CN108016859A - A kind of sub-bin device and method of the manipulator that discharges - Google Patents
A kind of sub-bin device and method of the manipulator that discharges Download PDFInfo
- Publication number
- CN108016859A CN108016859A CN201711295978.5A CN201711295978A CN108016859A CN 108016859 A CN108016859 A CN 108016859A CN 201711295978 A CN201711295978 A CN 201711295978A CN 108016859 A CN108016859 A CN 108016859A
- Authority
- CN
- China
- Prior art keywords
- manipulator
- chain
- lifting
- motor
- sub
- 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.)
- Withdrawn
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Classifications
-
- 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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
-
- 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
- B65G23/00—Driving gear for endless conveyors; Belt- or chain-tensioning arrangements
- B65G23/44—Belt or chain tensioning arrangements
-
- 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
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
-
- 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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
Abstract
The invention discloses a kind of sub-bin device and method of the manipulator that discharges, including device pedestal, decelerating motor, grip slipper, driving chain, lifting chain, drive, lift motor, line slideway is installed above the driving chain, the lifting chain is installed above the line slideway, the drive is installed above the lifting chain, the lifting motor is installed above the drive, fixed plate is installed below the lifting motor, slack adjuster is installed below the fixed plate, chain connecting shaft is installed below the slack adjuster, telescopic legs are installed above the chain connecting shaft, bottom limiting plate is installed below the telescopic legs.Beneficial effect is：It is simple in structure, it is easy to operate, automatic transportation and Fen Cang can be carried out to material, significantly reduce production cost.
Description
Technical field
The present invention relates to robotic device field, the more particularly to a kind of sub-bin device and method of the manipulator that discharges.
Background technology
It is in life now, under the progress of Science and Technology Day crescent benefit, robot and the arm maximum area for having the mankind
Flexibility ratio and resistance to dynamics are not that.The sharpest edges of namely manipulator are recursive to do same action in the positive reason of machinery
It will not always feel under condition tired！The application of mechanical arm also will be more and more extensive, and manipulator is that recent decades grow up
A kind of high-tech automatic producing device, the ability to fulfil assignment in the accuracy and environment of operation.Industry mechanical arm robot
An important branch.Manipulator is a kind of some holding functions that can imitate human hand and arm, to capture, remove by fixed routine
Transport the automatic pilot of object or operation instrument.Feature is that various expected operations can be completed by programming, construction and
The advantages of having people and robotics in performance concurrently each.With the development of network skill, the networking operation problem of manipulator
The direction developed after being.Industrial robot is a kind of high-tech automated production equipment that recent decades grow up.Industry
Manipulator be industrial robot an important branch.Its feature is can to complete various expected operations by programming to appoint
Business, have people and machine concurrently each on construction and performance the advantages of, especially embodies the intelligence and adaptability of people.Mechanical manual task
Accuracy and various environment in the ability that fulfils assignment, have vast potential for future development in all fields of national economy.
The discharging manipulator that China uses at present is merely able to transport material, is merely able to by manually being carried out to material
Divide storehouse to transport, so not only waste substantial amounts of manpower and materials, while improve production cost,
The content of the invention
The purpose of the present invention is that to solve the above-mentioned problems and provides sub-bin device and the side of a kind of manipulator that discharges
Method.
The present invention is achieved through the following technical solutions above-mentioned purpose：
It is a kind of discharge manipulator sub-bin device and method, including device pedestal, decelerating motor, grip slipper, driving chain,
Lifting chain, drive, lifting motor, described device base top are provided with the decelerating motor, the decelerating motor top
The grip slipper is provided with, the driving chain is provided with above the grip slipper, straight line is installed above the driving chain
Guide rail, the line slideway top is provided with the lifting chain, the drive is provided with above the lifting chain, described
The lifting motor is installed above drive, fixed plate is installed below the lifting motor, is installed below the fixed plate
There is slack adjuster, chain connecting shaft is installed below the slack adjuster, is provided with and can stretch above the chain connecting shaft
Contracting supporting leg, the telescopic legs lower section are provided with bottom limiting plate, servo-drive electricity are provided with above the bottom limiting plate
Machine, the servo drive motor top are provided with support plate, and the support plate side is provided with support shaft, the support the end of the shaft
The block that is fixedly clamped is installed, control device is installed below the block that is fixedly clamped.
