictures to cargo positioning, to complete being removed and placed into for cargo；Loading platform 11 is used for
Cargo shelving when being removed or placed into.
Below by taking two quadrant shelf 1 as an example, the course of work of the invention is elaborated:
1) on picking frame 1 outside package 45 the course of work: as shown in Figure 10,
A: after mechanical arm system powers on, Aligning control movement is carried out, (warehouse aisles are most in the origin position of system for mechanical arm
It is inboard)；
B: " package mechanical arm 4 " first passes through X-axis upper rail 2 and X-axis lower railway 3 arrives the Position Approximate of shelf 1, " gripper
10 " carry out precise positioning by range sensor 27 and CCD29；
C: " gripper 10 " catches " handle " of cargo, the first Y-axis straight line mould group 17 of Y-axis mechanical arm 6 to the left/move to right
It is dynamic, drive gripper 10 to the left/move right, cargo hauling-out is come；
D: package mechanical arm 4 draws package 45 to above loading platform 11, and then, package mechanical arm 4 is by 45 transfer of package
To at 1 passway of shelf；Staff takes package 45 away at passway.
2) on picking frame 1 inside package 45 the course of work: as shown in figure 11,
A: the course of work of above-mentioned " taking out outside package 45 " is repeated, first outside package 45 is drawn onto loading platform 11
Face；
B: gripper 10 unclamps the handle of package 45, and " gripper 10 " passes through the first hollow rotating platform of R shaft mechanical arm 7
23 are rotated by 90 ° upwards, it is therefore an objective to picking clamping jaw 31 be allowed to avoid loading chain-wales；As shown in figure 12,
B: loading platform 11 moves backward under the drive of the second Y-axis straight line mould group 19 of Y-axis mechanical arm 6；
C: " gripper 10 is being rotated downwardly to original position, i.e. horizontality, and electric cylinders 26 of stretching at this time will stretch out, and drives distance
Sensor 27 and CCD29 go the package 45 of 1 inside of shooting shelf, and after the completion of positioning, picking clamping jaw 31 goes the package of crawl inside
45, package 45 is pulled out, picking clamping jaw 31 catches package 45 to be sent to passway.
D: package mechanical arm 4 draws package 45 to above loading platform 11, and then, package mechanical arm 4 is by 45 transfer of package
To at 1 passway of shelf；Staff takes package 45 away at passway.
E: and then loading platform 11 moves forward under the drive of the second Y-axis straight line mould group 19 of Y-axis mechanical arm 6；
F: the picking clamping jaw 31 of package mechanical arm 4 puts the outer of meeting shelf 1 after grabbing the package 45 above loading platform 11
Side.
Embodiment 2:
As shown in figures 1-13, this implementation is to advanced optimize on the basis of embodiment 1, and the present embodiment emphasis illustrates and reality
The improvements that example 1 is compared are applied, something in common repeats no more, and in the present embodiment, the shelf 1 there are 4,4 shelf 1 and uses
It is set in space capsule in the intelligent machine arm system that goods and materials pick and place, wherein two shelf 1 or so are oppositely arranged, other two
About 1 shelf are oppositely arranged, and 4 shelf 1 form a four-quadrant warehouse, the intelligent machine arm system picked and placed for goods and materials
It is arranged in space capsule, the X-axis upper rail 2 and X-axis lower railway 3 of the intelligent machine arm system for goods and materials pick-and-place are arranged at too
On the partition in empty cabin.
Below by taking the four-quadrant shelf 1 of space capsule as an example, the course of work of the invention is elaborated:
1) when taking right side cargo
A, " package mechanical arm 4 " first passes through the Position Approximate of X-axis upper rail 2 and X-axis lower railway 3 to shelf 1, " gripper
10 " carry out precise positioning by range sensor 27 and CCD29；
B, " gripper 10 " catches " handle " of cargo, and the first Y-axis straight line mould group 17 of Y-axis mechanical arm 6 is moved to the left, band
Motivation machinery claw 10 is moved to the left, and cargo hauling-out is come；
C, cargo is transported to passway along channel direction (Z-direction) movement by " package mechanical arm 4 ", is transmitted by passway
Device or staff take cargo away.
2) when taking left side cargo
A, " gripper 10 " rotates 180 ° by the second hollow rotating platform 22 of R shaft mechanical arm 7, and " gripper 10 " stretches to
Left side rack 1.
B, " package mechanical arm 4 " first passes through the Position Approximate of X-axis upper rail 2 and X-axis lower railway 3 to shelf 1, " gripper
10 " carry out precise positioning by range sensor 27 and CCD29；
C, " gripper 10 " catches " handle " of cargo, and the first Y-axis straight line mould group 17 of Y-axis mechanical arm 6 moves right, band
Motivation machinery claw 10 moves right, and cargo hauling-out is come；
D, cargo is transported to passway along channel direction (Z-direction) movement by " package mechanical arm 4 ", is transmitted by passway
Device or staff take cargo away.
