CN106313014B - A kind of storage picking robot and its application method carrying clamping type manipulator - Google Patents
A kind of storage picking robot and its application method carrying clamping type manipulator Download PDFInfo
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- CN106313014B CN106313014B CN201610953749.7A CN201610953749A CN106313014B CN 106313014 B CN106313014 B CN 106313014B CN 201610953749 A CN201610953749 A CN 201610953749A CN 106313014 B CN106313014 B CN 106313014B
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- finger
- driving motor
- leading screw
- sliding block
- fixing bracket
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
Abstract
The present invention relates to a kind of storage picking robots and its application method carrying clamping type manipulator comprising mobile chassis, rotation ontology, mechanical arm and manipulator；The mobile chassis top is provided with the rotation ontology, and the mechanical arm that can be lifted and stretch is provided on the rotation ontology, and the manipulator that human hand action carries out cargo dismounting can be simulated by being provided on the mechanical arm.The present invention, which may be implemented close-packed arrays stacking neat container type cargo simulation human hand action, to dismantle and carries, and effectively improves picking efficiency；It can be widely applied in vertical shelf magazine, simulation human hand action, by intensive stacking in pallet, packing case does not have apertured single good to split out between each other.
Description
Technical field
The present invention relates to a kind of storage picking robot and its application methods, especially with regard to one kind in vertical shelf magazine
Need the carrying clamping type machine that neatly packed and close gapless container type cargo is dismantled and carried from cargo pallet
The storage picking robot and its application method of tool hand.
Background technology
Storage is an important component of modern logistics, is played a crucial role in logistics system, is factory
Quotient studies and the emphasis of planning.Efficient and rational storage can help manufacturer to accelerate the speed of goods and materials flowing, reduce cost, ensure
Production is smoothed out, and may be implemented that resource is effectively controlled and managed.The development experience of storage different period of history
And the stage, from original artificial storage to intelligent storage, the efficiency of the support by various new and high technologies to storage, storage obtains
It is greatly improved.With the continuous development of storage technique, rapid disassembling for cargo and the demand efficiently carried are got over
Come bigger.However, picking and carrying directly are carried out by fork truck robot for large cargo at present, and it is basic for medium and small cargo
On be still the mode operation for taking mutual disassembly, conveyer belt conveying to carry, the especially middle part cargo (packing case of packing-box design
Length, width and height size is between 200~600mm) all it is to be stored on warehouse shelf again on block pattern row pattern to pallet, this kind of cargo
Picking it is substantially all be all manually to complete, when cargo has constant weight, such operating mode, give labor caused by worker
Fatigue resistance is huge, and picking is inefficient.
Invention content
In view of the above-mentioned problems, the object of the present invention is to provide it is a kind of carry clamping type manipulator storage picking robot and
Its application method, which, which may be implemented close-packed arrays stacking neat container type cargo simulation human hand action, tears open
It unloads and carries, effectively improve picking efficiency.
To achieve the above object, the present invention takes following technical scheme：A kind of storage picking carrying clamping type manipulator
Robot, it is characterised in that：The robot includes mobile chassis, rotation ontology, mechanical arm and manipulator；On the mobile chassis
Portion is provided with the rotation ontology, and the mechanical arm that can be lifted and stretch, the machine are provided on the rotation ontology
The manipulator that human hand action carries out cargo dismounting can be simulated by being provided on tool arm.
Further, the mechanical arm is made of arm lifting mechanism and pantograph；Positioned at the arm elevator
The pantograph is provided on structure；Described arm lifting mechanism one end is located at the mobile chassis top, and is fixed on
Described this body sidewall of rotation, the arm lifting mechanism other end extend to the rotation originally along the rotation body length direction
Outside body.
Further, the arm lifting mechanism includes fixing bracket, the first driving motor, wire rope pulley, steel wire rope, first
Sliding block and guide rail；The fixing bracket is threaded on the side wall of the rotation ontology, is arranged on the fixing bracket
Guide rail is stated, and the wire rope pulley is separately installed with positioned at the fixing bracket both ends, the steel wire rope is wound on the steel wire rope
On wheel, and the steel wire rope is connect with first sliding block, and first sliding block is slidably connected on the guide rail；Described solid
First driving motor is additionally provided on fixed rack, output shaft and the wire rope pulley of first driving motor coaxially connect
It connects.
