CN106697361B - Parallel five-connecting-rod manipulator grabbing device - Google Patents
Parallel five-connecting-rod manipulator grabbing device Download PDFInfo
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- CN106697361B CN106697361B CN201710159953.6A CN201710159953A CN106697361B CN 106697361 B CN106697361 B CN 106697361B CN 201710159953 A CN201710159953 A CN 201710159953A CN 106697361 B CN106697361 B CN 106697361B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B5/00—Packaging individual articles in containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, jars
- B65B5/10—Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles
- B65B5/105—Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles by grippers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/04—Arms extensible rotatable
Abstract
The invention discloses a parallel five-link manipulator grabbing device which comprises a parallel manipulator, two rotating mechanisms and two telescopic grippers, wherein the two rotating mechanisms are arranged at the lower ends of the parallel manipulator, the two telescopic grippers are respectively arranged at the lower ends of the two rotating mechanisms, the parallel manipulator drives the rotating mechanisms and the telescopic grippers to repeatedly and rapidly lift and move left and right, the rotating mechanisms drive the telescopic grippers to do 180-degree reciprocating rotation, and the vertical bags are grabbed by the telescopic grippers to realize positioning grabbing and positioning boxing of the vertical bags. The parallel manipulator grabbing device has a simple and compact structure, can simulate the functions of a human arm, is suitable for a small space in a box, can freely advance and retreat in a paper box, and can grab multiple bags at one time, so that the vertical bags can be positioned, grabbed and packaged.
Description
Technical Field
The invention relates to the technical field of packaging machinery, in particular to a parallel five-link manipulator grabbing device.
Background
The packing of vertical bag salt bags is always a difficult point of salt industry packaging in the existing salt chemical industry. The packing machine in the current market cannot imitate the function of hands, so that soft packages in the packing machine are disordered, ordered and disordered, and cannot meet the requirements of salt users, and the main users still adopt manual packing. The manual packaging of the vertical bag has the defects of high labor intensity, high labor cost, low production efficiency and difficult control of counting accuracy. For the current state, the intelligent manipulator is needed to pack the boxes, and the key problem of solving the boxing is a manipulator grabbing device.
Disclosure of Invention
The invention aims to solve the technical problems of the prior art, and provides the parallel five-link manipulator grabbing device which has a simple and compact structure, can imitate the functions of a human arm, is suitable for a small space in a box, can freely advance and retreat in the box, can grab multiple bags at one time, and realizes positioning grabbing and positioning boxing of vertical bags.
The technical scheme adopted by the invention for solving the technical problems is as follows:
the utility model provides a parallelly connected five connecting rod manipulator grabbing device, includes parallelly connected manipulator, two rotary mechanism and two flexible tongs, and two rotary mechanism set up in parallelly connected manipulator's lower extreme, and two flexible tongs set up respectively in two rotary mechanism's lower extreme, and parallelly connected manipulator drives rotary mechanism and flexible tongs and goes up and down and move about fast repeatedly, and rotary mechanism drives flexible tongs and do 180 degrees reciprocating rotation, snatchs vertical bag through flexible tongs, realizes the location snatch and the location vanning to vertical bag.
According to the technical scheme, the parallel mechanical arm comprises two A servo motors, two transmission shafts, a mounting frame, two five-bar linkage mechanisms and a fixing frame, wherein the two A servo motors are fixedly arranged on the mounting frame through servo speed reducers, the two transmission shafts are arranged in parallel, one ends of the two transmission shafts are respectively connected with the two A servo motors through the servo speed reducers, the other ends of the two transmission shafts are connected and fixed on the mounting frame through bearing seats, the upper ends of the two five-bar linkage mechanisms are respectively hinged with the mounting frame, the two five-bar linkage mechanisms are distributed on two sides of the mounting frame, the lower ends of the two five-bar linkage mechanisms are respectively hinged with two ends of the fixing frame, the two rotating mechanisms are all arranged on the fixing frame, the two five-bar linkage mechanisms are connected with the transmission shafts, and the two A servo motors drive the two five-bar linkage mechanisms to operate through the transmission shafts.
According to the technical scheme, the mounting bracket comprises a left mounting plate, a right mounting plate, a mounting bottom plate and an A vertical plate, wherein the upper end of the A vertical plate is fixedly connected with the mounting bottom plate, the left mounting plate and the right mounting plate are respectively fixedly connected with the two ends of the A vertical plate, the left mounting plate and the right mounting plate are distributed in parallel, the upper ends of the two five-bar mechanisms are respectively connected with the left mounting plate and the right mounting plate, and the two A servo motors are fixedly arranged on the left mounting plate and the right mounting plate through speed reducers.
