CN106926263B - Manipulator device, stacking equipment and stacking method - Google Patents
Manipulator device, stacking equipment and stacking method Download PDFInfo
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- CN106926263B CN106926263B CN201710177865.9A CN201710177865A CN106926263B CN 106926263 B CN106926263 B CN 106926263B CN 201710177865 A CN201710177865 A CN 201710177865A CN 106926263 B CN106926263 B CN 106926263B
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- 238000000034 method Methods 0.000 title claims abstract description 24
- 239000000463 material Substances 0.000 claims abstract description 145
- 230000007246 mechanism Effects 0.000 claims abstract description 48
- 238000003825 pressing Methods 0.000 claims description 75
- 230000033001 locomotion Effects 0.000 claims description 24
- 230000000087 stabilizing effect Effects 0.000 claims description 7
- 238000009434 installation Methods 0.000 claims description 3
- 230000010354 integration Effects 0.000 abstract description 4
- 238000004519 manufacturing process Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000000670 limiting effect Effects 0.000 description 2
- 230000003019 stabilising effect Effects 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 230000001105 regulatory effect Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Stacking Of Articles And Auxiliary Devices (AREA)
Abstract
The invention provides a manipulator device, stacking equipment and a stacking method. The manipulator device includes: the mechanical arm is provided with a grabbing part; the first moving mechanism is connected with the mechanical arm and drives the mechanical arm to move along a preset track; and the telescopic fork plate is movably connected with the grabbing part and can linearly move in a telescopic manner relative to the grabbing part, when the telescopic fork plate is contracted to the grabbing part, the grabbing part is closed to form a containing space for materials, and when the telescopic fork plate is far away from the grabbing part, the grabbing part is opened to release the materials in the containing space. The device has effectively shortened the whole travel distance of arm, and is high to the utilization ratio in space, adopts the pile up neatly equipment and the pile up neatly method of device can realize snatching, pile up neatly and press the operation of steady material, and pile up neatly is efficient, and degree of automation, integration are high.
Description
Technical Field
The invention relates to the technical field of stacking machinery, in particular to a manipulator device, stacking equipment and a stacking method.
Background
At present, fork plate type manipulators are mostly adopted in the market to stack and shape slender materials according to a certain sequence, in the prior art, fork plates of the fork plate type manipulators are fixed relative to the manipulators, when the fork plate type manipulator is used, the manipulators are used for carrying the materials to a placing point and stacking the materials, the fork plates are required to be extracted, the manipulators are required to be integrally moved to carry out fork taking and carrying the materials, the fork plates are not required to be extracted only in a mode of moving the fork plates, when the fork plates are extracted, the whole manipulator participates in moving, and under the environment of limited space, the manipulator is limited in use; meanwhile, the stacker crane adopting the manipulator has longer travel in the direction of the integral movement of the manipulator, occupies unnecessary space, leads to more complex structure of the stacker crane and wastes energy; in addition, although the existing stacking equipment can meet the requirements of two working procedures such as inserting and taking elongated materials, stacking and the like to a certain extent, the equipment operability is poor, the stacking stability is not ideal, for example, when the elongated materials are stacked to a certain height, the upper layers of the materials are loose, the loose upper layers of the materials can influence stacking of a new layer of materials, when the elongated materials are slightly inclined in the length direction, the elongated materials to be stacked are also disordered and overlapped in the length direction, so that stacking failure is caused, interruption of a production line is further caused, and orderly and stable production operation is not facilitated.
Therefore, the invention provides a manipulator device, stacking equipment and a stacking method.
Disclosure of Invention
The embodiment of the invention provides a manipulator device, stacking equipment and a stacking method, which can solve the problems that in the prior art, the use of a manipulator is limited by space, the stacking equipment is long in stroke, and the stacking stability and the efficiency are poor.
According to an aspect of the present invention, there is provided a robot apparatus comprising: the mechanical arm is provided with a grabbing part; the first moving mechanism is connected with and drives the mechanical arm to move along a preset track; the telescopic fork plate is movably connected with the grabbing part and can linearly move in a telescopic mode relative to the grabbing part, when the telescopic fork plate is retracted to the grabbing part, the grabbing part is closed to form a containing space for materials, and when the telescopic fork plate extends out of the grabbing part, the grabbing part is opened to release the materials in the containing space.
According to one aspect of the invention, the telescopic fork plate comprises a telescopic rod and a fork plate which are connected, the telescopic rod is movably connected with the grabbing part, and the accommodating space is opened or closed when the fork plate is driven to linearly and telescopically move relative to the grabbing part.
According to one aspect of the invention, a rack is arranged on the telescopic rod, the grabbing part is provided with a gear, and the gear is meshed with the rack and drives the telescopic rod to linearly reciprocate.