Further, the pantograph includes the second driving motor, the first leading screw, lead screw base, screw slider, company
Bar, the first feed rod, feed rod sliding block, feed rod seat, telescopic arm, clamp spring and key seat；The telescopic arm is made of single oil cylinder, two joint arms it
Between connected by linear bearing；First joint arm end of the telescopic arm is fixed on the arm lifting mechanism, the leading screw
Seat is threaded in the first joint arm of the telescopic arm, and first leading screw is provided in the lead screw base, described first
One end of thick stick is connect with second driving motor；The connecting rod is using scissors structure in series after intersecting two-by-two, positioned at cutting
The two connecting rod head ends that formula construction first end portion intersects are connected to a screw slider by the key seat, clamp spring respectively
On, two screw sliders are all disposed on first leading screw；Two connecting rods intersected positioned at scissors structure the second end
End is connected to by the key seat, clamp spring on the feed rod sliding block respectively, and carrying out position using the clamp spring fixes；The light
Thick stick sliding block is arranged on first feed rod, and first feed rod is fixed on the feed rod seat, and the feed rod seat is mounted on institute
It states in telescopic arm last joint arm.
Further, the manipulator includes holding down finger, overturning finger and clamping finger；Described hold down finger is fixed on institute
Last joint arm bottom of telescopic arm is stated, the overturning finger is connect with described hold down finger, the clamping finger and the overturning
Finger connects；Described hold down finger is made of pressing plate；The installation end of the pressing plate is connect with the bottom thread of the telescopic arm.
Further, the overturning finger includes the second feed rod, column sliding block, column slider-actuated leading screw, the drive of column sliding block
Dynamic motor, worm gear, worm screw, rotary shaft, rotation finger joint driving motor and the flexible micromotion mechanism of overturning finger；Positioned at the compression hand
The installation end of finger is connected with second feed rod and column slider-actuated leading screw, is located at second feed rod and column slider-actuated
The column sliding block is provided on leading screw, the lower end of the column slider-actuated leading screw connects with the column slider-actuated motor
It connects；The worm screw both ends are connected in the column sliding block, and the worm screw engages with the worm gear, and the upper end of the worm screw connects
Connect the rotation finger joint driving motor；The rotary shaft on the worm gear passes through the column sliding block, is located at the rotary shaft
End is fixedly installed the flexible micromotion mechanism of the overturning finger.
Further, the overturning finger stretch micromotion mechanism include the first fixing bracket, third driving motor, second
Thick stick, third feed rod, the second sliding block and 7 fonts overturn finger joint；First fixing bracket is fixed on the rotation shaft end, in institute
It states and is provided with second leading screw on the first fixing bracket, second leading screw one end connects with the third driving motor output shaft
It connects, the third driving motor is fixed on first fixing bracket top；It is arranged in parallel in the both sides of second leading screw
Two third feed rods, two feed rods are directly anchored on first fixing bracket；The second sliding block setting exists
On two third feed rods and the second leading screw；The 7 font overturning finger joint is threaded on second sliding block.
Further, the clamping finger by friction finger joint be on close level micromotion mechanism and friction finger joint lift micromotion mechanism structure
At；Friction finger joint micromotion mechanism of being on close level includes that the second fixing bracket, the 4th driving motor, the 4th driving motor are fixed
Holder, third leading screw, the 4th feed rod, bevel gear and third sliding block；Second fixing bracket is fixed on the 7 font overturning and refers to
Section top；Motor fixed rack screw thread is driven to be installed with the 4th driving electricity by the described 4th on second fixing bracket
Machine, the 4th driving motor output shaft are connect with a bevel gear, which engages with another bevel gear；It is another
The bevel gear is connect with the third leading screw one end being arranged on second fixing bracket；In second fixing bracket
On be additionally provided with two parallel with the third leading screw the 4th feed rod, the third sliding block is arranged at two the described 4th
On feed rod and third leading screw.
Further, friction finger joint lifting micromotion mechanism include third fixing bracket, the 5th driving motor, the 4th
Thick stick, the 5th feed rod, Four-slider and U-shaped friction plate；The third fixing bracket is fixed on the third slider top, and described
Third sliding block is vertical setting；Third fixing bracket top is provided with the 5th driving motor, the 5th driving electricity
The output shaft of machine is connect with described 4th leading screw one end, and the 4th leading screw is arranged on the third fixing bracket；Described
Two fiveth feed rods parallel with the 4th leading screw are additionally provided on third fixing bracket, the Four-slider setting exists
On two the 5th feed rods and the 4th leading screw；The U-shaped friction plate is connected on the Four-slider.