According to the technical scheme, the five-bar linkage comprises two large swing arms, a long connecting rod, two long swing rods, a triangular arm, a short connecting rod and a connecting rod support, wherein two ends of the large swing arm on the right side are hinged with the mounting frame and one end of the long swing arm on the right side respectively, one end of the large swing arm on the left side is hinged with the mounting frame, the other end of the large swing arm on the left side is hinged with one end of the long swing rod on the left side and one corner end of the triangular arm together, the other two corner ends of the triangular arm are hinged with one end of the short connecting rod A and one end of the long connecting rod A respectively, the other end of the long swing arm on the right side, the other end of the long swing arm on the left side and the other end of the long connecting rod A are hinged with the mounting frame respectively, and the other end of the short connecting rod A is connected with the mounting frame through the connecting rod support.
According to the technical scheme, the fixing frame comprises a saddle-shaped fixing support and two triangular fixing supports, the two triangular fixing supports are arranged at two ends of the saddle-shaped fixing support, and the upper ends of the two triangular fixing supports are respectively connected with the lower ends of the two five-bar linkage mechanisms.
According to the technical scheme, the transmission shaft comprises a short transmission shaft, a long transmission shaft and a shaft coupling, one end of the short transmission shaft is connected with the A servo motor through a servo speed reducer, the other end of the short transmission shaft is connected with one end of the long transmission shaft through the shaft coupling, and the other end of the long transmission shaft is connected with the bearing seat.
According to the technical scheme, the rotating mechanism comprises a servo motor B, a planetary reducer, a connecting flange A and a detection support, wherein the servo motor B is connected with the connecting flange A through the planetary reducer, the detection support is fixedly arranged on the connecting flange A, the connecting flange A is connected with a telescopic gripper, and a sensor is arranged on the detection support; and B, driving the planetary reducer to drive the telescopic gripper to rotate forward and backward by 180 degrees through the connecting flange A, and feeding back the position signal of the connecting flange A through detection of a sensor on the detection support.
According to the technical scheme, the telescopic gripper comprises a mounting seat, an air cylinder, a connecting plate, two connecting rod mechanisms, two guide rails, a front sliding plate and a rear sliding plate, wherein the two guide rails are arranged at two ends of the mounting seat in parallel, each guide rail is provided with two sliding blocks, the two sliding blocks on the same guide rail are connected through the connecting rod mechanisms, the upper end of the front sliding plate is respectively connected with the sliding blocks at the front ends of the two guide rails, the upper end of the rear sliding plate is respectively connected with the sliding blocks at the rear ends of the two guide rails, the air cylinder is fixedly arranged on the mounting seat, the two ends of the connecting plate are respectively connected with the two ends of the rear sliding plate, and the air cylinder shaft of the air cylinder is connected with the connecting plate through a floating joint; the cylinder pushes the rear slide plate through the connecting plate, the rear slide plate moves linearly along the two guide rails through the two slide blocks at the rear end, and meanwhile, the slide blocks at the two front ends are driven through the connecting rod mechanism to drive the front slide plate to move linearly along the guide rails in the same direction as the rear slide plate.
According to the technical scheme, the mounting seat comprises a B connecting flange, a top plate, a B vertical plate, a left side plate and a right side plate, wherein the B connecting flange is arranged at the upper end of the top plate, the lower end of the top plate is fixedly connected with the B vertical plate, the left side plate and the right side plate respectively to form a box-shaped framework, the left side plate and the right side plate are respectively fixed on two sides of the B vertical plate, and the two guide rails are respectively arranged on the left side plate and the right side plate.
According to the technical scheme, the connecting rod mechanism comprises a long connecting rod B, a supporting rod and a short connecting rod B, wherein the supporting rod is fixed on one side of the installation seat, the supporting rod is provided with a connecting rod seat A, the sliding block at the front end is provided with a connecting rod seat C, the sliding block at the rear end is provided with a connecting rod seat B, one ends of the two long connecting rods are respectively hinged with the connecting rod seat A and the connecting rod seat C, the other ends of the two long connecting rods are hinged through pins, one ends of the two short connecting rods B are respectively hinged with middle holes on the two long connecting rods, and the other ends of the two short connecting rods are hinged with the connecting seat B.
The invention has the following beneficial effects:
1. the device has simple and compact structure, can simulate the functions of hands and arms, is suitable for a small space in a box, can freely advance and retreat in a paper box, and can be used for realizing positioning, grabbing and positioning and boxing of vertical bags by a parallel manipulator grabbing device for grabbing multiple bags at one time.
2. Under the drive of two A servo motors 1-1, two groups of five-bar mechanisms drive the rotating mechanism and the telescopic handle 3 to move up and down and left and right simultaneously.