According to one aspect of the invention, the grabbing part comprises a grabbing main body and a baffle plate, a guide rail is arranged on the grabbing main body, one end of the telescopic rod is matched with the guide rail and can linearly move along the guide rail, and the other end of the telescopic rod is fixedly connected with the fork plate, so that a closed accommodating space can be formed by the grabbing main body, the baffle plate and the fork plate.
According to one aspect of the invention, the guide rail adopts a blind hole structure, and the telescopic rod stretches into the cavity of the guide rail and can linearly reciprocate along the guide rail, so that the fork plate linearly moves in a telescopic way relative to the grabbing main body.
According to one aspect of the invention, the baffle is arranged on the grabbing body through a first hinge point, and the baffle can rotate around the first hinge point to enable the accommodating space to be opened and closed.
According to one aspect of the invention, the grabbing part further comprises a first pressing plate and a longitudinal moving mechanism, a connecting rod is movably hinged between the first pressing plate and the baffle plate, the longitudinal moving mechanism is arranged between the first pressing plate and the grabbing main body, the longitudinal moving mechanism can drive the first pressing plate to longitudinally move relative to the grabbing main body, and the first pressing plate can drive the baffle plate to rotate around the first hinge point through the connecting rod, so that the accommodating space of the grabbing part is opened and closed.
According to one aspect of the invention, the connecting rod is connected with the first pressing plate through a sliding block, a guide sliding groove is arranged on the first pressing plate, and the sliding block is movably arranged in the guide sliding groove, so that the first pressing plate can drive the baffle plate to open and close the accommodating space, and the position of the sliding block is locked when the baffle plate is opened and closed.
According to one aspect of the invention, the guide chute is a chute.
According to one aspect of the invention, the guide chute comprises a straight chute portion and a chute portion in communication.
According to one aspect of the invention, the grabbing main body is provided with a transverse sliding rail matched with the sliding block, the sliding block is connected with the grabbing main body through the transverse sliding rail, and the sliding block moves transversely under the constraint of the transverse sliding rail to pull the baffle to open and close.
According to one aspect of the invention, a rail structure is provided between the bottom of the gripping body and the fork plate, which rail structure connects the gripping body and the fork plate such that the fork plate moves along the rail structure relative to the gripping body.
According to one aspect of the invention, the end part of the baffle is provided with a clamping groove, and the clamping groove can be clamped with the fork plate.
According to a further aspect of the invention, there is also provided a palletising apparatus comprising the manipulator device of any one of the preceding aspects, further comprising a support body, and a second platen and a second movement mechanism provided on the support body, the second movement mechanism being operable to drive the second platen to move longitudinally and transversely relative to the support body, the second platen being operable to press stabilised materials palletised by the manipulator device.
According to a further aspect of the invention, the second moving mechanism comprises a transverse moving pair and a longitudinal moving pair which are mutually connected and vertical, the longitudinal moving pair drives the second pressing plate to longitudinally move relative to the supporting body, and the transverse moving pair drives the second pressing plate to transversely stretch and retract relative to the stacking materials and the supporting body.
According to still another aspect of the present invention, the longitudinal sliding pair and the transverse sliding pair are connected by a mounting frame, the longitudinal sliding pair connects the support body and a first mounting surface of the mounting frame, the transverse sliding pair connects the second pressing plate and a second mounting surface of the mounting frame, and the first mounting surface of the mounting frame is perpendicular to the second mounting surface.
According to still another aspect of the present invention, there is also provided a method of palletizing a material, the method of palletizing a material using the palletizing apparatus described above, comprising the steps of:
grabbing materials, operating the first moving mechanism to drive the mechanical arm to move to the position where the materials are to be grabbed, operating the telescopic fork plate to retract to the grabbing part, simultaneously forking the materials into the accommodating space of the grabbing part, closing the accommodating space and transferring the materials to the stacking position;
stacking materials, operating the telescopic fork plates to transversely extend out, opening an accommodating space of the grabbing part, and releasing the grabbed materials from the accommodating space to a stacking position;
and pressing and stabilizing the material, operating a second moving mechanism, moving a second pressing plate to a stacking position and pressing the material above the stacked material to press and stabilize the material.
In summary, in the manipulator device, the telescopic fork plate is adopted, and can linearly move relative to the manipulator, so that the opening or closing state of the manipulator grabbing part can be formed, and the manipulator can grab and stack materials only by linearly moving the telescopic fork plate without integrally participating in movement, so that the manipulator device is not limited in use in an environment with limited space; according to the stacking equipment, the manipulator device is used for grabbing and stacking materials, and the stacked materials are pressed stably through the second pressing plate, so that the stacked materials are regular and compact, the moving distance of the whole machine of the equipment is short, and the stability and economy of material stacking are improved; the stacking method can correspondingly meet the operation requirements of grabbing materials, stacking the materials and pressing stable materials, is flexible and convenient to operate, and improves the automation and integration degree of production.