A kind of application method of the storage picking robot based on above-mentioned carrying clamping type manipulator, which is characterized in that packet
Include following steps：(1) under the drive of mobile chassis, close to stack；(2) mechanical arm is in the first driving motor and the second driving electricity
The adjusting of height and length is carried out under the driving of machine so that hold down finger and be tightly attached to the surrounding of target goods to be removed；(3) it overturns
Finger overturns target goods to be removed under the action of rotating finger joint driving motor so that target goods to be removed and whole stack
Between generate the back gap that works of a clamping finger；(4) the U-shaped friction plate of clamping finger declines the back of the body for being inserted into and obtaining
Portion gap, and further so that target goods to be removed is clamped close to target goods to be removed；(5) mechanical arm is raised and is shunk and makes
Target goods to be removed are detached from whole stack；(6) external control devices control mobile chassis movement, target goods to be removed are removed
It transports out of out.
The invention adopts the above technical scheme, which has the following advantages：1, the present invention is using by holding down finger, overturning
The manipulator that finger, clamping finger form can imitate human hand action, realize from intensive be deposited on pallet do not have apertured case
Single good is taken apart in formula stack；The function can substitute manual operation completely, substantially reduce labor intensity.2, this hair
The holding down finger of bright use, overturn finger, clamping finger changes respective length by driving motor and is adapted to for difference
The cargo of size is dismantled.3, the present invention can configure single armed or both arms, and combining omnidirectional mobile chassis is adapted to
The demand of live difference cargo dismantlement work.4, the present invention is optimized by external control devices and coordinates to control each driving motor work
Work can improve the dismounting speed of cargo, improve the intelligence degree of vertical high rack warehouse.5, the present invention will by overturning finger
Cargo overturning obtains back gap, is inserted into the gap for clamping finger, is jointly caught cargo by overturning finger and clamping finger
And clamping, human hand action is imitated, picking efficiency is effectively improved.6, overturning finger of the invention utilizes worm and gear self-locking, can be with
Cargo overturning is effectively avoided to go back.7, when overturning cargo, periphery cargo can be compressed the present invention by holding down finger, and avoid picking up
When periphery cargo band is fallen.
In conclusion present invention can be widely used in vertical shelf magazine, simulation human hand action, by intensive heap in pallet
It puts, packing case does not have apertured single good to split out between each other.
Description of the drawings
Fig. 1 is the overall structure diagram of the present invention；
Fig. 2 is structural schematic diagram when right arm of the present invention lifts stretching；
Fig. 3 is the telescopic arm and robot manipulator structure schematic diagram of the present invention；
Fig. 4 is the elevating mechanism structural schematic diagram of the present invention；
Fig. 5 is the pantograph structural schematic diagram of the present invention；
Fig. 6 be the present invention hold down finger and overturn finger structure three-dimensional cutaway view；
Fig. 7 be the present invention friction finger joint be on close level micromotion mechanism and friction finger joint lifting micromotion mechanism perspective cross-sectional
Figure；
Structural representation axis surveys view when Fig. 8 is present invention crawl cargo；
Structural representation orthographic projection view when Fig. 9 is present invention crawl cargo；
Figure 10 is the structural schematic diagram when present invention picks up cargo.
Specific implementation mode
The present invention is described in detail below with reference to the accompanying drawings and embodiments.
As shown in Fig. 1~Figure 10, the present invention provides a kind of storage picking robot carrying clamping type manipulator, can
Realize and be deposited in the cargo not having on pallet in apertured box stack for intensive, by single good therein carry out dismantling and
The function of carrying.The present invention includes mobile chassis 1, rotation ontology 2, mechanical arm 3 and manipulator 6.1 top of mobile chassis is provided with
Ontology 2 is rotated, rotation ontology 2 can relatively move chassis 1 by motor driving and be rotated；It is provided on rotation ontology 2
The mechanical arm 3 that can be lifted and stretch, the manipulator 6 that human hand action carries out cargo dismounting can be simulated by being provided on mechanical arm 3.
As shown in Figure 1, mobile chassis 1 is made of pedestal and omni-directional wheel, omni-directional wheel is fixed on the base, and is passed through by motor outer
Portion's control device control omni-directional wheel carries out Omni-mobile.
