CN103538057B - Manipulator with accurate positioning ability and goods shelf capable of assisting same in accurate positioning - Google Patents
Manipulator with accurate positioning ability and goods shelf capable of assisting same in accurate positioning Download PDFInfo
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- CN103538057B CN103538057B CN201310495545.XA CN201310495545A CN103538057B CN 103538057 B CN103538057 B CN 103538057B CN 201310495545 A CN201310495545 A CN 201310495545A CN 103538057 B CN103538057 B CN 103538057B
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- accurate positioning
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Abstract
The invention discloses a manipulator with accurate positioning ability and a goods shelf capable of assisting the manipulator in accurate positioning. The goods shelf comprises a goods support frame, guide assemblies, accommodating plates and sensors. The goods support frame comprises a plurality of transverse support frames and four vertical support frames connected with the transverse support frames; the guide assemblies are arranged on the bottom walls of the transverse support frames, the accommodating plates are fixed to the transverse support frames and are positioned below the guide assemblies, and the sensors are embedded in the guide assemblies and are used for sensing parts. The goods shelf has the advantages that clamp grooves of the manipulator with accurate positioning ability and the goods shelf capable of assisting the manipulator in accurate positioning and limiting protrusions on and the manipulator with the accurate positioning ability and the goods shelf capable of assisting the manipulator in accurate positioning need to be used together, so that the manipulator can be accurately positioned under the coordinated actions of the clamp grooves and the limiting protrusions; locations of the parts on the accommodating plates can be sensed via the sensors of the goods shelf, and information of the locations of the parts is wirelessly transmitted to a controller, so that the manipulator can move under the control of the controller.
Description
Technical field
The present invention relates to a kind of matching used mechanical hand and shelf, particularly a kind of mechanical hand that can be accurately positioned and
Assist the shelf that mechanical hand is accurately positioned.
Background technology
Mechanical hand is the automatic pilot by fixed routine crawl, carrying object or operation instrument.It can replace people's
Heavy labor, to realize the mechanization and the automatization that produce, can operate to protect personal safety under hostile environment, thus extensively
It is applied to the departments such as machine-building, metallurgy, electronics, light industry and atomic energy.But for the part being placed on shelf from level to level,
Mechanical hand cannot determine accurate position, and prior art does not also solve such problem.
Content of the invention
For solving the deficiencies in the prior art, it is an object of the invention to provide one kind must matching used can be accurately positioned
Mechanical hand and assist the shelf that are accurately positioned of mechanical hand.
In order to realize above-mentioned target, the present invention adopts the following technical scheme that:
The mechanical hand that can be accurately positioned and assist the shelf that mechanical hand is accurately positioned, comprising: cargo supports frame, goods props up
Support includes: the vertical support frame of multiple cross-brace framves and four connection cross-brace framves；Also include: located at cross-brace frame
The guide of diapire, is fixed on cross-brace frame the placement plate below guide, is embedded in guide and is used for sensing
The induction apparatuss of part.
The aforesaid mechanical hand that can be accurately positioned and assist the shelf that are accurately positioned of mechanical hand, guide composition has: puts
In the direction recess of cross-brace frame diapire, it is placed in the spacing preiection in direction recess.
The mechanical hand that can be accurately positioned and assist the shelf that mechanical hand is accurately positioned, comprising: robot support frame, also wraps
Include: the vertical shift part being fixed on robot support frame, slide on the transverse shifting part on vertical shift part, be slidably connected to
Suction piece on transverse shifting part, connects between transverse shifting part and suction piece and slides on the connecting rod in direction recess；Even
Extension bar is provided with the shackle member corresponding to guide.
The aforesaid mechanical hand that can be accurately positioned and assist the shelf that are accurately positioned of mechanical hand, also includes: wireless connects
In induction apparatuss, it is connected to the actuator of suction piece, moving member, connect the controller of actuator.
The aforesaid mechanical hand that can be accurately positioned and assist the shelf that are accurately positioned of mechanical hand, also includes: be connected to control
The human-computer interaction device of device processed.
The aforesaid mechanical hand that can be accurately positioned and assist the shelf that are accurately positioned of mechanical hand, shackle member is corresponding to limit
The raised clamping groove in position.
The aforesaid mechanical hand that can be accurately positioned and assist the shelf that are accurately positioned of mechanical hand, suction piece is sucker.
The invention has benefit that: present invention offer is a kind of must the matching used machinery by being accurately positioned
The clamping groove of handss and the spacing preiection mating reaction assisting on the shelf that are accurately positioned of mechanical hand, reach and are accurately positioned machinery
The position of handss；And this shelf can sense, by induction apparatuss, the position placing part on plate, radios to controller, by controlling
The motion of device control machinery hand processed.