3) when taking top cargo
A, " gripper 10 " is rotated by 90 ° by the second hollow rotating platform 22 of R shaft mechanical arm 7, and " gripper 10 " stretches to
Top shelf 1.
B, " package mechanical arm 4 " first passes through the Position Approximate of X-axis upper rail 2 and X-axis lower railway 3 to shelf 1, " gripper
10 " carry out precise positioning by range sensor 27 and CCD29；
C, " gripper 10 " catches " handle " of cargo, and the Z axis straight line mould group 12 of Z axis slide rail 5 moves down, cargo is dragged
Out；
D, cargo is transported to passway along channel direction (Z-direction) movement by " package mechanical arm 4 ", is transmitted by passway
Device or staff take cargo away.
4) when taking bottom cargo
A, " gripper 10 " rotates 270 ° by the second hollow rotating platform 22 of R shaft mechanical arm 7, and " gripper 10 " stretches to
Lower section shelf 1.
B, " package mechanical arm 4 " first passes through the Position Approximate of X-axis upper rail 2 and X-axis lower railway 3 to shelf 1, " gripper
10 " carry out precise positioning by range sensor 27 and CCD29；C, " gripper 10 " catches " handle " of cargo, under X axis
It is mobile, cargo hauling-out is come；
C, " gripper 10 " catches " handle " of cargo, and C, " gripper 10 " catch " handle " of cargo, the Z of Z axis slide rail 5
Axis straight line mould group 12 moves up, and cargo hauling-out is come；
D, cargo is transported to passway along channel direction (Z-direction) movement by " package mechanical arm 4 ", is transmitted by passway
Device or staff take cargo away.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (9)
1. a kind of intelligent machine arm system picked and placed for goods and materials, including shelf (1), it is characterised in that: further include X-axis upper rail
(2), the package mechanical arm (4) of X-axis lower railway (3) and setting between X-axis upper rail (2) and X-axis lower railway (3)；It is described
Package mechanical arm (4) includes the Z axis slide rail (5) being vertically arranged, Y-axis mechanical arm (6) on Z axis slide rail (5) is arranged, setting exists
The gripper (10) of R shaft mechanical arm (7) and loading platform (11), setting on R shaft mechanical arm (7) on Y-axis mechanical arm (6)；Z
Through X-axis upper rail idler wheel (8) setting in X-axis upper rail (2), the bottom of Z axis slide rail (5) passes through X at the top of axis sliding rail (5)
Axis lower railway idler wheel (9) setting is in X-axis lower railway (3)；
The R shaft mechanical arm (7) includes the first hollow rotating platform and is used to drive the first hollow rotating platform (23) along Y-axis machinery
The first servo motor (20) that direction where arm (6) rotates, the first hollow rotating platform (23) pass through R axis connection plate
(24) it is connected with the second hollow rotating platform (22), the second hollow rotating platform (22) is connected with hollow for driving second
The second servo motor (21) that rotating platform (22) is rotated along the direction where Z axis mechanical arm, and R shaft mechanical arm (7) passes through R axis
Connecting plate (24) is connect with gripper (10).
2. a kind of intelligent machine arm system picked and placed for goods and materials according to claim 1, it is characterised in that: the Z axis
Sliding rail (5) includes Z axis straight line mould group (12), Z axis connecting plate (13) in Z axis straight line mould group (12) is arranged and for driving
The Z axis servo motor (14) that Z axis straight line mould group (12) moves up and down.
3. a kind of intelligent machine arm system picked and placed for goods and materials according to claim 2, it is characterised in that: the Y-axis
Mechanical arm (6) includes the second Y-axis straight line mould of the first Y-axis straight line mould group (17), setting below the first Y-axis straight line mould group (17)
Group (19), the first Y-axis for driving the first Y-axis straight line mould group (17) to be moved forward and backward along the direction where Y-axis mechanical arm (6) are watched
Take motor (16), the 2nd Y for driving the second Y-axis straight line mould group (19) to be moved forward and backward along the direction where Y-axis mechanical arm (6)
Axis servo motor (18) and the Y-axis connecting plate (15) connecting with Z axis connecting plate (13), the R shaft mechanical arm (7) pass through R axis
Connecting plate (24) is connect with the first Y-axis straight line mould group (17).
4. a kind of intelligent machine arm system picked and placed for goods and materials according to claim 3, it is characterised in that: the loading
Platform (11) include platform board (42) with for the platform that platform board (42) is connected in the second Y-axis straight line mould group (19) to be connected
Plate (43).