As shown in FIG. 1 to 3, mechanical arm 3 is made of arm lifting mechanism 30 and pantograph 40.Positioned at arm liter
Pantograph 40 is provided on descending mechanism 30.30 one end of arm lifting mechanism is located at 1 top of mobile chassis, and is fixed on and turns
2 side wall of dynamic ontology, 30 other end of arm lifting mechanism may extend to along rotation 2 length direction of ontology outside rotation ontology 2.Its
In：
As shown in figure 4, arm lifting mechanism 30 includes fixing bracket 31, guide rail 32, wire rope pulley 33, steel wire rope 34, the
One sliding block 35 and the first driving motor 36.Fixing bracket 31 is threaded on the side wall of rotation ontology 2, is set on fixing bracket 31
It is equipped with guide rail 32, and wire rope pulley 33 is separately installed with positioned at 31 both ends of fixing bracket, steel wire rope 34 is wound on wire rope pulley 33,
And steel wire rope 34 is connect with the first sliding block 35；First sliding block 35 is slidably connected on guide rail 32.It is also set up on fixing bracket 31
There is the first driving motor 36, the output shaft and wire rope pulley 33 of the first driving motor 36 are coaxially connected, for driving wire rope pulley
33 rotations, and then haulage cable 34 drives the first sliding block 35 to realize elevating movement on guide rail 32.
As shown in figure 5, pantograph 40 includes telescopic arm 41, lead screw base 42, the first leading screw 43, the second driving motor
44, connecting rod 45, pin 46, key seat 47, clamp spring 48, screw slider 49, gasket 50, feed rod sliding block 51, the first feed rod 52 and feed rod seat
53.Telescopic arm 41 is made of single oil cylinder, is connected by linear bearing between two joint arms, and the opposite sliding of two joint arms may be implemented and stretch
Contracting；Different flexible brachiums may be implemented by configuring the joint number of different number in telescopic arm 41.First joint arm end of telescopic arm 41
Portion is fixed on the first sliding block 35 of arm lifting mechanism 30, and lead screw base 42 is threaded in 41 first joint arm of telescopic arm, and
The first leading screw 43 is provided in lead screw base 42, one end of the first leading screw 43 is connect with the second driving motor 44, by the second driving electricity
Machine 44 drives the rotation of the first leading screw 43.Connecting rod 45 uses scissors structure in series after intersection two-by-two, is adopted between adjacent links 45
It is connected with pin 46；Two connecting rods, 45 head end intersected positioned at scissors construction first end portion is connected to by key seat 47, clamp spring 48 respectively
It is positioned using clamp spring 48 on one screw slider 49；Two screw sliders 49 are all disposed on the first leading screw 43.Positioned at scissors structure
Two connecting rods, 45 end of two end portions cross is connected to by key seat 47, clamp spring 48 on feed rod sliding block 51 respectively, using clamp spring 48 into
Line position sets fixation.Feed rod sliding block 50 is arranged on the first feed rod 51, is moved left and right on the first feed rod 51；First feed rod 51 is fixed
On feed rod seat 52, feed rod seat 52 is mounted in telescopic arm 41 last joint arm.In use, in the driving of the second driving motor 44
Down so that telescopic arm 41 completes reciprocal telescopic movement under the drive of scissors structural linkages 45.
As shown in Fig. 2, manipulator 6 includes hold down finger 60, overturning finger 70 and clamping finger 80.Hold down finger 60 fixations
In last joint arm bottom of the telescopic arm 41 of pantograph 40, overturning finger 70 60 is connect with holding down finger, clamping finger
80 connect with overturning finger 70.Wherein：
It 60 is made of pressing plate 61 as shown in fig. 6, holding down finger.61 installation end of pressing plate and the bottom thread of telescopic arm 41 connect
It connects.Hold down finger 60 effect be subsequently dismounting cargo when the periphery cargo of split cargo can be fixed, avoid tearing open
The cargo band on split cargo periphery is fallen when unloading.
