CN106737771A - Suitable for the reclaimer robot control system of yielding material - Google Patents
Suitable for the reclaimer robot control system of yielding material Download PDFInfo
- Publication number
- CN106737771A CN106737771A CN201611083985.4A CN201611083985A CN106737771A CN 106737771 A CN106737771 A CN 106737771A CN 201611083985 A CN201611083985 A CN 201611083985A CN 106737771 A CN106737771 A CN 106737771A
- Authority
- CN
- China
- Prior art keywords
- drive cylinder
- crawl
- fixedly mounted
- piston rod
- cylinder body
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/06—Control stands, e.g. consoles, switchboards
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of reclaimer robot control system suitable for yielding material, drive cylinder cylinder body is lifted（3）It is fixedly mounted on horizontal stand（1）On, bearing part（5）It is fixedly mounted on lifting drive cylinder piston rod（4）Top；Crawl drive cylinder cylinder body（6）It is fixedly mounted on bearing part（5）On；Two L-type mechanical arms（8）Top pass through jointed shaft a（9）It is hinged on crawl drive cylinder piston rod（7）On, corner end passes through jointed shaft b（10）It is hinged on supporting lug（11）On.The present invention is when material is captured, can sense and the pressure on the inside of control machinery hand, keep suitable crawl pressure, function with self-adaptative adjustment grasp force, the material of different size size can be applied to, material grasping works well, difficult for drop-off, and can avoid that pressure is excessive to cause material to deform, it is particularly well-suited to the soft foods such as bread, cake or easily deformation is difficult to recover the feeding of class product.
Description
Technical field
It is more particularly to a kind of suitable for yielding material the present invention relates to the field of intelligent control of tradition machinery manufacture
Reclaimer robot control system.
Background technology
With the development of modern industry, automatic assembly line production equipment is widely used in each production field, such as
The manipulator that can be captured and be carried, can move according to default track, by fixed routine crawl, carry material, and it can
Instead of artificial heavy labor with the mechanization and automation realizing producing, can operate to protect personal peace under hostile environment
Entirely, thus it is widely used in the fields such as machine-building, food processing, electronics, light industry and atomic energy.
, it is necessary to carry out stamp, existing production to product packaging in the production line of the soft foods such as bread, cake
The reclaimer robot control system that streamline is applied to yielding material is generally the import equipment of Japan, Europe or Taiwan, structure
Complexity, it is relatively costly.And, the precision of robot movement control is inadequate, it is impossible to the crawl pressure of effective control machinery hand, pressure
The excessive deformation for easily causing soft food is even damaged.
Additionally, the existing reclaimer robot control system suitable for yielding material there is problems：（1）Can only be real
Transposition is now captured and rotated, lifting operation is not carried out to it after material is captured so that easily scraped during handgrip rotation transposition and arrived
Conveyer belt, stable equipment operation is poor, and is easily damaged material.（2）Robot manipulator structure is complicated, and maintenance and replacing are inconvenient,
And crawl effect is undesirable.（3）The control of grasping dynamics is bad, and dynamics too light material is easily fallen between two arms of manipulator
Fall.
The content of the invention
It is an object of the invention to overcome the deficiencies in the prior art, there is provided a kind of new simple structure, manufacture and safeguard
The reclaimer robot control system suitable for yielding material of low cost, crawl, lifting and rotating and shifting mechanism are integrated into
Together, can sense and the pressure on the inside of control machinery hand, keep suitable crawl pressure, it is difficult for drop-off, and pressure can be avoided
It is excessive to cause material to deform.