5. a kind of intelligent machine arm system picked and placed for goods and materials according to claim 3, it is characterised in that: the machinery
Pawl (10) includes the clamping jaw connecting plate (25) connecting with the second hollow rotating platform (22), is arranged on clamping jaw connecting plate (25)
The end of flexible electric cylinders (26), flexible electric cylinders (26) is connected with clamping jaw electric cylinders (30), is connected in clamping jaw electric cylinders (30) by sliding block
Picking clamping jaw (31) there are two being oppositely arranged and for grabbing cargo.
6. a kind of intelligent machine arm system picked and placed for goods and materials according to claim 5, it is characterised in that: close to folder
Clamping plate mounting base is installed on the clamping jaw connecting plate (25) of pawl electric cylinders (30), be equipped in the clamping plate mounting base light source (28),
Range sensor (27), the CCD (29) being connect with range sensor (27).
7. a kind of intelligent machine arm system picked and placed for goods and materials according to claim 6, it is characterised in that: the X-axis
Upper rail idler wheel (8) include the upper junction plate (36) connect with Z axis straight line mould group (12), be arranged it is upper on upper junction plate (36)
Track roller (35), the upper driving motor (32) for driving upper rail idler wheel (35) to move in X-axis upper rail (2), upper drive
The output end of dynamic motor (32) is connected with speed reducer (33), and upper speed reducer (33) passes through gear (34) and upper junction plate
(36) it connects.
8. a kind of intelligent machine arm system picked and placed for goods and materials according to claim 7, it is characterised in that: the X-axis
Under lower railway idler wheel (9) includes the lower connecting plate (44) connecting with Z axis straight line mould group (12), is arranged on lower connecting plate (44)
Track roller (40), the lower driving motor (38) for driving lower railway idler wheel (40) to move in X-axis lower railway (3), lower drive
The output end of dynamic motor (38) is connected with lower speed reducer (39), and lower speed reducer (39) passes through lower gear (41) and lower connecting plate
(44) it connects.
9. -8 any a kind of intelligent machine arm system picked and placed for goods and materials according to claim 1, it is characterised in that: institute
Stating shelf (1) has 4, and 4 shelf (1) and the intelligent machine arm system picked and placed for goods and materials are set in space capsule, wherein two
A shelf (1) left and right is oppositely arranged, other two shelf (1) is oppositely arranged up and down, and 4 shelf (1) form a four-quadrant storehouse
Library, the intelligent machine arm system picked and placed for goods and materials are arranged in space capsule, the intelligent machine arm system picked and placed for goods and materials
The X-axis upper rail (2) and X-axis lower railway (3) of system are arranged on the partition of space capsule.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811458969.8A CN109607168A (en) | 2018-11-30 | 2018-11-30 | A kind of intelligent machine arm system picked and placed for goods and materials |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811458969.8A CN109607168A (en) | 2018-11-30 | 2018-11-30 | A kind of intelligent machine arm system picked and placed for goods and materials |
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| CN109607168A true CN109607168A (en) | 2019-04-12 |
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| CN201811458969.8A Pending CN109607168A (en) | 2018-11-30 | 2018-11-30 | A kind of intelligent machine arm system picked and placed for goods and materials |
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| CN110077869A (en) * | 2019-04-30 | 2019-08-02 | 北京云迹科技有限公司 | A kind of operating cabinet |
| CN110406873A (en) * | 2019-07-08 | 2019-11-05 | 广西科技大学 | A kind of intelligence connectionization tiered warehouse facility device based on technology of Internet of things |
| CN110844596A (en) * | 2019-11-28 | 2020-02-28 | 湖南德凌物流配送有限公司 | Storing and taking device for freezing storage rack |
| CN112354281A (en) * | 2020-11-11 | 2021-02-12 | 精劲精密机械南通有限公司 | Three-axis operation system of fine cleaning, filtering and dust removing equipment |
| CN113368924A (en) * | 2021-06-16 | 2021-09-10 | 温州大学 | Chemical experiment equipment configuration system |
| CN114084700A (en) * | 2021-12-16 | 2022-02-25 | 大连海事大学 | Truss type poking and grabbing system applied to unloading of refrigerated ship |
| CN114476449A (en) * | 2020-11-13 | 2022-05-13 | 沈阳新松机器人自动化股份有限公司 | Vehicle-mounted automatic material warehouse |
| CN114516511A (en) * | 2022-03-10 | 2022-05-20 | 哈尔滨工业大学 | Circulating type dense container system of shuttle trolley |
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| CN114084700A (en) * | 2021-12-16 | 2022-02-25 | 大连海事大学 | Truss type poking and grabbing system applied to unloading of refrigerated ship |
| CN114516511A (en) * | 2022-03-10 | 2022-05-20 | 哈尔滨工业大学 | Circulating type dense container system of shuttle trolley |
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Application publication date: 20190412 |