As shown in Fig. 3, Fig. 6, overturning finger 70 include the second feed rod 71, column slider-actuated leading screw 72, column sliding block 73,
Column slider-actuated motor 74, worm screw 75, worm gear 76, rotation finger joint driving motor 77, rotary shaft 78 and overturning finger stretch micro-
Motivation structure 79.It is also associated with the second feed rod 71 and column slider-actuated leading screw 72 positioned at 61 installation end of pressing plate, is located at the second feed rod
71 and column slider-actuated leading screw 72 on be provided with column sliding block 73, pair of nut and the column slider-actuated leading screw of column sliding block 73
72 cooperations, the lower end of column slider-actuated leading screw 72 is connect with column slider-actuated motor 74, by column slider-actuated motor 74
It drives column slider-actuated leading screw 72 to rotate, and then column sliding block 73 is driven to be moved.75 both ends of worm screw are connected to column cunning
In block 73, worm screw 75 engages with worm gear 76, and the upper end connection rotation finger joint driving motor 77 of worm screw 75；The rotary shaft of worm gear 76
78 pass through 73 mounting hole of column sliding block, and being fixedly installed overturning finger positioned at 78 end of rotary shaft stretches micromotion mechanism 79.By revolving
Turning finger joint driving motor 77 drives worm screw 75 to rotate, and worm screw 75 drives worm gear 76 to rotate, and then rotary shaft 78 is driven to rotate, by revolving
Shaft 78 drives the overturning finger micromotion mechanism that stretches 79 to be overturn.
As shown in Fig. 6, Fig. 9, the flexible micromotion mechanism 79 of overturning finger includes the first fixing bracket 791, third driving motor
793, the second leading screw 792, third feed rod 794, the second sliding block 795 and 7 fonts overturn finger joint 796.First fixing bracket 791 is fixed
In 78 end of rotary shaft, the first fixing bracket 791 is driven to be overturn by rotary shaft 78.It is arranged on the first fixing bracket 791
There are the second leading screw 792,792 one end of the second leading screw to export axis connection with third driving motor 793, third driving motor 793 is fixed
On 791 top of the first fixing bracket；Third feed rod 794 there are two being arranged in parallel in the both sides of the second leading screw 792, two third light
Thick stick 794 is directly anchored on the first fixing bracket 791.Second sliding block 795 is arranged in two third feed rods 794 and the second leading screw
Pair of nut and the second leading screw 792 on 792, and in the second sliding block 795 coordinate；7 fonts overturning finger joint 796 is threaded in second
On sliding block 795, the height of 7 fonts overturning finger joint 796 is adjusted by the second sliding block 795 moves up and down.In use, logical
Cross the cargo that column slider-actuated motor 74 drives column slider-actuated leading screw 72 that overturning finger overturning different layers may be implemented；It is logical
The cooperation of third driving motor 793 crossed column slider-actuated motor 74 and overturn the flexible micromotion mechanism of finger is adapted to different height
Spend the cargo of size；Finger joint driving motor 77 is rotated by driving, the overturning overturning cargo of finger 70 may be implemented, and then obtain quilt
Tear the back gap 12 of cargo 11 open.
As shown in fig. 7, clamping finger 80 by friction finger joint be on close level micromotion mechanism and friction finger joint lift micromotion mechanism
It constitutes；Clamping finger 80 can in the case where friction finger joint lifting micromotion mechanism and friction finger joint are on close level the collective effect of micromotion mechanism
Clamping finger is inserted into the back gap obtained by overturning finger with realizing and is ensured cargo clamping.Wherein：
Friction finger joint is on close level micromotion mechanism for realizing by cargo clamping comprising the second fixing bracket the 81, the 4th
Driving motor the 82, the 4th drives motor fixed rack 83, bevel gear 84, third leading screw 85, the 4th feed rod 86 and third sliding block 87.
Second fixing bracket 81 is fixed on 7 fonts overturning finger joint, 796 top of the flexible micromotion mechanism of overturning finger, when the overturning of 7 fonts refers to
The second fixing bracket 81 is driven to overturn together when 796 overturning of section.Branch is fixed by the 4th driving motor on second fixing bracket 81
83 screw thread of frame is installed with the 4th driving motor 82, and 82 output shaft of the 4th driving motor is connect with a bevel gear 84, the bevel gear 84
It is engaged with another bevel gear 84；Another bevel gear 84 is connect with 85 one end of third leading screw being arranged on the second fixing bracket 81,
And then third leading screw 85 is driven to rotate by the 4th driving motor 82.It is additionally provided on the second fixing bracket 81 and third leading screw 85
Two parallel the 4th feed rods 86, third sliding block 87 are arranged on two the 4th feed rods 86 and third leading screw 85, third sliding block 87
Interior feed screw nut coordinates with third leading screw 85, and the movement of 87 progress horizontal direction of third sliding block is driven by third leading screw 85.