The purpose of the present invention is achieved through the following technical solutions：Suitable for the reclaimer robot control of yielding material
System processed, including horizontal stand, vertical rack, control rack, longitudinal lifting drive, laterally bearing part, crawl driving dress
Put and manipulator, control rack is fixedly mounted on vertical rack, displacement motor, horizontal stand are installed with vertical rack
One end be fixedly mounted on the output revolving shaft of displacement motor；
Described longitudinal lifting drive includes lifting drive cylinder, and lifting drive cylinder is by lifting drive cylinder cylinder body and liter
Drop drive cylinder piston rod composition, lifting drive cylinder cylinder body is fixedly mounted on horizontal stand, and bearing part is fixedly mounted on liter
The top of drive cylinder piston rod drops；
Described horizontal crawl drive device includes crawl drive cylinder, and crawl drive cylinder is by crawl drive cylinder cylinder body and grabs
Drive cylinder piston rod composition is taken, the fixed installation of crawl drive cylinder cylinder body is on the load bearing member；Lifting drive cylinder cylinder body, crawl
Drive cylinder cylinder body and displacement motor are electrically connected with control rack；Manipulator includes two L-type machineries being symmetrically set
Arm, two tops of L-type mechanical arm are hinged on crawl drive cylinder piston rod by jointed shaft a, two L-type machineries
The corner end of arm is hinged on supporting lug by jointed shaft b, and supporting lug is fixedly mounted on the lower section of bearing part, support
Projection is symmetricly set in the both sides of crawl drive cylinder piston rod；
It is provided with pressure sensor on the inside of the L-type mechanical arm, the signal input part phase of pressure sensor and control rack
Even, the signal output part of control rack is connected with crawl drive cylinder cylinder body.
The beneficial effects of the invention are as follows：
1）Crawl, lifting and rotating and shifting mechanism are integrated together, are sent after crawl material and lifting and is handed to coder and is beaten
Code, substantially increases production efficiency.
2）The lifting and crawl control of manipulator are realized by cylinder, designs ingenious, control accuracy is high.
3）Robot manipulator structure design is ingenious, by the flexible crawl for being capable of achieving manipulator for capturing drive cylinder piston rod
With discharging action, simple structure, dismounting and replacing are convenient, and using effect is good.
4）When material is captured, can sense and the pressure on the inside of control machinery hand, keep suitable crawl pressure, have
The function of self-adaptative adjustment grasp force, can be applied to the material of different size size, and material grasping works well, is difficult to take off
Fall, and can avoid that pressure is excessive to cause material to deform, be particularly well-suited to the soft foods such as bread, cake or easily deformation be difficult it is extensive
The feeding of multiple class product.
Brief description of the drawings
Fig. 1 is schematic structural view of the invention；
In figure, 1- horizontal stands, 2- control racks, 3- lifting drive cylinder cylinder bodies, 4- lifting drive cylinder piston rods, 5- is carried
Part, 6- crawl drive cylinder cylinder bodies, 7- crawl drive cylinder piston rods, 8-L type mechanical arms, 9- jointed shafts a, 10- jointed shaft
B, 11- supporting lug, 12- pressure sensors, 13- vertical racks, 14- output revolving shafts.
Specific embodiment
Technical scheme is described in further detail below in conjunction with the accompanying drawings, but protection scope of the present invention is not limited to
It is as described below.
As shown in Figure 1, it is adaptable to the reclaimer robot control system of yielding material, including horizontal stand 1, vertical rack
13rd, control rack 2, longitudinal lifting drive, laterally bearing part 5, crawl drive device and manipulator, control rack 2 are fixed
On vertical rack 13, displacement motor is installed with vertical rack 13, one end of horizontal stand 1 is fixedly mounted on shifting
On the output revolving shaft 14 of position motor；
Described longitudinal lifting drive includes lifting drive cylinder, and lifting drive cylinder is by the He of lifting drive cylinder cylinder body 3
Lifting drive cylinder piston rod 4 is constituted, and lifting drive cylinder cylinder body 3 is fixedly mounted on horizontal stand 1, and bearing part 5 fixes peace
Mounted in the top of lifting drive cylinder piston rod 4；
Described horizontal crawl drive device includes crawl drive cylinder, and crawl drive cylinder is by the He of crawl drive cylinder cylinder body 6
Crawl drive cylinder piston rod 7 is constituted, and crawl drive cylinder cylinder body 6 is fixedly mounted on bearing part 5；Lifting drive cylinder cylinder body
3rd, crawl drive cylinder cylinder body 6 and displacement motor are electrically connected with control rack 2；Manipulator includes two and is symmetrically set
L-type mechanical arm 8, two tops of L-type mechanical arm 8 are hinged on crawl drive cylinder piston rod 7 by jointed shaft a9,
Two corner ends of L-type mechanical arm 8 are hinged on supporting lug 11 by jointed shaft b10, and supporting lug 11 is fixedly mounted
In the lower section of bearing part 5, supporting lug 11 is symmetricly set in the both sides of crawl drive cylinder piston rod 7；
The inner side of the L-type mechanical arm 8 is provided with pressure sensor 12, and pressure sensor 12 is defeated with the signal of control rack 2
Enter end to be connected, the signal output part of control rack 2 is connected with crawl drive cylinder cylinder body 6.