Drawings
FIG. 1 is a schematic front isometric view of a parallel five-bar manipulator gripping device in an embodiment of the present invention;
FIG. 2 is a schematic diagram of a front isometric view of a parallel robot in an embodiment of the present invention;
FIG. 3 is a schematic diagram of a back side isometric view of a parallel robot in an embodiment of the present invention;
FIG. 4 is a schematic diagram of a front isometric view of a rotary mechanism according to an embodiment of the invention;
FIG. 5 is a diagram of the working position of the telescopic handle in an embodiment of the present invention;
FIG. 6 is a schematic front isometric view of a telescoping grip according to an embodiment of the present invention;
FIG. 7 is a schematic illustration of a rear isometric view of a telescoping grip in an embodiment of the present invention;
FIG. 8 is a bottom view of a telescoping handle in an embodiment of the present invention;
in the figure, a 1-parallel manipulator, a 1-1-A servo motor, a 1-2-servo reducer, a 1-3-left mounting plate, a 1-4-mounting bottom plate, a 1-5-A vertical plate, a 1-6-right mounting plate, a 1-7-large swing arm, a 1-8-A long connecting rod, a 1-9-triangle fixed support, a 1-10-long swing rod, a 1-11-triangle arm, a 1-12-A short connecting rod, a 1-13-connecting rod support, a 1-14-long transmission shaft, a 1-15-coupling, a 1-16-short transmission shaft, a 1-17-bearing seat, a 1-18-centripetal ball bearing, a 1-19-saddle fixed support and a 1-20-rotating grip mounting plate are shown in the figure;
the device comprises a 2-rotating mechanism, a 2-1-B servo motor, a 2-2-planetary reducer, a 2-3-A connecting flange and a 2-4-detection bracket;
3-telescopic grippers, 3-1-B connecting flanges, 3-2-top plates, 3-3-pins, 3-4-B long connecting rods, 3-5-supporting rods, 3-6-A connecting rod seats, 3-7-washers, 3-8-B short connecting rods, 3-9-B connecting rod seats, 3-10-rear sliding plates, 3-11-C connecting rod seats, 3-12-sliding plates, 3-13-guide rails, 3-14-right side plates, 3-15-B vertical plates, 3-16-cylinders, 3-17-left side plates, 3-18-front sliding plates, 3-19-floating joints and 3-20-connecting plates.
Detailed Description
The invention will now be described in detail with reference to the drawings and examples.
Referring to fig. 1-2, the parallel five-bar manipulator grabbing device in one embodiment provided by the invention comprises a parallel manipulator 1, two rotating mechanisms and two telescopic grippers 3, wherein the two rotating mechanisms are arranged at the lower ends of the parallel manipulator 1, the two telescopic grippers 3 are respectively arranged at the lower ends of the two rotating mechanisms, the parallel manipulator 1 drives the rotating mechanisms and the telescopic grippers 3 to repeatedly and rapidly lift and move left and right, the rotating mechanisms drive the telescopic grippers 3 to do 180-degree reciprocating rotation, and the vertical bags are grabbed through the telescopic grippers 3, so that the positioning grabbing and positioning boxing of the vertical bags are realized.
Further, the parallel manipulator 1 comprises two A servo motors 1-1, two transmission shafts, a mounting frame, two five-bar mechanisms and a fixing frame, wherein the two A servo motors 1-1 are fixedly arranged on the mounting frame through servo speed reducers 1-2, the two transmission shafts are arranged in parallel, one ends of the two transmission shafts are respectively connected with the two A servo motors 1-1 through the servo speed reducers 1-2, the other ends of the two transmission shafts are fixedly connected to the mounting frame through bearing seats 1-17, the upper ends of the two five-bar mechanisms are respectively hinged with the mounting frame, the two five-bar mechanisms are distributed on two sides of the mounting frame, the lower ends of the two five-bar mechanisms are respectively hinged with two ends of the fixing frame, the two rotating mechanisms are all arranged on the fixing frame, the two five-bar mechanisms are connected with the transmission shafts, and the two A servo motors 1-1 drive the two five-bar mechanisms to operate through the transmission shafts; under the drive of two A servo motors 1-1, two groups of five-bar mechanisms drive the rotating mechanism and the telescopic handle 3 to move up and down and left and right simultaneously.
Further, the mounting frame comprises a left mounting plate 1-3, a right mounting plate 1-6, a mounting bottom plate 1-4 and an A vertical plate 1-5, wherein the upper end of the A vertical plate 1-5 is fixedly connected with the mounting bottom plate 1-4, the left mounting plate 1-3 and the right mounting plate 1-6 are fixedly connected with the two ends of the A vertical plate 1-5 respectively, the left mounting plate 1-3 and the right mounting plate 1-6 are distributed in parallel, the upper ends of the two five-bar mechanisms are connected with the left mounting plate 1-3 and the right mounting plate 1-6 respectively, and the two A servo motors 1-1 are fixedly arranged on the left mounting plate 1-3 and the right mounting plate 1-6 through speed reducers.
Further, the A vertical plates 1-5 comprise a plurality of flat plates which are arranged in parallel to form a frame structure, and the number of the flat plates is 2.
