CN106112952B - Both arms installation transfer robot - Google Patents
Both arms installation transfer robot Download PDFInfo
- Publication number
- CN106112952B CN106112952B CN201610478459.1A CN201610478459A CN106112952B CN 106112952 B CN106112952 B CN 106112952B CN 201610478459 A CN201610478459 A CN 201610478459A CN 106112952 B CN106112952 B CN 106112952B
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- Prior art keywords
- arm
- arms
- gear
- robot
- mechanical arm
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- 238000009434 installation Methods 0.000 title abstract description 20
- 230000005540 biological transmission Effects 0.000 claims description 22
- 210000000707 wrist Anatomy 0.000 claims description 6
- 230000001105 regulatory effect Effects 0.000 claims description 3
- 230000003028 elevating effect Effects 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 2
- 230000001419 dependent effect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000003137 locomotive effect Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Both arms installation transfer robot belongs to robot architecture's design field, realizes and wraps up quickly installation in air transport.Robot is made of 3 modules, the gripping module being made of mechanical arm, disk mechanism and guide rail mechanism, for the conveyor belt module of transhipment, the free-moving chassis module of robot and the sorting module for transporting terminal point.Robot uses both arms rotational structure when transhipment, by fixing two mechanical arms at 180 degree on rotatable circular disc, after a mechanical arm gripping package, realize that the 180 degree of rotating circular disc determines angular turn with incomplete gear mechanism cooperation by the clutch inside disk, package is placed on brief biography conveyer belt while another mechanical arm starts to grip, in this way so that both arms one can grab one and put uninterrupted gripping package, while the package gripped is transported using conveyer belt, improve efficiency.It reaches after carrying place, conveyer belt can adjust the angle and height is completed and the overlap joint of the big conveyer belt in airport and isolate sorting equipment and be moved to cabin.
Description
Technical field
The present invention is that one kind applying to airport, by both arms quickly by the robot of package installation, belongs to robot architecture
Design field.
Background technology
Now, people are increasingly dependent on the convenience that shopping online is brought, regardless of being shopping online or being sent to household
Article is required for the transport by logistic industry, that is, the express delivery being commonly called as.It is growing with upwards of movement, to travelling speed
Requirement it is also higher and higher.Therefore air transport becomes as the optimal selection of long-distance transportation, especially transported across country.Have at present more
Family's logistics company starts to buy aircraft and carries forward vigorously the development of air transport.
It still needs to manually be transported through however, package is transported on aircraft, even will appear violence sometimes for efficiency
Transhipment is so that the phenomenon that damage is wrapped up.
Shape based on courier packages is essentially all cube, and the weight of single-piece all will not be too heavy, therefore is designed
One transport robot ensures accuracy and the safety of gripping with six shaft mechanical arms, by both arms rotating mechanism and transmission
Band, which matches, carrys out guaranteed efficiency, and transhipment that so just can be quick and safe is wrapped up.
Invention content
Quickly installation is wrapped up in air transport in order to realize, our groups devise a transport robot for replacing manually installing.
Robot is made of 3 modules, the gripping module being made of mechanical arm, disk mechanism and guide rail mechanism, the transmission for transhipment
Band module, the free-moving chassis module of robot and the sorting module for transporting terminal point.Robot is revolved using both arms when transhipment
Rotation structure, fixes two six shaft mechanical arms at 180 degree on rotatable disk, and the mechanical arm on one side is accurate by camera
It positions babinet and is driven by gear by clamping device, gear rotation drives two clamping plate parallel opposed longer sides to move gripping cuboid
It after package, then drives rotating platform to rotate 180 degree with clutch and incomplete gear mechanism, grips the machinery of package at this time
Arm is located above conveyer belt, and while putting down package to conveyer belt, it is high that realization is repeated in another mechanical arm gripping package
Efficiency operates, and entire disk mechanism can move on the guide rail that it connect with chassis, further expands gripping range.Two
Mechanical arm one, which is grabbed one and put, not only increases efficiency, while the package gripped is transported using conveyer belt, ensure that the peace of package
Entirely.