Drawings
Fig. 1 is a schematic view of an opened state of a fork plate when a manipulator device grabs a material according to a first embodiment of the present invention;
FIG. 2 is a schematic view showing a closed state of a fork plate when a gripping portion grips a material according to a first embodiment of the present invention;
fig. 3 is a schematic diagram of an opened state of a fork plate when a manipulator device grabs a material according to a second embodiment of the present invention;
fig. 4 is a schematic view of a closed state of a fork plate when a gripping portion grips a material according to a second embodiment of the present invention;
FIG. 5 is a schematic diagram illustrating the installation of a slider and a lateral sliding rail according to a second embodiment of the present invention;
FIG. 6 is a schematic view of the track structure between the fork plate and the body of the gripping portion of the present invention;
FIG. 7 is a schematic view of the position of the end of the baffle slot of the present invention;
FIG. 8 is a schematic diagram of a palletizing apparatus for palletizing and stabilizing materials according to an embodiment of the present invention;
fig. 9 is a schematic diagram of a palletizing device for palletizing materials according to an embodiment of the present invention.
In the figure, 1: a first moving mechanism; 2: a mechanical arm; a connecting rod 3; 4, a first pressing plate; 5: a slide block; 6: grabbing a main body; 7: a longitudinal slide rail; 8: a transverse slide rail; 9: a baffle; 10: a retractable fork plate; 11: a telescopic rod; 12: a fork plate; 13: a guide rail; 14: a material; 15: a second pressing plate; 16: a mounting frame; 17: a transverse moving pair; 18: a longitudinal moving pair; 19: a first hinge point; 20: a guide chute; 21: a moving arm; 22: a gripping part; 23: a clamping groove; 24: a support body.
Detailed Description
Embodiments of the present invention are described in further detail below with reference to the accompanying drawings and examples. The following detailed description of the embodiments and the accompanying drawings are provided to illustrate the principles of the invention and not to limit the scope of the invention, i.e. the invention is not limited to the described preferred embodiments, which are defined by the claims.
In describing embodiments of the present invention, it should be noted that "perpendicular" and "parallel" are not only absolute meanings in a mathematical sense, but are understood to be "substantially perpendicular" and "substantially parallel" unless otherwise indicated.
Fig. 1 and 2 schematically show the opened and closed states of the retractable fork plate 10 when the manipulator device according to the first embodiment of the present invention is used for gripping materials and placing the gripped materials in a stacking position. The device comprises a mechanical arm 2, a first moving mechanism 1 and a telescopic fork plate 10, wherein the mechanical arm 2 is provided with a grabbing part 22, the grabbing part 22 and the telescopic fork plate 10 can form an accommodating space for grabbing a material 14, and the first moving mechanism 1 is connected with the mechanical arm 2 and drives the whole mechanical arm 2 to move along a preset track.
The telescopic fork plate 10 is movably connected with the grabbing part 22, the telescopic fork plate 10 can linearly move in a telescopic manner relative to the grabbing part 22, the grabbing part 22 can be opened and closed only by operating the telescopic movement of the telescopic fork plate 10, when the telescopic fork plate 10 is retracted towards the grabbing part 22, the grabbing part 22 can be closed to form a containing space of the material 14, and in the process of the telescopic fork plate 10 from extending to retracting, the material 14 is forked into the containing space, so that the operation requirement of grabbing and conveying the material to a stacking position can be realized; when the telescopic fork plate 10 extends far away from the grabbing portion 22, the grabbing portion 22 can be opened and the materials 14 in the containing space can be released, the grabbed materials 14 can be placed at a preset stacking position, and the operation requirement of stacking the materials is met.
It will be appreciated that the mechanical arm 2 may also be provided with a moving arm 21 connected to the gripping portion 22, specifically, the first moving mechanism 1 may be connected to and drive the moving arm 21 to drive the gripping portion 22 to move, and may use electric, hydraulic or mechanical force as a power source to drive the first moving mechanism 1 to move, and according to the actual stacking position requirement, the first moving mechanism 1 is connected to and drives the mechanical arm 2 to drive the gripping portion 22 to move in at least two degrees of freedom planes, such as lateral movement and/or longitudinal movement, and the first moving mechanism 1 may use a cross sliding table or a similar mechanism, so long as free movement of the gripping portion 22 between the gripping position and the stacking position of the material 14 is achieved.
Therefore, according to the manipulator device of the embodiment of the invention, by the structure of the telescopic fork plate 10, when the materials are grabbed and piled, only the telescopic fork plate 10 is driven to linearly move in a telescopic manner relative to the grabbing part 22, and the whole manipulator 2 is not required to participate in the movement, so that the moving distance is shortened, the use requirements of grabbing and piling can be met under the condition of limited space, and the energy is saved.