Further, the five-bar linkage comprises two large swing arms 1-7, an A long connecting rod 1-8, two long swing rods 1-10, a triangular arm 1-11, an A short connecting rod 1-12 and a connecting rod support 1-13, two ends of the large swing arm 1-7 on the right side are hinged with one end of a mounting frame and one end of the long swing arm on the right side respectively, one end of the large swing arm 1-7 on the left side is hinged with the mounting frame, the other end of the large swing arm 1-7 on the left side is hinged with one end of the long swing rod 1-10 on the left side and one corner end of the triangular arm 1-11 together, the other two corner ends of the triangular arm 1-11 are hinged with one end of the A short connecting rod 1-12 and one end of the A long connecting rod 1-8 respectively, the other end of the long swing arm on the right side, the other end of the long swing arm on the left side and the other end of the A long connecting rod 1-8 are hinged with a fixing frame respectively, and the other end of the A short connecting rod 1-12 is connected with the mounting frame through the connecting rod support 1-13.
Further, connecting rod supports 1-13 are arranged on the left mounting plate 1-3 and the right mounting plate 1-6, and two A short connecting rods 1-12 are hinged with the left mounting plate 1-3 and the right mounting plate 1-6 through the connecting rod supports 1-13.
Further, the fixing frame comprises a saddle-shaped fixing support 1-19 and two triangular fixing supports 1-9, the two triangular fixing supports 1-9 are arranged at two ends of the saddle-shaped fixing support 1-19, and the upper ends of the two triangular fixing supports 1-9 are respectively connected with the lower ends of the two five-bar linkage mechanisms.
Further, two rotary handle mounting plates 1-20 are arranged on the saddle-shaped fixing support 1-19, and the rotary mechanism 2 is fixedly arranged on the rotary handle mounting plates 1-20.
Further, the transmission shaft comprises a short transmission shaft 1-16, a long transmission shaft 1-14 and a shaft coupling 1-15, one end of the short transmission shaft 1-16 is connected with the A servo motor 1-1 through a servo speed reducer 1-2, the other end of the short transmission shaft 1-16 is connected with one end of the long transmission shaft 1-14 through the shaft coupling 1-15, and the other end of the long transmission shaft 1-14 is connected with a bearing seat 1-17.
Further, the rotating mechanism comprises a B servo motor 2-1, a planetary reducer 2-2, an A connecting flange 2-3 and a detection support 2-4, wherein the B servo motor 2-1 is connected with the A connecting flange 2-3 through the planetary reducer 2-2, the detection support 2-4 is fixedly arranged on the A connecting flange 2-3, the A connecting flange 2-3 is connected with the telescopic gripper 3, and a sensor is arranged on the detection support 2-4; the servo motor 2-1 drives the planetary reducer 2-2 to drive the telescopic gripper 3 to rotate forward and reversely by 180 degrees through the connecting flange 2-3A, and the position signal of the connecting flange 2-3A is fed back through detection of a sensor on the detecting support 2-4.
Further, the number of the rotation mechanisms is 2.
Further, the telescopic handle 3 comprises an installation seat, an air cylinder 3-16, a connecting plate 3-20, two connecting rod mechanisms, two guide rails 3-13, a front sliding plate 3-18 and a rear sliding plate 3-10, wherein the two guide rails 3-13 are arranged at two ends of the installation seat in parallel, each guide rail 3-13 is provided with two sliding blocks 3-12, the two sliding blocks 3-12 on the same guide rail 3-13 are connected through the connecting rod mechanisms, the upper end of the front sliding plate 3-18 is respectively connected with the sliding blocks 3-12 at the front ends of the two guide rails 3-13, the upper end of the rear sliding plate 3-10 is respectively connected with the sliding blocks 3-12 at the rear ends of the two guide rails 3-13, the air cylinder 3-16 is fixedly arranged on the installation seat, the two ends of the connecting plate 3-20 are respectively connected with the two ends of the rear sliding plate 3-10, and the air cylinder 3-16 shaft of the air cylinder 3-16 is connected with the connecting plate 3-20 through a floating joint 3-19; the air cylinder 3-16 pushes the rear slide plate 3-10 through the connecting plate 3-20, the rear slide plate 3-10 moves linearly along the two guide rails 3-13 through the two slide blocks 3-12 at the rear end, meanwhile, the slide blocks 3-12 at the two front ends are driven through the connecting rod mechanism, and the front slide plate 3-18 is driven to move linearly along the guide rails 3-13 and the rear slide plate 3-10 in the same direction.
Because of the two-fold proportional relationship of the A long links 1-8 and the A short links 1-12, the front sled 3-18 has twice the stroke as the rear sled 3-10. The telescopic grippers 3 are divided into two groups.
Further, the mounting seat comprises a B connecting flange 3-1, a top plate 3-2, a B vertical plate 3-15, a left side plate 3-17 and a right side plate 3-14, wherein the B connecting flange 3-1 is arranged at the upper end of the top plate 3-2, the lower end of the top plate 3-2 is fixedly connected with the B vertical plate 3-15, the left side plate 3-17 and the right side plate 3-14 respectively to form a box-shaped framework, the left side plate 3-17 and the right side plate 3-14 are fixed on two sides of the B vertical plate 3-15 respectively, and the two guide rails 3-13 are arranged on the left side plate 3-17 and the right side plate 3-14 respectively.