Brief description
Fig. 1 is a kind of front view of preferred embodiment of shelf of the present invention；
Fig. 2 is a kind of front view of preferred embodiment of mechanical hand of the present invention；
Fig. 3 is a kind of side view of preferred embodiment of mechanical hand of the present invention；
Fig. 4 is a kind of front view of preferred embodiment of connecting rod of the present invention；
The implication of in figure reference:
1 cargo supports frame, 101 cross-brace framves, 102 vertical support frames, 2 direction recess, 3 spacing preiections, 4 suctions
Disk, 5 cross slide ways, 6 upright guide rails, 7 connecting rods, 701 clamping grooves, 8 robot support framves.
Specific embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is made with specific introduction.
The mechanical hand that can be accurately positioned and assist the shelf that mechanical hand is accurately positioned, comprising: cargo supports frame 1, goods
Bracing frame 1 includes: the vertical support frame 102 of multiple cross-brace framves 101 and four connection cross-brace framves 101；Also include: set
In the guide of cross-brace frame 101 diapire, it is fixed on cross-brace frame 101 the placement plate below guide, is embedded in
In guide and for sensing the induction apparatuss of part.Guide composition has: it is placed in the direction recess 2 of cross-brace frame 101 diapire,
It is placed in the spacing preiection 3 in direction recess 2.The mechanical hand that can be accurately positioned and assist the shelf that mechanical hand is accurately positioned, bag
Include: robot support frame 8, also include: the vertical shift part being fixed on robot support frame 8, slide on vertical shift part
Transverse shifting part, be slidably connected to the suction piece on transverse shifting part, as a kind of preferably, suction piece is sucker 4；Connect horizontal
To between moving member and suction piece and slide on the connecting rod 7 in direction recess 2；Connecting rod 7 is provided with corresponding to guide
Shackle member, as one kind preferably, shackle member is the clamping groove 701 corresponding to spacing preiection 3, and transverse shifting part is cross slide way
5, vertical shift part is upright guide rail 6.It should be noted that the size of direction recess 2 is greater than the size of connecting rod 7, so
It is applied to the mechanical hand of various sizes of connecting rod 7.
It should be noted that the position of direction recess 2 is located at the surface of the position placing part；Direction recess 2 is permissible
Accommodate the connecting rod 7 of mechanical hand, spacing preiection 3 is guided by clamping with the clamping groove 701 in mechanical hand connecting rod 7, makes machine
The position of the sucker 4 of tool handss does not need controller to adjust the surface being located immediately at part.Controller is needed to adjust in prior art
The mechanical hand of section, the generally requirement to guide rail and controller is very high, thus expending very high cost.
The mechanical hand that can be accurately positioned and assist the shelf that mechanical hand is accurately positioned, also includes: be wirelessly connected to sensing
Device, is connected to the actuator of suction piece, moving member, connects the controller of actuator, is connected to the human-computer interaction device of controller.
Human-computer interaction device composition has: keyboard, is connected to the display screen of keyboard and controller.
It should be noted that induction apparatuss will place the position of part on plate, radio to controller, controller is by information
It is transferred to display, operator observe the placement situation of part by display, and need mechanical hand to arrive with input through keyboard
The position of the shelf reaching, is driven the step of cross slide way 5 and upright guide rail 6 movement, connecting rod 7 is sent by controller controlled motor
Enter in direction recess 2, by spacing preiection 3 and clamping groove 701 clamping it is ensured that sucker 4 to be fixed on the surface of part, with
Accurately draw part；Again by controller controlled motor, sucker 4 is driven to draw part.
The basic principles, principal features and advantages of the present invention have been shown and described above.The technical staff of the industry should
Understand, the invention is not limited in any way for above-described embodiment, all obtained by the way of equivalent or equivalent transformation
Technical scheme, all falls within protection scope of the present invention.