The course of work of reclaimer robot is as follows：
S1：Feeding position on material transferring to conveyer belt；
S2：The output signal of control rack 2 control lifting drive cylinder piston rod 4 stretches out distance to a declared goal, until L-type mechanical arm 8
Lower end close to conveyer belt；
S3：The output signal of control rack 2 control crawl drive cylinder piston rod 7 shrinks, and pulls L-type mechanical arm 8 with jointed shaft
Inwardly drawn in centered on b10, until two L-type mechanical arms 8 clamp material；
S4：Pressure sensor 12 detects pressure value and becomes big with two clampings of L-type mechanical arm 8, when pressure value reach it is pre-
If during value, the output signal of control rack 2 control crawl drive cylinder piston rod 7 stops shrinking, and keeps the preset pressure promptly thing
Material；
S5：The output signal of control rack 2 control lifting drive cylinder piston rod 4 shrinks and lifts material；
S6：The output signal of control rack 2 control displacement motor work, output revolving shaft 14 is rotated, and drives horizontal stand 1 to rotate, from
And the manipulator that drive grasping has material is rotated；
S7：The output signal of control rack 2 control crawl drive cylinder piston rod 7 stretches out, and promotes L-type mechanical arm 8 with jointed shaft
Outwards unclamped centered on b10, material falls between two L-type mechanical arms 8.
The above is only the preferred embodiment of the present invention, it should be understood that the present invention is not limited to described herein
Form, is not to be taken as the exclusion to other embodiment, and can be used for various other combinations, modification and environment, and can be at this
In the text contemplated scope, it is modified by the technology or knowledge of above-mentioned teaching or association area.And those skilled in the art are entered
Capable change and change does not depart from the spirit and scope of the present invention, then all should be in the protection domain of appended claims of the present invention
It is interior.
Claims (1)
1. suitable for the reclaimer robot control system of yielding material, it is characterised in that：Including horizontal stand（1）, vertically branch
Frame（13）, control rack（2）, longitudinal lifting drive, bearing part（5）, laterally crawl drive device and manipulator, control machine
Cabinet（2）It is fixedly mounted on vertical rack（13）On, vertical rack（13）On be installed with displacement motor, horizontal stand（1）'s
One end is fixedly mounted on the output revolving shaft of displacement motor（14）On；
Described longitudinal lifting drive includes lifting drive cylinder, and lifting drive cylinder is by lifting drive cylinder cylinder body（3）
With lifting drive cylinder piston rod（4）Composition, lifts drive cylinder cylinder body（3）It is fixedly mounted on horizontal stand（1）On, bearing part
（5）It is fixedly mounted on lifting drive cylinder piston rod（4）Top；
Described horizontal crawl drive device includes crawl drive cylinder, and crawl drive cylinder is by crawl drive cylinder cylinder body（6）
With crawl drive cylinder piston rod（7）Composition, captures drive cylinder cylinder body（6）It is fixedly mounted on bearing part（5）On；Lifting drives
Cylinder block（3）, crawl drive cylinder cylinder body（6）With displacement motor and control rack（2）Electrical connection；Manipulator includes two
The L-type mechanical arm being symmetrically set（8）, two L-type mechanical arms（8）Top pass through jointed shaft a（9）It is hinged on and grabs
Take drive cylinder piston rod（7）On, two L-type mechanical arms（8）Corner end pass through jointed shaft b（10）It is hinged on support convex
Block（11）On, supporting lug（11）It is fixedly mounted on bearing part（5）Lower section, supporting lug（11）Crawl is symmetricly set in drive
Cylinder piston rod（7）Both sides；
The L-type mechanical arm（8）Inner side be provided with pressure sensor（12）, pressure sensor（12）With control rack（2）