The telescopic fork plate 10 comprises a telescopic rod 11 and a fork plate 12 which are connected, the telescopic rod 11 and the grabbing part 22 are movably connected and can move relatively, the telescopic rod 11 can drive the fork plate 12 connected with the telescopic rod to linearly and linearly move in a telescopic manner relative to the grabbing part 22 through the movable movement of the telescopic rod 11 relative to the grabbing part 22, meanwhile, the accommodating space of the grabbing part 22 can be opened and closed, and particularly, the connection mode between the telescopic rod 11 and the grabbing part 22 can be contact sliding connection or meshing connection, non-contact induction connection or electric control connection, and the connection mode is within the protection scope of the scheme of the invention.
Preferably, the telescopic rod 11 and the gripping part 22 are slidably connected, and can be driven by hydraulic, electric or mechanical power, and the specific connection structure is as follows:
the grabbing part 22 comprises a grabbing main body 6 and a baffle plate 9, a guide rail 13 is arranged on the grabbing main body 6, one end of a telescopic rod 11 is matched with the guide rail 13, the telescopic rod 11 can move linearly along the guide rail 13, the other end of the telescopic rod 11 is fixedly connected with the fork plate 12, and therefore the grabbing main body 6, the baffle plate 9 and the fork plate 12 can form a closed accommodating space. In a specific implementation, the telescopic rod 11 can be parallel to the fork plate 12, the interval between the telescopic rod 11 and the fork plate 12 is larger than the height of the materials 14 to be forked, in this embodiment, the fork plate 12 adopts an L-shaped structure, one end of the telescopic rod 11 is connected with the telescopic rod 11, the other end of the telescopic rod can adopt a steel plate, similarly, the telescopic rod 11 can also be designed into an L shape, one end of the L-shaped telescopic rod 11 is matched with the guide rail 13 on the grabbing portion 22, so that the telescopic rod 11 is movably connected with the grabbing portion 22, when the telescopic rod 11 moves along the guide rail 13, the fork plate 12 can be driven to open and close relative to the grabbing portion 22, and the fork plate 12 is driven to move through the guide matching and relative movement of the telescopic rod 11 and the guide rail 13, so that the linear telescopic movement of the fork plate 12 is realized, and the opening and closing states of the fork plate 12 relative to the grabbing portion 22 are further realized.
The baffle plate 9 is close to the forked end of the fork plate 12, so that the baffle plate 9 can form a closed accommodating space with the fork plate 12 and the grabbing part 22. In a specific implementation, the baffle plate 9 can be fixedly arranged relative to the grabbing part 22, and also can be movably arranged, and when the fixed arrangement mode is adopted, the baffle plate 9 can be integrally formed with the grabbing part 22, and can also be fixedly connected by using a connecting piece; when the movable setting mode is adopted, the baffle plate 9 and the grabbing part 22 can be movably connected in a hinged mode.
The guide rail 13 adopts a blind hole structure, the telescopic rod 11 stretches into the hole cavity of the guide rail 13, and the telescopic rod 11 can reciprocate linearly along the guide rail 13, so that the fork plate 12 is driven to linearly stretch and retract relative to the grabbing body. It should be noted that different power sources may be used according to whether the telescopic rod 11 and the guide rail 13 are connected in a non-contact manner. As shown in fig. 2, the invention preferably adopts contact sliding connection, the telescopic rod 11 stretches into the cavity of the guide rail 13 to form a plunger type hydraulic pump, the telescopic rod 11 can be pushed to stretch and retract in the cavity of the guide rail 13 by utilizing hydraulic pressure, therefore, the specific structure of the telescopic rod 11 and the guide rail 13 can be designed with reference to the structural form of the plunger type hydraulic pump, and meanwhile, a control valve can be arranged for adjusting hydraulic flow, so that the compression rod 11 can reciprocate linearly along the guide rail 13 under the action of hydraulic pressure, and the fork plate 12 is driven to stretch and reciprocate in a telescopic manner relative to the stretching line of the grabbing part 22.
Optionally, the telescopic rod 11 is in transmission connection with the grabbing portion 22 in a gear and rack meshing mode. Wherein, be equipped with the rack on the telescopic link 11, the grabbing portion 22 is equipped with the gear, and the gear on grabbing portion 22 meshes with the rack on the telescopic link 11 and drives telescopic link 11 linear reciprocating motion, and telescopic link 11 drives fork plate 12 motion, has realized grabbing portion 22 opening and closure. In operation, the gear rotates positively and negatively while driving the rack engaged with the gear to reciprocate linearly, thereby realizing the telescopic movement of the fork plate 12.
Referring to fig. 3 and 4, a manipulator device according to a second embodiment of the present invention is configured to grasp a material and place the grasped material at a stacking position.
The second embodiment is different from the first embodiment in the structure of the manipulator device: the baffle plate 9 is arranged on the grabbing body 6 through a first hinge point 19, the baffle plate 9 can rotate around the first hinge point 19, and the accommodating space of the grabbing part 22 can be opened and closed only by controlling the baffle plate 9 to rotate relative to the grabbing body 6.