Chassis uses four-wheel drive, can be free to move to and carry place.It reaches after carrying place, included small conveyer belt
It can adjust the angle and height is completed and the overlap joint of the big conveyer belt in airport and isolates sorting equipment and be moved to cabin, in cabin
Taxonomic revision by size will be wrapped up.
Both arms installation transfer robot, it is characterised in that including three parts：Two six shaft mechanical arms and disk mechanism and
The gripping portion of guide rail composition, for the transmission band part of transhipment, and for mobile chassis portion；
Gripping portion structure is as follows：Camera (4) is set on collet, and the motor (3) on collet drives a pair of meshing tooth
Wheel drives the parallel relative movement of two fixture blocks (2) to realize clamping and crawl to package；Mechanical arm is fixed on by arm seat (11) to be turned
On dynamic disk, arm support (10) is connect with bolt with arm seat (11), and arm trunk (9) is connected to the rotation vice division chief of arm support (10), elbow
(8) it is connected to the other end revolute pair of arm trunk (9), wrist (7) is connected in the rotary shaft of elbow (8), arm swing frame (6) connection
In the rotation vice division chief of wrist (7), the rotation axis connection of collet (5) and arm swing frame (6)；Each section has a servo motor to it
Place position is regulated and controled；
It is inside disk mechanism：By clutch motor (17) post-tensioning clutch push rod (18), realization is installed on axle sleeve
(19) axial feed of inner driving shaft (20) so that two friction plates (21) contact with each other, to drive drive bevel gear
(22) it rotates, then drives drive bevel gear (24) to rotate by drive bevel gear (22)；And pass through transmission shaft (23) and incomplete tooth
Mechanism connection is taken turns, the first transmission gear (12) is driven to rotate, then second coaxial with the first partial gear (16) is driven to pass
Moving gear (13) rotates, and the first partial gear (16) rotates one week, the second partial gear (14) only 90 degree of rotation, and first
Partial gear (16) rotates after two weeks, and clutch is detached from, and realizes that the 180 degree of rotating circular disc (25) determines angular turn.
Further, transmission band part includes the driving lever (31) being mounted on chassis and supporting rod (32), passes through chassis electricity
Machine adjusts driving lever (31) and rotates drive supporting rod (32), is overlapped with the big conveyer belt of aircraft；Pass through transmission translator simultaneously
(33) driving driving wheel (34), is driven by V belt translation and gives driven wheel (35), to drive the running of transmission zone face (36).
Further, it is connect with the leading screw (38) on chassis for the mobile screw set (29) of chassis portion, first pulley
(28) it is connect with second pulley (30) with guide rail, drives leading screw (38) to rotate so that entire mechanical arm and disk by motor (37)
Mechanism moves in parallel on guide rail.
Both arms installation transfer robot is designed with following several features：
First, it uses clutch and is combined with partial gear, realize that both arms can uninterruptedly grip package.
Second, mechanical arm is combined with conveyer belt, further improves transfer efficiency and the safety of package.
Third, small conveyer belt overlap adjustable angle, are adapted to a variety of airport situations.