Further, the link mechanism comprises a long link rod 3-4B, a support rod 3-5 and a short link rod B, wherein the support rod 3-5 is fixed on one side of the installation seat (the two support rods 3-5 are respectively fixed on the left side plate 3-17 and the right side plate 3-14), the support rod 3-5 is provided with a link rod seat A, the slide block 3-12 at the front end is provided with a link rod seat C, the slide block 3-12 at the rear end is provided with a link rod seat B, one ends of the two long link rods are respectively hinged with the link rod seat A and the link rod seat C, the other ends of the two long link rods are hinged through pins 3-3, one ends of the two short link rods B are respectively hinged with middle holes (the middle holes are arranged in the middle of the long link rod 3-4B), and the other ends of the two short link rods are hinged with the link seat B.
The working process of the invention is as follows: under the servo drive of the parallel manipulator 1, the parallel manipulator 1 ascends and moves leftwards, and when the telescopic gripper 3 is driven to reach the bag picking position, the rotating mechanism drives the telescopic gripper 3 to rotate anticlockwise by 180 degrees. The controller sends out a packet picking signal, and firstly the air cylinder 3-16 acts and makes linear motion through the rear sliding plate 3-10. Meanwhile, the front sliding plate 3-18 is driven by the link mechanism to do linear motion along the same direction. The connecting rod mechanism drives the front sliding plate 3-18 and the rear sliding plate 3-10 to extend along the horizontal direction. After the group salt bags are received, the parallel manipulator 1 descends and moves right to drive the telescopic gripper 3 to reach the bag placing position, and meanwhile, the rotating mechanism drives the telescopic gripper 3 to rotate 180 degrees clockwise. When the grippers move to the bag placing position, the controller sends a bag placing signal, the air cylinders 3-16 complete the return action, the front sliding plate 3-18 and the rear sliding plate 3-10 are driven by the link mechanism to retract along the horizontal direction, and groups of self-supporting bags are placed in the paper boxes in order.
As shown in fig. 1, the invention consists of a parallel manipulator 1, two rotating mechanisms 2 and two telescopic grippers 3. The mounting bottom plate 1-4 of the parallel manipulator 1 is fixedly connected with the frame, and the planetary reducers 2-2 of the two rotating mechanisms 2 are respectively fixedly connected with the rotating manipulator mounting plates 1-20 on the parallel manipulator 1. The two telescopic grippers 3 are fixedly connected with the A connecting flanges 2-3 of the two rotating mechanisms 2 through the two B connecting flanges 3-1 respectively. The parallel manipulator 1 can drive the telescopic gripper 3 to repeatedly and rapidly lift and move left and right in a Cartesian coordinate system through driving of the two A servo motors 1-1, so that positioning grabbing and positioning boxing of the vertical bag salt package are realized; the rotating mechanism 2 fixed on the parallel manipulator 1 is driven by two B servo motors 2-1 respectively, and can drive two telescopic grippers 3 to do 180-degree reciprocating rotation respectively, and the grabbed grouped salt bags are arranged and packaged according to a specified pattern.
As shown in figures 2 and 3, the parallel manipulator 1 consists of two parts of A servo motors 1-1, two parts of servo speed reducers 1-2, two parts of left mounting plates 1-3, two parts of mounting bottom plates 1-4, two parts of A vertical plates 1-5, two parts of right mounting plates 1-6, four parts of large swing arms 1-7, two parts of A long connecting rods 1-8, two parts of triangular fixing supports 1-9, four parts of long swing rods 1-10, two parts of triangular arms 1-11, two parts of A short connecting rods 1-12, two parts of connecting rod supports 1-13, two parts of long driving shafts 1-14, two parts of couplings 1-15, two parts of short driving shafts 1-16, two parts of bearing blocks 1-17, two parts of radial ball bearings 1-18, two parts of saddle-shaped fixing supports 1-19 and rotating manipulator mounting plates 1-20. The left mounting plate 1-3 and the right mounting plate 1-6 are respectively fixed on two sides of the two A vertical plates 1-5, and the mounting bottom plate 1-4 is fixedly connected on the two A vertical plates 1-5. The two A servo motors 1-1 are respectively fixedly connected with the two servo speed reducers 1-2, and outer flanges on the two servo speed reducers 1-2 are fixed on the left mounting plate 1-3. The outer shoulders of the two short transmission shafts 1-16 are fixedly connected with the rotating flanges on the two servo speed reducers 1-2. The two large swing arms 1-7 are fixedly connected with flange interfaces on the two short transmission shafts 1-16, so that servo power is respectively transmitted to the two large swing arms 1-7 and the two short transmission shafts 1-16. The two bearing seats 1-17 are respectively fixed on the right mounting plate 1-6, and the two radial ball bearings 1-18 are respectively arranged in the two bearing seats 1-17 and play a supporting role on the two long transmission shafts 1-14. The two long driving shafts 1-14 are respectively connected with each other through two shaft couplings 1-15, and the other two large swing arms 1-7 are fixedly connected with the two long driving shafts 1-14. The two long swinging rods 1-10 are respectively hinged with the two large swinging arms 1-7, and the other two long swinging rods 1-10 are respectively hinged with the two large swinging arms 1-7 and the two triangular arms 1-11. The two connecting rod supports 1-13 are respectively fixed on the left mounting plate 1-3 and the right mounting plate 1-6, one end of the two short connecting rods 1-12 is hinged with the two connecting rod supports 1-13, the other end of the two short connecting rods is hinged with the two triangular arms 1-11, one end of the two long connecting rods 1-8 is hinged with the two triangular fixing brackets 1-9, and the other end of the two long connecting rods is hinged with the two triangular arms 1-11. The two triangular fixing brackets 1-9 and the two saddle-shaped fixing brackets 1-19 are respectively fixed on the rotary handle mounting plate 1-20, and the saddle-shaped fixing brackets 1-19 and the triangular fixing brackets 1-9 form a group and are hinged with the two long swinging rods 1-10 to form two groups. Under the drive of the two A servo motors 1-1, two groups of link mechanisms are shared to drive the rotary handle mounting plates 1-20 to move up and down, left and right. The mechanism has the human body simulation characteristic, imitates the action of a human big arm and a human small arm in a plane, and can bear a large work load due to the adoption of two groups of parallel connection modes.