The gripping part 22 further comprises a first pressing plate 4 and a longitudinal moving mechanism, the main body 6 is connected with the moving arm part 21, and the two parts can be integrally formed or can be in split fixed connection. A connecting rod 3 is movably hinged between the first pressing plate 4 and the baffle plate 9, the connecting rod 3 is driven by the first pressing plate 4 to transversely move, and the baffle plate 9 is driven by the connecting rod 3 to rotate around a first hinge point 19, so that the accommodating space of the grabbing part 22 is opened and closed. As can be seen from the figure, the baffle 9, the first pressing plate 4 of the connecting rod 3 and the main body 6 form a connecting rod mechanism, and the first pressing plate 4 is used as an active member to draw the connecting rod 3 to move transversely relative to the main body 6 and drive the baffle 9 to rotate relative to the main body 6. When the first pressing plate 4 is lifted to loosen the material 14, the baffle plate 9 is gradually in an open state, and the grabbed material 14 can be loosened and placed at the stacking position. By utilizing the principle of stress and motion transmission in the connecting rod mechanism, the synchronous motion of the baffle plate 9 and the first pressing plate 4 is realized, the first pressing plate 4 realizes the stability of materials and the function of driving the baffle plate 9 to automatically open and close when pressing and discharging materials stably in the process of grabbing materials and stacking the materials, so that the accommodating space of the materials is closed and opened, and the stability and the degree of automation of the process of grabbing the materials and stacking the materials are improved.
The connecting rod 3 is connected with the first pressing plate 4 through a sliding block 5, a guide sliding groove 23 is formed in the first pressing plate 4, and the sliding block 5 is movably installed in the guide sliding groove 20. The first pressing plate 4 restrains the sliding block 5 to drive the connecting rod 3 to move transversely through the guide groove 20, pulls the baffle plate 9 to open and close, and locks the position of the sliding block 5 when opening and closing, the sliding block 5 is locked at the limiting position due to the limitation of the longitudinal moving mechanism in the longitudinal direction and the guiding and transverse limiting action of the guide sliding groove 20, and the baffle plate 9 can be locked when opening and closing when the distance between the hinge point of the baffle plate 9 and the connecting rod and the first hinge point is fixed, so that the operation stability is improved.
In this embodiment, the sliding block 5 and the connecting rod 3 and the first pressing plate 4 are movably connected, and under the principle of the scheme of the present invention, the sliding block 5 may be a part of the connecting rod 3, and specifically, a part of the end of the connecting rod 3, which is matched with the guiding chute 20, may be bent, which is within the scope of the scheme of the present invention.
Alternatively, as an implementation manner, the guiding chute 20 is a chute, the sliding block 5 is decomposed by the oblique force of the guiding chute 20, the sliding block 5 can move transversely relative to the first pressing plate 4, because the first pressing plate 4 is limited by the longitudinal moving mechanism, the first pressing plate 4 is transversely fixed relative to the main body 6, that is, the sliding block 5 moves transversely relative to the main body 6, the sliding block 5 drives the connecting rod 3 to move transversely relative to the main body 6, the baffle 9 rotates around the first hinging point 19, the opening and closing of the baffle are realized, the guiding chute 20 is designed into a chute structure, the device can automatically open and close the baffle by adopting a simple structure, and the device is locked in position in the corresponding state, and has simple and convenient overall operation and high reliability.
Alternatively, as another embodiment, the guide chute 20 includes a straight chute portion and a chute portion that are in communication. When the first pressing plate 4 is pressed down to the material 14 by the longitudinal moving mechanism, the sliding block 5 is pressed by the chute portion and rises to the straight groove portion relative to the first pressing plate 4, the baffle plate 9 gradually reaches a closed state, the sliding block 5 is limited by the transverse movement of the guide chute 20, and meanwhile, the closed state can be locked in the straight groove portion due to the longitudinal movement limitation of the longitudinal mechanism, and the material 14 can be gripped more firmly due to the fact that the first pressing plate 4 compresses the material and can be stably conveyed to the stacking position through the mechanical arm 1. When the first pressing plate 4 is lifted to be separated from the material 14 by the longitudinal moving mechanism, the sliding block 5 firstly enters the chute portion through the straight groove portion of the guide chute 20, the sliding block 5 gradually reaches the opening state when being lowered to the chute portion relative to the first pressing plate 4 under the pressure action of the chute portion, the sliding block 5 is transversely limited by the guide chute 20 and simultaneously limited by the longitudinal movement, the sliding block 5 can be locked in the opening state at the chute portion, so that the first pressing plate 4 is separated from the material and simultaneously automatically opens the sliding block, the material 14 is conveniently placed at the stacking position, the operation state body is stable, and the operation performance and the automation are good.