Friction finger joint lifting micromotion mechanism is inserted into for realizing by clamping finger 80 between the back obtained by overturning finger 70
Among gap, friction finger joint lifting micromotion mechanism includes third fixing bracket 88, the 5th driving motor 89, the 4th leading screw the 90, the 5th
Feed rod 91, Four-slider 92 and U-shaped friction plate 93.Third fixing bracket 88 is fixed on 87 top of third sliding block, with third sliding block
87 are vertical setting, and the movement of 88 progress horizontal direction of third fixing bracket is driven by third sliding block 87.Third fixing bracket 88
Top is provided with the 5th driving motor 89, and the output shaft of the 5th driving motor 89 is connect with 90 one end of the 4th leading screw, the 4th leading screw
90 are arranged on third fixing bracket 88.Two fiveth parallel with the 4th leading screw 90 are additionally provided on third fixing bracket 88
Feed rod 91, Four-slider 92 are arranged on two the 5th feed rods 91 and the 4th leading screw 90, feed screw nut in Four-slider 92 with
4th leading screw 90 coordinates, and the movement of the progress vertical direction of Four-slider 92 is driven by the 4th leading screw 90.U-shaped friction plate 93 is connected to
On Four-slider 92.After the finger joint that rubs is on close level micromotion mechanism startup, U-shaped friction plate 93 is shown consideration for cargo compartment to be dismantled
It closes, can further stablize stationarity of the cargo in carrying under the action of frictional force when cargo is raised.
In above-described embodiment, the 7 fonts overturning finger joint 796 of overturning finger 70, U-shaped friction plate 93 all use rough
Structure, and be made of the high material of friction coefficient, friction when for increasing overturning cargo, lifting cargo and transport goods
Power.
In the various embodiments described above, the rotary shaft 78 for overturning finger 70 drives worm and gear by rotating finger joint driving motor 77
Mechanism drives its rotation, can ensure that the cargo that overturning is got up will not be overturn back using the self-locking property of worm gear mechanism,
The clamping force that cargo is generated along with U-shaped friction plate 93 and 7 fonts overturning finger joint 796, it is ensured that dismounting and transport cargo
Cargo will not slide from manipulator 6 in the process.
In the various embodiments described above, two mechanical arms 3 may be used and carry two manipulators 6, a machinery can also be used
Arm 3 carries one manipulator 6.
As shown in Figure 1, Figure 2, shown in Fig. 8~Figure 10, the present invention also provides a kind of storage picking machines carrying clamping type manipulator
The application method of device people, its step are as follows：
(1) under the drive of mobile chassis 1, the whole storage picking robot for carrying clamping type manipulator is close to stack
13；
(2) mechanical arm 3 carries out robot arm height under the driving of the first driving motor 36 and the second driving motor 44
With the adjusting of length so that hold down finger 60 surroundings for being tightly attached to target goods to be removed, to ensure the whole stabilization of stack 13
Property；
(3) overturning finger 70 overturns target goods to be removed under the action of rotating finger joint driving motor 77 so that waits tearing open
It unloads and generates the back gap 12 that a clamping finger 80 works between target goods 11 and whole stack 13；
(4) the U-shaped friction plate 93 of clamping finger 80, which declines, is inserted into back gap, and further close to target goods to be removed
11 so that target goods 11 to be removed are clamped；
(5) mechanical arm 3, which is raised and shunk, makes target goods 11 to be removed be detached from whole stack 13；
(6) external control devices control mobile chassis 1 moves, and target goods to be removed carrying is left.
The various embodiments described above are merely to illustrate the present invention, and structure and size, installation position and the shape of each component are all can be with
It is varied from, based on the technical solution of the present invention, all improvement that individual part is carried out according to the principle of the invention and waits
With transformation, should not exclude except protection scope of the present invention.