As shown in FIG. 4, the rotating mechanism 2 consists of a servo motor 2-1, a planetary reducer 2-2, a connecting flange 2-3 and a detection bracket 2-4. And the servo motor 2-1 is fixedly connected with the planetary reducer 2-2. The connecting flange A2-3 is fixedly connected with the planetary reducer 2-2, and the detection support 2-4 is arranged on the connecting flange A2-3. Under the drive of the servo motor B2-1, the connecting flange A2-3 is driven by the planetary reducer 2-2 to rotate forward and backward by 180 degrees, and the position signal of the connecting flange A2-3 is fed back through the detection of the detection support 2-4. The rotation mechanisms 2 are divided into two groups.
As shown in figures 5, 6, 7 and 8, the telescopic gripper 3 consists of six parts including a connecting flange 3-1, a top plate 3-2, pins 3-3, four parts including a long connecting rod 3-4, four parts including a supporting rod 3-5, two parts including a connecting rod seat 3-6, twelve parts including a gasket 3-7, four parts including a short connecting rod 3-8, two parts including a connecting rod seat 3-9, a rear slide plate 3-10, two parts including a connecting rod seat 3-11, four parts including a slide block 3-12, two parts including a guide rail 3-13, a right side plate 3-14, a vertical B plate 3-15, a cylinder 3-16, a left side plate 3-17, a front slide plate 3-18, a floating joint 3-19 and a connecting plate 3-20. The B connecting flange 3-1 is fixedly connected with the top plate 3-2, the left side plate 3-17 and the right side plate 3-14 are fixed on two sides of the B vertical plate 3-15, and the top plate 3-2 is fixedly connected with the left side plate 3-17, the right side plate 3-14 and the B vertical plate 3-15 respectively to form a box-shaped framework. The two sliding blocks 3-12 are arranged on the guide rail 3-13, the guide rail 3-13 is fixed on the right side plate 3-14, the right side of the front sliding plate 3-18 and the C connecting rod seat 3-11 are fixed on the front section sliding block 3-12, the right side of the rear sliding plate 3-10 and the B connecting rod seat 3-09 are fixed on the rear end sliding block 3-12, the A connecting rod seat 3-6 is fixed on the two supporting rods 3-5, and the two supporting rods 3-5 are fixed on the right side plate 3-14. One end of each of the two long connecting rods 3-4 is hinged with the corresponding connecting rod seat 3-6 and the corresponding connecting rod seat 3-11, and the other end of each of the two long connecting rods is hinged with the corresponding connecting rod seat 3-3 through a pin 3-3. One end of the two short connecting rods 3-8 is hinged with the B connecting rod seat 3-9, and the other end of the two short connecting rods is respectively hinged with the middle holes of the two B long connecting rods 3-4 through two pins 3-3; similarly, two sliding blocks 3-12 are arranged on a guide rail 3-13, the guide rail 3-13 is fixed on a left side plate 3-17, the left side of a front sliding plate 3-18 and a C connecting rod seat 3-11 are fixed on a front section sliding block 3-12, the left side of a rear sliding plate 3-10 and a B connecting rod seat 3-9 are fixed on a rear end sliding block 3-12, an A connecting rod seat 3-6 is fixed on two supporting rods 3-5, and the two supporting rods 3-5 are fixed on the left side plate 3-17. One end of each of the two long connecting rods 3-4 is hinged with the corresponding connecting rod seat 3-6 and the corresponding connecting rod seat 3-11, and the other end of each of the two long connecting rods is hinged with the corresponding connecting rod seat 3-3 through a pin 3-3. One end of the two short connecting rods 3-8 is hinged with the B connecting rod seat 3-9, and the other end is respectively hinged with the middle holes of the two B long connecting rods 3-4 through two pins 3-3. The air cylinder 3-16 is arranged on the B vertical plate 3-15, the air cylinder shaft of the air cylinder 3-16 is fixedly connected with one end of the floating joint 3-19, the other end of the floating joint 3-19 is fixedly connected with the connecting plate 3-20, and the connecting plate 3-20 is fixedly connected with two sides of the rear sliding plate 3-10 respectively. In this way, the rear slide plate 3-10 and the two rear end slide blocks 3-12 are pushed by the connecting plate 3-20 to move linearly along the two guide rails 3-13 under the pushing of the air cylinder 3-16. Meanwhile, the two front end sliding blocks 3-12 and the front sliding plates 3-18 are driven to do linear motion along the same direction through the connecting rod mechanism. Because of the double proportional relationship of the B long links 3-4 and the short links 3-8, the front sled 3-18 has twice the stroke as the rear sled 3-10. The telescopic grippers 3 are divided into two groups.