As shown in fig. 3, 4 and 5, the main body 6 is provided with a transverse sliding rail 8 matched with the sliding block 5, the sliding block 5 is connected with the main body 6 through the transverse sliding rail 8, the sliding block 5 moves transversely under the constraint of the transverse sliding rail 8, and the traction baffle 9 is opened and closed.
As shown in fig. 6, a rail structure is provided between the bottom of the main body 6 of the grasping portion 22 and the fork plate 12, and connects the main body 6 of the grasping portion 22 and the fork plate 12, so that the fork plate 12 moves along the rail structure relative to the grasping portion 22, and further, the fork plate 12 moves telescopically smoothly relative to the grasping portion 22. The guide rail structure has the function of connecting and supporting, so that the fork plate 12 and the grabbing portion 22 form a stable structure, and the stability of grabbing materials is facilitated.
As shown in fig. 7, the end of the baffle 9 close to the fork plate 12 is provided with a clamping groove 23, and when the baffle 9 is closed, the fork end of the fork plate 12 is clamped with the clamping groove 23, so that the closing state and stability of the baffle are further enhanced, and the grabbing and conveying of materials are more stable and reliable.
According to a further aspect of the present invention there is also provided palletising apparatus, primarily for gripping and transporting material to a palletising location and then stabilising the palletised material, embodiments of the palletising apparatus of the present invention being shown schematically in figures 8 and 9 whilst palletising and stabilising the material.
As shown in fig. 8 and 9, the stacking device provided by the invention comprises the manipulator device. The support body 1 is provided with a second pressing plate 15 and a second moving mechanism, the second moving mechanism drives the second pressing plate 15 to longitudinally move and transversely move relative to the support body 1, and the second pressing plate 15 is used for pressing and stabilizing the materials 14 stacked by the manipulator device. The second pressing plate 15 is driven to move to the stacking position and perform pressing and stabilizing operation on the stacked materials 14 by moving in the horizontal and longitudinal two-degree-of-freedom planes through the second moving mechanism. The automatic stacking machine has the advantages that the stability, the automaticity and the economy of material grabbing and material stacking are realized, the stacked materials can be stably pressed and regularly arranged, the finally stacked materials are more orderly and stably arranged, and the problem that the production line is interrupted due to failure of stacking caused by loose materials is avoided. The stacking device has high automation and integration degree, and the stacking efficiency is improved.
The second moving mechanism comprises a transverse moving pair 17 and a longitudinal moving pair 18 which are mutually connected and vertical, the longitudinal moving pair 18 drives the second pressing plate 15 to longitudinally move relative to the supporting body 1, and the transverse moving pair 17 drives the second pressing plate 15 to transversely stretch and retract relative to the piled materials 14 and the supporting body 1. The lateral shifting pair 17 and the longitudinal shifting pair 18 can be sliding chute sliding rail type shifting pairs or rack type transmission, and the two shifting pairs can drive the second pressing plate to freely move in planes with two degrees of freedom perpendicular to each other, and the two shifting pairs are included in the scheme principle of the invention.
The longitudinal moving pair and the transverse moving pair are connected through the mounting frame 16, the longitudinal moving pair 18 is connected with the first mounting surface of the support body 1 and the mounting frame 16, the transverse moving pair 17 is connected with the second pressing plate 15 and the second mounting surface of the mounting frame 16, and the first mounting surface of the mounting frame is perpendicular to the second mounting surface. Through two perpendicular installation faces, not only realized the fixed of second moving mechanism, also made second clamp plate 15 can freely remove in two mutually perpendicular planes and reach the position of being piled up to realize pressing steady regular process, had the advantage of flexible operation simply.
According to a further aspect of the present invention, there is also provided a method of palletizing a material, including the palletizing apparatus using the above-described inventive scheme, referring to fig. 8 and 9, the method of palletizing a material comprising the steps of:
grabbing materials, operating a first moving mechanism to drive a mechanical arm to move to the position where the materials are to be grabbed, operating a telescopic fork plate to linearly retract to the grabbing part, simultaneously forking the materials into an accommodating space of the grabbing part, closing the accommodating space, and transferring the materials to a stacking position;
stacking materials, operating the telescopic fork plates to transversely extend out, opening an accommodating space of the grabbing part, and releasing the grabbed materials from the accommodating space to a stacking position;
and pressing and stabilizing the material, operating a second moving mechanism, moving a second pressing plate to a stacking position and pressing the material above the stacked material to press and stabilize the material.