Claims (3)
1. assist the shelf that mechanical hand is accurately positioned, comprising: cargo supports frame, and the mechanical hand that can be accurately positioned；Above-mentioned goods
Thing bracing frame includes: the vertical support frame of multiple cross-brace framves and four above-mentioned cross-brace framves of connection；It is characterized in that, also
Including: located at the guide of above-mentioned cross-brace frame diapire, above-mentioned guide composition has: is placed in above-mentioned cross-brace frame diapire
Direction recess, is placed in the spacing preiection in above-mentioned direction recess, is fixed on above-mentioned cross-brace frame and is located under above-mentioned guide
The placement plate of side, is embedded in above-mentioned guide and for sensing the induction apparatuss of part;The mechanical hand that can be accurately positioned includes: machine
Tool handss bracing frame, is fixed on the vertical shift part on above-mentioned robot support frame, slides on horizontal on above-mentioned vertical shift part
Moving member, is slidably connected to the suction piece on above-mentioned transverse shifting part, connects between above-mentioned transverse shifting part and suction piece and sliding
Move the connecting rod in above-mentioned direction recess；Above-mentioned connecting rod is provided with the shackle member corresponding to above-mentioned guide；Also include: no
Line is connected to above-mentioned induction apparatuss, is connected to the actuator of above-mentioned suction piece, moving member, connects the controller of above-mentioned actuator, on
State the clamping groove that shackle member is corresponding to above-mentioned spacing preiection.
2. the shelf assisting mechanical hand to be accurately positioned according to claim 1 are it is characterised in that also include: be connected to
State the human-computer interaction device of controller.
3. the shelf assisting mechanical hand to be accurately positioned according to claim 1 are it is characterised in that above-mentioned suction piece is to inhale
Disk.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310495545.XA CN103538057B (en) | 2013-10-22 | 2013-10-22 | Manipulator with accurate positioning ability and goods shelf capable of assisting same in accurate positioning |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310495545.XA CN103538057B (en) | 2013-10-22 | 2013-10-22 | Manipulator with accurate positioning ability and goods shelf capable of assisting same in accurate positioning |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103538057A CN103538057A (en) | 2014-01-29 |
| CN103538057B true CN103538057B (en) | 2017-01-25 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310495545.XA Active CN103538057B (en) | 2013-10-22 | 2013-10-22 | Manipulator with accurate positioning ability and goods shelf capable of assisting same in accurate positioning |
Country Status (1)
| Country | Link |
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| CN (1) | CN103538057B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104924307B (en) * | 2015-06-08 | 2016-08-24 | 向风帆 | Books catching robot Second Positioning System and method thereof in book ATM |
| CN105015930A (en) * | 2015-06-25 | 2015-11-04 | 张家港市华源染织有限公司 | Storage frame allowing cloth to be taken |
| CN105416955A (en) * | 2015-12-11 | 2016-03-23 | 陈建 | Intelligent warehouse logistics access system |
| CN105416961A (en) * | 2015-12-11 | 2016-03-23 | 陈建 | Vibration-proof intelligent warehouse logistics system |
| CN109569418B (en) * | 2018-12-24 | 2024-04-30 | 福建省新宏港纺织科技有限公司 | Automatic batching equipment with accurate positioning function |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB9323259D0 (en) * | 1993-11-11 | 1994-01-05 | Armstrong Projects Ltd | Improvements in or relating to alignment apparatus |
| FR2906489B1 (en) * | 2006-09-29 | 2009-05-29 | Arboss Sarl | SUPPORT INSTALLATION FOR THE MANUFACTURE OF METALLIC FRAMES |
| CN102085957B (en) * | 2011-02-09 | 2012-08-01 | 广运机电(苏州)有限公司 | Automatic three-dimensional warehousing system |
| CN102718012B (en) * | 2012-06-29 | 2014-11-05 | 台山平安五金制品有限公司 | Self-service safe deposit box storage and fetch system |
| CN103273471B (en) * | 2013-05-10 | 2015-09-30 | 海信（浙江）空调有限公司 | A kind of placement frame for front panel of outdoor unit of air conditioner |
| CN203680282U (en) * | 2013-10-22 | 2014-07-02 | 昆山中士设备工业有限公司 | Manipulator capable of exactly positioning and rack assisting manipulator in exactly positioning |
-
2013
- 2013-10-22 CN CN201310495545.XA patent/CN103538057B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN103538057A (en) | 2014-01-29 |
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| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CB03 | Change of inventor or designer information |
Inventor after: Zhao Bin Inventor after: Shen Jian Inventor after: Yin Jiahong Inventor before: Yan Shiliang Inventor before: Yao Ye |
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| CB03 | Change of inventor or designer information | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20171012 Address after: 9, 1 floor, Pingshan Industrial Park, Taoyuan street, Nanshan District, Guangdong, Shenzhen 518000, China Patentee after: Shenzhen giant intelligent equipment Limited by Share Ltd Address before: Suzhou City, Jiangsu province 215300 Jinxiang Kunshan Jinxi Road Development Zone No. 338 Patentee before: Kunshan Sergernt Equipment Industry Co., Ltd. |
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| TR01 | Transfer of patent right |