Claims (8)
1. a kind of storage picking robot carrying clamping type manipulator, it is characterised in that：The robot includes mobile chassis, turns
Dynamic ontology, mechanical arm and manipulator；The mobile chassis top is provided with the rotation ontology, is set on the rotation ontology
It is equipped with the mechanical arm that can be lifted and stretch, the institute that human hand action carries out cargo dismounting can be simulated by being provided on the mechanical arm
State manipulator；
The mechanical arm is made of arm lifting mechanism and pantograph；It is arranged on the arm lifting mechanism
State pantograph；Described arm lifting mechanism one end is located at the mobile chassis top, and is fixed on the rotation ontology
Side wall, the arm lifting mechanism other end extend to the rotation body exterior along the rotation body length direction；
The pantograph include the second driving motor, the first leading screw, lead screw base, screw slider, connecting rod, the first feed rod,
Feed rod sliding block, feed rod seat, telescopic arm, clamp spring and key seat；The telescopic arm is made of single oil cylinder, passes through linear axis between two joint arms
Hold connection；First joint arm end of the telescopic arm is fixed on the arm lifting mechanism, and the lead screw base is threaded in
First leading screw, one end of first leading screw and institute are provided in the first joint arm of the telescopic arm, and in the lead screw base
State the connection of the second driving motor；The connecting rod is located at scissors construction first end using scissors structure in series after intersecting two-by-two
The two connecting rod head ends that portion intersects are connected to by the key seat, clamp spring on a screw slider respectively, two leading screws
Sliding block is all disposed on first leading screw；Two connecting rod ends intersected positioned at scissors structure the second end pass through institute respectively
State key seat, clamp spring is connected on the feed rod sliding block, using the clamp spring carry out position fix；The feed rod sliding block is arranged in institute
State on the first feed rod, first feed rod is fixed on the feed rod seat, the feed rod seat be mounted on the telescopic arm last
In joint arm.
2. a kind of storage picking robot carrying clamping type manipulator as described in claim 1, it is characterised in that：The hand
Arm elevating mechanism includes fixing bracket, the first driving motor, wire rope pulley, steel wire rope, the first sliding block and guide rail；The fixed branch
Frame is threaded on the side wall of the rotation ontology, the guide rail is provided on the fixing bracket, and be located at the fixation
Holder both ends are separately installed with the wire rope pulley, and the steel wire rope is wound on the wire rope pulley, and the steel wire rope and institute
The connection of the first sliding block is stated, first sliding block is slidably connected on the guide rail；It is additionally provided on the fixing bracket described
First driving motor, the output shaft and the wire rope pulley of first driving motor are coaxially connected.
3. a kind of storage picking robot carrying clamping type manipulator as claimed in claim 2, it is characterised in that：The machine
Tool hand includes holding down finger, overturning finger and clamping finger；Described hold down finger is fixed on last joint arm bottom of the telescopic arm
Portion, the overturning finger are connect with described hold down finger, and the clamping finger is connect with the overturning finger；It is described to hold down finger
It is made of pressing plate；The installation end of the pressing plate is connect with the bottom thread of the telescopic arm.
4. a kind of storage picking robot carrying clamping type manipulator as claimed in claim 3, it is characterised in that：It is described to turn over
It includes the second feed rod, column sliding block, column slider-actuated leading screw, column slider-actuated motor, worm gear, worm screw, rotation to change hands finger
Axis, rotation finger joint driving motor and the flexible micromotion mechanism of overturning finger；It is connected with positioned at the installation end to hold down finger described
Second feed rod and column slider-actuated leading screw are provided with the column on second feed rod and column slider-actuated leading screw
Sliding block, the lower end of the column slider-actuated leading screw are connect with the column slider-actuated motor；The worm screw both ends are connected to
In the column sliding block, the worm screw engages with the worm gear, and the upper end of the worm screw connects the rotation finger joint driving electricity
Machine；The rotary shaft on the worm gear passes through the column sliding block, and described turn over is fixedly installed positioned at the rotation shaft end
Change hands the flexible micromotion mechanism of finger.
5. a kind of storage picking robot carrying clamping type manipulator as claimed in claim 4, it is characterised in that：It is described to turn over
It includes the first fixing bracket, third driving motor, the second leading screw, third feed rod, the second sliding block and 7 to change hands the flexible micromotion mechanism of finger
Font overturns finger joint；First fixing bracket is fixed on the rotation shaft end, is provided on first fixing bracket
Second leading screw, second leading screw one end are connect with the third driving motor output shaft, and the third driving motor is solid
It is scheduled on first fixing bracket top；The third feed rod there are two being arranged in parallel in the both sides of second leading screw, two
The feed rod is directly anchored on first fixing bracket；Second sliding block is arranged in two third feed rods and second
On leading screw；The 7 font overturning finger joint is threaded on second sliding block.