As shown in fig. 8, gripping the material 14 includes the steps of forking the material, closing the shutter, and moving the material:
the first moving mechanism drives the mechanical arm 2 to move transversely and/or longitudinally to be above the material 14 to be grabbed, so that the fork plate 12 is level with the bottom of the material 14, the fork plate 12 is operated to shrink transversely relative to the grabbing part 22, and the material 14 is grabbed into the accommodating space of the grabbing part 22;
the longitudinal moving mechanism is operated to drive the first pressing plate 4 to longitudinally press down to the material 14, the sliding block 5 is limited by the guide chute 20 and transversely moves relative to the first pressing plate 4, the baffle plate 9 is driven to rotate and form a closed state with the fork plate 12, and the position of the sliding block 5 is locked;
the first moving mechanism is operated to drive the mechanical arm 2 to move, and the materials 14 to be forked move to the stacking position along with the mechanical arm 2.
As shown in fig. 9, palletizing the material 14 comprises the steps of opening the shutter 9 and placing the material 14:
the longitudinal moving mechanism is operated to drive the first pressing plate 4 to longitudinally lift and separate from the material 14, the sliding block 5 is limited by the guide chute 20 and moves transversely relative to the first pressing plate 4, the baffle plate 9 is driven to rotate and form an open state with the fork plate 12, and the position of the sliding block 5 is locked;
the operating fork plate 12 transversely extends relative to the grabbing part 22, the accommodating space of the grabbing part 22 is in an open state, and the materials 14 are placed in the stacking area;
referring to fig. 8 and 9, the second moving mechanism is operated to drive the second pressing plate 15 to move to the uppermost part of the material 14 in the stacking area, the second pressing plate 15 is pressed down to enable the second pressing plate 15 to press the material 14, and when the material is placed again, the second moving mechanism is operated to drive the second pressing plate 15 to leave the pressed material 14.
By adopting the material stacking method, the material is stably grabbed, the stacking efficiency is high, the energy is saved, the moving distance of the whole machine is shortened, the equipment structure is simplified, the energy utilization is saved, the material can be stably grabbed and transported, the stacking efficiency of the material is improved, in addition, the material to be stacked is stably pressed while grabbing and transporting the material, the regularity of the material to be stacked is ensured, the stacking efficiency is further improved, and the method is particularly suitable for stacking slender materials, and the problem of stacking failure caused by loosening of stacking of the slender materials in the length direction is avoided.
In summary, the manipulator device has a simple structure, is convenient to operate, only needs to operate the fork plate to move in a telescopic manner relative to the manipulator when grabbing materials, stacking the materials and pressing the stable materials, effectively shortens the moving distance of the manipulator, shortens the moving distance of the whole equipment, simplifies the equipment structure, saves energy sources, and has strong practicability to the environment; furthermore, the stacking equipment can realize the effect of stabilizing and regulating materials, and further improve the stacking efficiency; finally, the material stacking method provided by the invention has the advantages of simple and convenient procedure operation, high automation and integration degree and good applicability, can flexibly meet the grabbing, conveying, stacking and regularity requirements of different materials on a production line, improves the stacking efficiency and reduces the production cost.
While the invention has been described with reference to a preferred embodiment, various modifications may be made and equivalents may be substituted for elements thereof without departing from the scope of the invention. In particular, the technical features mentioned in the respective embodiments may be combined in any manner as long as there is no structural conflict. The present invention is not limited to the specific embodiments disclosed herein, but encompasses all technical solutions falling within the scope of the claims.
Claims (7)
1. A robot apparatus, comprising:
the mechanical arm is provided with a grabbing part;
the first moving mechanism is connected with the mechanical arm and drives the mechanical arm to move along a preset track; the method comprises the steps of,
the telescopic fork plate is movably connected with the grabbing part and moves linearly in a telescopic manner relative to the grabbing part, when the telescopic fork plate is contracted towards the grabbing part, the grabbing part is closed to form a containing space for materials, and when the telescopic fork plate extends far away from the grabbing part, the grabbing part is opened to release the materials in the containing space;
the telescopic fork plate comprises a telescopic rod and a fork plate which are connected, the telescopic rod is movably connected with the grabbing part, and when the fork plate is driven to linearly move in a telescopic manner relative to the grabbing part, the accommodating space is opened or closed; the telescopic rod is provided with a rack, the grabbing part is provided with a gear, and the gear is meshed with the rack and drives the telescopic rod to linearly reciprocate;
the grabbing part comprises a grabbing main body and a baffle plate, a guide rail is arranged on the grabbing main body, one end of the telescopic rod is matched with the guide rail and can linearly move along the guide rail, and the other end of the telescopic rod is fixedly connected with the fork plate, so that a closed accommodating space can be formed by the grabbing main body, the baffle plate and the fork plate;
the guide rail adopts a blind hole structure, and the telescopic rod stretches into the cavity of the guide rail and can linearly reciprocate along the guide rail, so that the fork plate linearly moves in a telescopic manner relative to the grabbing main body;
the baffle is arranged on the grabbing main body through a first contact point, and when the baffle rotates around the first contact point, the accommodating space is opened and closed;
the grabbing part further comprises a first pressing plate and a longitudinal moving mechanism, a connecting rod is movably connected between the first pressing plate and the baffle plate, the longitudinal moving mechanism is arranged between the first pressing plate and the grabbing main body, the longitudinal moving mechanism can drive the first pressing plate to longitudinally move relative to the grabbing main body, and the first pressing plate can drive the baffle plate to rotate around the first connecting point through the connecting rod, so that the accommodating space of the grabbing part is opened and closed;
the connecting rod is connected with the first pressing plate through a sliding block, a guide sliding groove is formed in the first pressing plate, the sliding block is movably arranged in the guide sliding groove, the first pressing plate can drive the baffle to open and close the accommodating space, and the position of the sliding block is locked when the baffle is opened and closed;
the guide chute is a chute;
the guide chute comprises a straight chute part and a chute part which are communicated;
the grabbing main body is provided with a transverse sliding rail matched with the sliding block, the sliding block is connected with the grabbing main body through the transverse sliding rail, and the sliding block moves transversely under the constraint of the transverse sliding rail to pull the baffle to open and close.