Description of the drawings
Fig. 1 is the overall schematic of both arms installation transfer robot
Fig. 2 is the arm and disk schematic diagram of both arms installation transfer robot
Fig. 3 is the chuck structure figure of both arms installation transfer robot
Fig. 4 is the mechanical arm structure chart of both arms installation transfer robot
Fig. 5 is the incomplete gear mechanism structure chart of both arms installation transfer robot
Fig. 6 is the clutch configuration figure of both arms installation transfer robot
Fig. 7 is the disk mechanism schematic internal view of both arms installation transfer robot
Fig. 8 is the pulley mechanism structure chart of both arms installation transfer robot
Fig. 9 is the small conveyer structure figure of both arms installation transfer robot
Figure 10 is the guide rail structure figure of both arms installation transfer robot
Figure 11 is steering mechanism's structure chart of both arms installation transfer robot
Figure 12 is the sorting handset schematic diagram of both arms installation transfer robot
Specific implementation mode
The entirety of robot is as shown in Figure 1, it is mainly made of A, B, C three parts.Part A is the brief biography for transport
It is the mechanical arm and disk mechanism part for gripping to send band part, part B, and C portion is to be equipped with guide rail mechanism and with shifting
The chassis portion of dynamic function.
Mechanical arm is six shaft mechanical arms being assembled by 6 parts, and by Serve Motor Control each section, collet uses tooth
Wheel engagement forms gripping body with parallelogram mechanism, is driven using motor.Disc rotary part is by clutch mechanism and not
Complete gear mechanism composition.Disk bottom feed screw nut is connect with guide rail, and entire disk mechanism can be made to be slided on guide rail.It passes
The overlap joint of tape-feed entirety is driven by rotation support pole, and the running of transmission zone face is realized by band transmission.Chassis uses two
Wheel drive realizes locomotive function, realizes that robot turns to using rack-and-pinion.
The crawl function of robot is mainly realized by mechanical arm and collet.Camera (4) on collet is to that will grip
Package position and after collet is moved to package by mechanical arm, the motor (3) on collet drives a pair of engaged gears (1) band
Move clamping and crawl of the parallel relative movement realization of two fixture blocks (2) to package.Mechanical arm is fixed on rotation circle by arm seat (11)
On disk, arm support (10) is connect with bolt with arm seat (11), and arm trunk (9) is connected to the rotation vice division chief of arm support (10), and elbow (8) is even
It is connected to the other end revolute pair of arm trunk (9), wrist (7) is connected in the rotary shaft of elbow (8), and arm swing frame (6) is connected to arm
The rotation vice division chief of wrist (7), the rotation axis connection of collet (5) and arm swing frame (6).Its each section has a servo motor to its institute
Regulated and controled at position.
The rotation function of Robot Dual-Arm realizes that internal structure is as shown in Figure 7 by the disk mechanism of solid mechanical arm.From
Clutch (27) is connect as power source transmission shaft with incomplete gear mechanism (26), after his two cooperatings, not exclusively
The output shaft of gear can drive rotating circular disc (25) progress 180 degree to determine angular turn.Operation principle is：Pass through clutch motor
(17) axial feed for being installed on the inner driving shaft (20) of axle sleeve (19) is realized so that two are rubbed in post-tensioning clutch push rod (18)
Pad (21) contacts with each other, to drive drive bevel gear (22) to rotate, then by drive bevel gear (22) drive drive bevel gear
(24) it rotates.And connect with incomplete gear mechanism by transmission shaft (23), drive the first transmission gear (12) to rotate, then band
Dynamic second transmission gear (13) rotation coaxial with the first partial gear (16), and the first partial gear (16) rotation one
Week, the second partial gear (14) only rotate 90 degree, and the first partial gear (16) rotates after two weeks, and clutch is detached from, and realizes
The 180 degree of rotating circular disc (25) determines angular turn.
Arm passes through the screw set (29) of its bottom, first pulley (28) and second pulley (30) difference with disk mechanism simultaneously
Connect with guide rail (39) with the lead screw (38) on chassis, by motor (37) drive leading screw (38) rotate can make entire arm with
Disk mechanism moves in parallel on guide rail, expands gripping range.
Small conveyer mechanism on robot chassis, it is whole as shown in figure 9, it is mainly by chassis
Driving lever (31) and supporting rod (32) drive, and adjust driving lever (31) by base plate electric machine and rotate and drive other supporting rods, can be with
So that it is overlapped with the big conveyer belt of aircraft.We drive driving wheel (34) by transmission translator (33) simultaneously, pass through band
Driven wheel (35) is given in transmission transmission, to drive the running of transmission zone face (36).