The working process of the invention is as follows: under the servo drive of the parallel manipulator 1, the parallel manipulator 1 ascends and moves leftwards, and when the telescopic gripper 3 is driven to reach the bag picking position, the rotating mechanism 2 drives the telescopic gripper 3 to rotate anticlockwise by 180 degrees. The controller sends out a packet picking signal, and firstly the air cylinder 3-16 acts and makes linear motion through the rear sliding plate 3-10. Meanwhile, the front sliding plate 3-18 is driven to linearly move along the same direction through the connecting rod mechanism. As shown in FIG. 6, the composed linkage drives the front and rear skids 3-18, 3-10 to extend in a horizontal direction. After the group salt bags are received, the parallel manipulator 1 descends and moves right to drive the telescopic gripper 3 to reach the bag placing position, and meanwhile, the rotating mechanism 2 drives the telescopic gripper 3 to rotate 180 degrees clockwise. When the telescopic gripper 3 moves to the bag placing position, the controller sends a bag placing signal, the air cylinder 3-16 completes the return action, as shown in fig. 5, the front sliding plate 3-18 and the rear sliding plate 3-10 are driven by the connecting rod mechanism to retract along the horizontal direction, and groups of self-supporting bags are placed in the carton neatly.
The foregoing is merely illustrative of the present invention and is not intended to limit the scope of the invention, which is defined by the claims and their equivalents.
Claims (7)
1. The parallel five-link manipulator grabbing device is characterized by comprising a parallel manipulator, two rotating mechanisms and two telescopic grippers, wherein the two rotating mechanisms are arranged at the lower ends of the parallel manipulator, the two telescopic grippers are respectively arranged at the lower ends of the two rotating mechanisms, the parallel manipulator drives the rotating mechanisms and the telescopic grippers to repeatedly and rapidly lift and move left and right, the rotating mechanisms drive the telescopic grippers to do 180-degree reciprocating rotation, and the vertical bags are grabbed by the telescopic grippers to realize positioning grabbing and positioning boxing of the vertical bags;
the parallel manipulator comprises two A servo motors, two transmission shafts, a mounting frame, two five-bar mechanisms and a fixing frame, wherein the two A servo motors are fixedly arranged on the mounting frame through servo speed reducers, the two transmission shafts are arranged in parallel, one ends of the two transmission shafts are respectively connected with the two A servo motors through the servo speed reducers, the other ends of the two transmission shafts are fixedly arranged on the mounting frame through bearing seats, the upper ends of the two five-bar mechanisms are respectively hinged with the mounting frame, the two five-bar mechanisms are distributed on two sides of the mounting frame, the lower ends of the two five-bar mechanisms are respectively hinged with two ends of the fixing frame, the two rotating mechanisms are arranged on the fixing frame, the two five-bar mechanisms are connected with the transmission shafts, and the two A servo motors drive the two five-bar mechanisms to operate through the transmission shafts;
the five-link mechanism comprises two large swing arms, a long link, two long swing arms, a triangular arm, a short link and a link support, wherein the two ends of the large swing arm on the right side are respectively hinged with a mounting frame and one end of the long swing arm on the right side;
the transmission shaft comprises a short transmission shaft, a long transmission shaft and a shaft coupling, one end of the short transmission shaft is connected with the A servo motor through a servo speed reducer, the other end of the short transmission shaft is connected with one end of the long transmission shaft through the shaft coupling, and the other end of the long transmission shaft is connected with the bearing seat.
2. The parallel five-link manipulator grabbing device according to claim 1, wherein the mounting frame comprises a left mounting plate, a right mounting plate, a mounting bottom plate and an A vertical plate, the upper end of the A vertical plate is fixedly connected with the mounting bottom plate, the left mounting plate and the right mounting plate are respectively fixedly connected with two ends of the A vertical plate, the left mounting plate and the right mounting plate are distributed in parallel, the upper ends of the two five-link mechanisms are respectively connected with the left mounting plate and the right mounting plate, and the two A servo motors are fixedly arranged on the left mounting plate and the right mounting plate through speed reducers.