2. The robot apparatus of claim 1, wherein a rail structure is provided between the grasping body bottom and the fork plate, the rail structure connecting the grasping body and the fork plate such that the fork plate moves along the rail structure relative to the grasping body.
3. The manipulator device of claim 2, wherein the end of the baffle is provided with a slot that is engageable with the fork plate.
4. A palletising apparatus comprising the manipulator device of any one of claims 1 to 3, further comprising a support, and a second platen and a second moving mechanism provided on the support, the second moving mechanism being operable to drive the second platen to move longitudinally and/or transversely relative to the support, the second platen being operable to compress and stabilize material palletised by the manipulator device.
5. Palletizing installation according to claim 4, characterized in that the second movement mechanism comprises a transverse and a longitudinal pair of mutually connected and vertical movement pairs, the longitudinal pair of movement driving the second presser plate to move longitudinally with respect to the support body, the transverse pair of movement driving the second presser plate to move transversely telescopically with respect to the palletized load and support body.
6. A palletizing apparatus according to claim 5, wherein the longitudinal sliding pair is connected with the transverse sliding pair by a mounting bracket, the longitudinal sliding pair is connected with the support body and a first mounting surface of the mounting bracket, the transverse sliding pair is connected with the second pressing plate and a second mounting surface of the mounting bracket, and the first mounting surface of the mounting bracket is perpendicular to the second mounting surface.
7. A method of palletising materials, characterised in that the method of palletising materials using the palletising apparatus of any of claims 4 to 6 comprises the steps of:
grabbing materials, operating the first moving mechanism to drive the mechanical arm to move to the position where the materials are to be grabbed, operating the telescopic fork plate to retract to the grabbing part, simultaneously forking the materials into the accommodating space of the grabbing part, closing the accommodating space and transferring the materials to the stacking position;
stacking materials, operating the telescopic fork plates to transversely extend out, opening an accommodating space of the grabbing part, and releasing the grabbed materials from the accommodating space to a stacking position;
and pressing and stabilizing the material, operating a second moving mechanism, moving a second pressing plate to a stacking position and pressing the material above the stacked material to press and stabilize the material.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710177865.9A CN106926263B (en) | 2017-03-23 | 2017-03-23 | Manipulator device, stacking equipment and stacking method |
| PCT/CN2018/079793 WO2018171620A1 (en) | 2017-03-23 | 2018-03-21 | Mechanical arm apparatus, and stacking equipment and stacking method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710177865.9A CN106926263B (en) | 2017-03-23 | 2017-03-23 | Manipulator device, stacking equipment and stacking method |
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| Publication Number | Publication Date |
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| CN106926263A CN106926263A (en) | 2017-07-07 |
| CN106926263B true CN106926263B (en) | 2024-01-09 |
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| CN201710177865.9A Active CN106926263B (en) | 2017-03-23 | 2017-03-23 | Manipulator device, stacking equipment and stacking method |
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| CN (1) | CN106926263B (en) |
| WO (1) | WO2018171620A1 (en) |
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| CN106926263B (en) * | 2017-03-23 | 2024-01-09 | 大连富地重工机械制造有限公司 | Manipulator device, stacking equipment and stacking method |
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| CN111924187A (en) * | 2020-06-24 | 2020-11-13 | 浙江海悦机器人有限公司 | Flexible first mechanism of grabbing of soft bag vanning machine |
| CN117049156B (en) * | 2023-09-12 | 2024-05-14 | 深圳市晶新科技有限公司 | Automatic stacking equipment for large-batch packaging bags |
| CN117699482B (en) * | 2024-02-05 | 2024-04-19 | 四川万圣通精密机械制造有限公司 | Automatic pile up neatly mechanism of steel pipe |
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Also Published As
| Publication number | Publication date |
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| CN106926263A (en) | 2017-07-07 |
| WO2018171620A1 (en) | 2018-09-27 |
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