Signal input part be connected, control rack（2）Signal output part with crawl drive cylinder cylinder body（6）It is connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611083985.4A CN106737771A (en) | 2016-11-30 | 2016-11-30 | Suitable for the reclaimer robot control system of yielding material |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611083985.4A CN106737771A (en) | 2016-11-30 | 2016-11-30 | Suitable for the reclaimer robot control system of yielding material |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106737771A true CN106737771A (en) | 2017-05-31 |
Family
ID=58913699
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611083985.4A Pending CN106737771A (en) | 2016-11-30 | 2016-11-30 | Suitable for the reclaimer robot control system of yielding material |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106737771A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108381551A (en) * | 2018-04-09 | 2018-08-10 | 重庆东渝中能实业有限公司 | A kind of gripping method and robot |
| CN111152250A (en) * | 2018-11-07 | 2020-05-15 | 天津职业技术师范大学 | High-precision one-way flat-turning tail end clamping actuator |
| CN113634702A (en) * | 2021-10-12 | 2021-11-12 | 徐州达一重锻科技有限公司 | Clamping device with good centering effect |
| CN113878398A (en) * | 2021-10-29 | 2022-01-04 | 吉林大学 | Automatic feeding and discharging truss robot for numerically controlled lathe |
| CN114178804A (en) * | 2020-09-15 | 2022-03-15 | 成都秦川物联网科技股份有限公司 | Thing networking intelligent gas table valve gap snatchs manipulator |
| CN114211471A (en) * | 2021-12-27 | 2022-03-22 | 江苏汇博机器人技术股份有限公司 | Robot composite clamp |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203282482U (en) * | 2013-05-24 | 2013-11-13 | 四川通安实业有限公司 | Exported manipulator |
| CN203566714U (en) * | 2013-11-14 | 2014-04-30 | 上海星派自动化科技有限公司 | Synchronous gripper of bag robot palletizer |
| CN104029210A (en) * | 2014-06-05 | 2014-09-10 | 上海应用技术学院 | Two-finger mechanical claw and control method |
| CN204366977U (en) * | 2014-12-09 | 2015-06-03 | 华中科技大学无锡研究院 | Wheel hub clamping manipulator |
| CN204546540U (en) * | 2015-01-05 | 2015-08-12 | 四川通安实业有限公司 | outlet manipulator control system |
| CN204844205U (en) * | 2015-07-24 | 2015-12-09 | 安徽鸿森智能装备股份有限公司 | Intelligent robot clamping jaw |
-
2016
- 2016-11-30 CN CN201611083985.4A patent/CN106737771A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203282482U (en) * | 2013-05-24 | 2013-11-13 | 四川通安实业有限公司 | Exported manipulator |
| CN203566714U (en) * | 2013-11-14 | 2014-04-30 | 上海星派自动化科技有限公司 | Synchronous gripper of bag robot palletizer |
| CN104029210A (en) * | 2014-06-05 | 2014-09-10 | 上海应用技术学院 | Two-finger mechanical claw and control method |
| CN204366977U (en) * | 2014-12-09 | 2015-06-03 | 华中科技大学无锡研究院 | Wheel hub clamping manipulator |
| CN204546540U (en) * | 2015-01-05 | 2015-08-12 | 四川通安实业有限公司 | outlet manipulator control system |
| CN204844205U (en) * | 2015-07-24 | 2015-12-09 | 安徽鸿森智能装备股份有限公司 | Intelligent robot clamping jaw |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108381551A (en) * | 2018-04-09 | 2018-08-10 | 重庆东渝中能实业有限公司 | A kind of gripping method and robot |
| CN111152250A (en) * | 2018-11-07 | 2020-05-15 | 天津职业技术师范大学 | High-precision one-way flat-turning tail end clamping actuator |
| CN114178804A (en) * | 2020-09-15 | 2022-03-15 | 成都秦川物联网科技股份有限公司 | Thing networking intelligent gas table valve gap snatchs manipulator |
| CN113634702A (en) * | 2021-10-12 | 2021-11-12 | 徐州达一重锻科技有限公司 | Clamping device with good centering effect |
| CN113878398A (en) * | 2021-10-29 | 2022-01-04 | 吉林大学 | Automatic feeding and discharging truss robot for numerically controlled lathe |
| CN113878398B (en) * | 2021-10-29 | 2024-04-19 | 吉林大学 | Automatic feeding and discharging truss robot of numerical control lathe |
| CN114211471A (en) * | 2021-12-27 | 2022-03-22 | 江苏汇博机器人技术股份有限公司 | Robot composite clamp |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170531 |
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| RJ01 | Rejection of invention patent application after publication |