3. The parallel five-link manipulator grabbing device according to claim 1, wherein the fixing frame comprises a saddle-shaped fixing support and two triangular fixing supports, the two triangular fixing supports are arranged at two ends of the saddle-shaped fixing support, and the upper ends of the two triangular fixing supports are respectively connected with the lower ends of the two five-link mechanisms.
4. The parallel five-link manipulator grabbing device according to claim 1, wherein the rotating mechanism comprises a B servo motor, a planetary reducer, an A connecting flange and a detection support, the B servo motor is connected with the A connecting flange through the planetary reducer, the detection support is fixedly arranged on the A connecting flange, the A connecting flange is connected with the telescopic gripper, and a sensor is arranged on the detection support; and B, driving the planetary reducer to drive the telescopic gripper to rotate forward and backward by 180 degrees through the connecting flange A, and feeding back the position signal of the connecting flange A through detection of a sensor on the detection support.
5. The parallel five-link manipulator grabbing device according to claim 1, wherein the telescopic grab comprises a mounting seat, an air cylinder, a connecting plate, two link mechanisms, two guide rails, a front slide plate and a rear slide plate, the two guide rails are arranged at two ends of the mounting seat in parallel, two slide blocks are arranged on each guide rail, the two slide blocks on the same guide rail are connected through the link mechanisms, the upper ends of the front slide plate are respectively connected with the slide blocks at the front ends of the two guide rails, the upper ends of the rear slide plate are respectively connected with the slide blocks at the rear ends of the two guide rails, the air cylinder is fixedly arranged on the mounting seat, the two ends of the connecting plate are respectively connected with the two ends of the rear slide plate, and the air cylinder shaft of the air cylinder is connected with the connecting plate through a floating joint; the cylinder pushes the rear slide plate through the connecting plate, the rear slide plate moves linearly along the two guide rails through the two slide blocks at the rear end, and meanwhile, the slide blocks at the two front ends are driven through the connecting rod mechanism to drive the front slide plate to move linearly along the guide rails in the same direction as the rear slide plate.
6. The parallel five-link manipulator grabbing device according to claim 5, wherein the mounting base comprises a B connecting flange, a top plate, a B vertical plate, a left side plate and a right side plate, the B connecting flange is arranged at the upper end of the top plate, the lower end of the top plate is fixedly connected with the B vertical plate, the left side plate and the right side plate respectively to form a box-shaped framework, the left side plate and the right side plate are fixed on two sides of the B vertical plate respectively, and the two guide rails are arranged on the left side plate and the right side plate respectively.
7. The parallel five-link manipulator grabbing device according to claim 5, wherein the link mechanism comprises a long link B, a support rod and a short link B, the support rod is fixed on one side of the installation seat, the support rod is provided with a link A seat, the slide block at the front end is provided with a link C seat, the slide block at the rear end is provided with a link B seat, one ends of the two long links are respectively hinged with the link A seat and the link C seat, the other ends of the two long links are hinged through pins, one ends of the two short links are respectively hinged with the middle holes on the two long links, and the other ends of the two short links are hinged with the link B seat.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710159953.6A CN106697361B (en) | 2017-03-17 | 2017-03-17 | Parallel five-connecting-rod manipulator grabbing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710159953.6A CN106697361B (en) | 2017-03-17 | 2017-03-17 | Parallel five-connecting-rod manipulator grabbing device |
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| CN106697361A CN106697361A (en) | 2017-05-24 |
| CN106697361B true CN106697361B (en) | 2023-07-14 |
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| CN201710159953.6A Active CN106697361B (en) | 2017-03-17 | 2017-03-17 | Parallel five-connecting-rod manipulator grabbing device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110524513A (en) * | 2019-08-28 | 2019-12-03 | 勃肯特(镇江)机器人技术有限公司 | A kind of two axis parallel connections overturning crawl robot |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2427257A1 (en) * | 1978-05-29 | 1979-12-28 | Expandet Sa | DISTRIBUTOR MACHINE FOR PLACING STORED OBJECTS ON DISPLAY RACKS |
| CN103466129B (en) * | 2013-10-09 | 2015-04-15 | 武汉人天机器人技术有限公司 | Full-automatic box filling machine for vertical bags |
| CN203681945U (en) * | 2013-12-11 | 2014-07-02 | 广州市万世德包装机械有限公司 | Box filling machine for vertical bags |
| CN103662168B (en) * | 2013-12-11 | 2015-10-28 | 广州市万世德包装机械有限公司 | Vertical bag boxing machine |
| CN204278618U (en) * | 2014-10-24 | 2015-04-22 | 青岛建华包装机械有限公司 | Guider at the bottom of vertical bag and packing bag production line |
| CN104875919B (en) * | 2015-04-15 | 2017-01-11 | 武汉人天包装技术有限公司 | Telescopic gripper for boxing of standup bags |
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