The inside chassis of robot is as shown in figure 11, realizes two-wheel drive by base plate electric machine (40), and pass through base plate electric machine
(40) driving is rotated with rack (42) meshed gears bar (41), to drive the steering shaft (43) being connect with rack (42) mobile
To realize the turning function of robot.
The mechanical arm for sorting handset is identical as chassis design as host, and when it does not work, it stays in the small transmission of host
It takes, after the completion of band overlap joint to be transmitted, enters in cabin along conveyer belt, package is sorted in cabin.
Claims (1)
- The transfer robot 1. both arms are installed, it is characterised in that including three parts：It two six shaft mechanical arms and disk mechanism and leads The gripping portion of rail composition, the transhipment part being made of tape handler and elevating mechanism, and for mobile chassis portion, Wherein gripping portion is fixed on the top surface of chassis portion with transhipment part；Gripping portion structure is as follows：Camera (4) is set on collet, and the motor (3) on collet drives a pair of engaged gears band Move clamping and crawl of the parallel relative movement realization of two fixture blocks (2) to package；Mechanical arm is fixed on rotation circle by arm seat (11) On disk, arm support (10) is connect with bolt with arm seat (11), and arm trunk (9) is connected to the rotation vice division chief of arm support (10), and elbow (8) is even It is connected to the other end revolute pair of arm trunk (9), wrist (7) is connected in the rotary shaft of elbow (8), and arm swing frame (6) is connected to arm The rotation vice division chief of wrist (7), the rotation axis connection of collet (5) and arm swing frame (6)；There is a servo motor in each joint of mechanical arm Joint where it is regulated and controled；It is inside disk mechanism：By clutch motor (17) post-tensioning clutch push rod (18), it is inner that realization is installed on axle sleeve (19) Driving shaft (20) axial feed so that two friction plates (21) contact with each other, to drive drive bevel gear (22) rotate, Drive bevel gear (24) is driven to rotate by drive bevel gear (22) again；And connected by transmission shaft (23) and incomplete gear mechanism It connects, drives the first transmission gear (12) to rotate, then drive second transmission gear coaxial with the first partial gear (16) (13) it rotates, and the first partial gear (16) rotates one week, the second partial gear (14) only rotates 90 degree, and first not exclusively Gear (16) rotates after two weeks, and clutch is detached from, and realizes that the 180 degree of rotating circular disc (25) determines angular turn；Mechanical arm is connected by the screw set (29) of disk mechanism bottom with the leading screw (38) on chassis portion with disk mechanism simultaneously Connect, first pulley (28) is connect with second pulley (30) with the guide rail (39) on chassis portion, pass through motor (37) drive leading screw (38) rotation is so that entire mechanical arm is moved in parallel with disk mechanism on guide rail.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610478459.1A CN106112952B (en) | 2016-06-27 | 2016-06-27 | Both arms installation transfer robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610478459.1A CN106112952B (en) | 2016-06-27 | 2016-06-27 | Both arms installation transfer robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106112952A CN106112952A (en) | 2016-11-16 |
| CN106112952B true CN106112952B (en) | 2018-09-04 |
Family
ID=57267105
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610478459.1A Expired - Fee Related CN106112952B (en) | 2016-06-27 | 2016-06-27 | Both arms installation transfer robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106112952B (en) |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN106112952A (en) | 2016-11-16 |
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Inventor after: Wang Jianhua Inventor after: Qin Yu Inventor after: Shi Ruoshui Inventor after: Li Zixu Inventor after: Liu Zhifeng Inventor before: Qin Yu Inventor before: Wang Jianhua Inventor before: Shi Ruoshui Inventor before: Li Zixu Inventor before: Liu Zhifeng |
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Granted publication date: 20180904 |