6. a kind of storage picking robot carrying clamping type manipulator as claimed in claim 5, it is characterised in that：The card
Tight finger is on close level micromotion mechanism by friction finger joint and friction finger joint lifting micromotion mechanism is constituted；The friction finger joint level connects
Nearly micromotion mechanism includes the second fixing bracket, the 4th driving motor, the 4th driving motor fixed rack, third leading screw, the 4th light
Thick stick, bevel gear and third sliding block；Second fixing bracket is fixed at the top of the 7 font overturning finger joint；Described second fixes
Motor fixed rack screw thread is driven to be installed with the 4th driving motor, the 4th driving motor by the described 4th on holder
Output shaft is connect with a bevel gear, which engages with another bevel gear；Another bevel gear exists with setting
Third leading screw one end connection on second fixing bracket；It is additionally provided on second fixing bracket and described
Two parallel the 4th feed rods of three leading screws, the third sliding block are arranged on two the 4th feed rods and third leading screw.
7. a kind of storage picking robot carrying clamping type manipulator as claimed in claim 6, it is characterised in that：It is described to rub
It includes third fixing bracket, the 5th driving motor, the 4th leading screw, the 5th feed rod, Four-slider and U to wipe finger joint lifting micromotion mechanism
Type friction plate；The third fixing bracket is fixed on the third slider top, is vertical setting with the third sliding block；It is described
Third fixing bracket top is provided with the 5th driving motor, output shaft and the 4th leading screw of the 5th driving motor
One end connects, and the 4th leading screw is arranged on the third fixing bracket；Be additionally provided on the third fixing bracket with
Two parallel the 5th feed rods of 4th leading screw, the Four-slider are arranged in two the 5th feed rods and the 4th
On thick stick；The U-shaped friction plate is connected on the Four-slider.
8. a kind of use based on the storage picking robot for carrying clamping type manipulator as described in any one of claim 1 to 7
Method, which is characterized in that include the following steps：
(1) under the drive of mobile chassis, close to stack；
(2) mechanical arm carries out the adjusting of height and length under the driving of the first driving motor and the second driving motor so that pressure
Tight finger is tightly attached to the surrounding of target goods to be removed；
(3) overturning finger overturns target goods to be removed under the action of rotating finger joint driving motor so that target goods to be removed
The back gap that a clamping finger works is generated between object and whole stack；
(4) the U-shaped friction plate of clamping finger declines the back gap be inserted into and obtained, and further makes close to target goods to be removed
Target goods to be removed are clamped；
(5) mechanical arm, which is raised and shunk, makes target goods to be removed be detached from whole stack；
(6) target goods to be removed carrying is left in external control devices control mobile chassis movement.
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| CN201610953749.7A CN106313014B (en) | 2016-11-03 | 2016-11-03 | A kind of storage picking robot and its application method carrying clamping type manipulator |
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| CN201610953749.7A CN106313014B (en) | 2016-11-03 | 2016-11-03 | A kind of storage picking robot and its application method carrying clamping type manipulator |
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| CN109571527B (en) * | 2018-12-28 | 2021-10-29 | 北京信息科技大学 | End effector of storage and picking robot |
| CN109677913A (en) * | 2019-01-30 | 2019-04-26 | 烟台路辰世友数控机械有限公司 | A kind of carrying telescoping mechanism and handling device |
| CN109814512A (en) * | 2019-03-07 | 2019-05-28 | 南京塑维网络科技有限公司 | A kind of mobile picking goods putting device and method |
| CN110239869A (en) * | 2019-07-08 | 2019-09-17 | 桂林电子科技大学 | A kind of mobile both arms handling device and its application method based on binocular vision |
| JP6870040B2 (en) * | 2019-07-23 | 2021-05-12 | 日本金銭機械株式会社 | Robot hand |
| US11302134B2 (en) | 2019-07-23 | 2022-04-12 | Japan Cash Machine Co., Ltd. | Automatic bill handling system |
| CN114568801B (en) * | 2022-02-23 | 2023-05-23 | 重庆工业职业技术学院 | Install handle additional suitable for cylinder cavity umbrella stick |
| CN117047784B (en) * | 2023-10-11 | 2024-01-26 | 大扬智能科技(北京)有限公司 | Method and device for determining position of robot for picking goods and robot system |
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