In the present embodiment, the line slideway, which includes, clamps manipulator, manipulator connecting shaft, end bearing, replacement head, institute
State clamping manipulator side and the manipulator connecting shaft is installed, the manipulator connecting shaft side is provided with the end axis
Hold, the end bearing side is provided with the replacement head.
In the present embodiment, it is manual that the control device includes control board, information memory card, material inductor, machinery
Device processed, the control board lower section are provided with described information memory card, the material are provided with below described information memory card
Inductor, the material inductor lower section are provided with the Manipulator Controller, and the material inductor and the machinery are manual
Device processed has two.
In the present embodiment, described device base is connected with the telescopic legs, the decelerating motor and the driving-chain
Bar connects.
In the present embodiment, the line slideway is connected with the driving chain, the lifting chain and the lifting motor
Connection.
In the present embodiment, the slack adjuster is connected axis connection with the chain, the slack adjuster with it is described solid
Fixed board connects.
In the present embodiment, the servo drive motor is connected with the block that is fixedly clamped, and the control device is carried with described
Lifting motor connects.
In the present embodiment, the bottom limiting plate is connected with the lifting chain, and the support shaft is fixedly clamped with described
Block connects.
In the present embodiment, specifically a point storehouse method is：
A, material clamp is filled on the line slideway by the clamping manipulator is moved, and the material inductor is to thing
Material is sensed, and drives the clamping manipulator to grip similar material, and the lifting motor drives the lifting chain
Moved, the line slideway is highly adjusted, information memory card described in the control device reads material storing
Positional information, and material is sent to fixed position, complete to transport a point storehouse for material.
B, the decelerating motor control material travelling speed, the drive drive the lifting chain movement, the pine
Tight adjuster is adjusted the elasticity of the lifting chain with the chain adjustment axis, it is ensured that the lifting chain elasticity
Moderate, the bottom limiting plate is defined line slideway movement height.
The beneficial effects of the present invention are：It is simple in structure, it is easy to operate, automatic transportation and Fen Cang can be carried out to material,
Significantly reduce production cost.
Brief description of the drawings
Fig. 1 is the front view structure schematic diagram of the sub-bin device and method of a kind of manipulator that discharges of the present invention；
Fig. 2 is the left view structure diagram of the sub-bin device and method of a kind of manipulator that discharges of the present invention；
Fig. 3 is the line slideway front view structure schematic diagram of the sub-bin device and method of a kind of manipulator that discharges of the present invention；
Fig. 4 is the control device front view structure schematic diagram of the sub-bin device and method of a kind of manipulator that discharges of the present invention.
The reference numerals are as follows：
1st, device pedestal；2nd, decelerating motor；3rd, grip slipper；4th, driving chain；5th, line slideway；501st, manipulator is clamped；
502nd, manipulator connecting shaft；503rd, end bearing；504th, head is replaced；6th, lifting chain；7th, drive；8th, motor is lifted；9th, it is solid
Fixed board；10th, slack adjuster；11st, chain connecting shaft；12nd, telescopic legs；13rd, bottom limiting plate；14th, servo drive motor；
15th, support plate；16th, support shaft；17th, be fixedly clamped block；18th, control device；1801st, control board；1802nd, information stores
Card；1803rd, material inductor；1804th, Manipulator Controller.
Embodiment
The invention will be further described below in conjunction with the accompanying drawings：
As Figure 1-Figure 4, a kind of sub-bin device and method of the manipulator that discharges, including described device base 1, described subtract
Speed motor 2, the grip slipper 3, the driving chain 4, the lifting chain 6, the drive 7, the lifting motor 8, institute
State the top of device pedestal 1 and be provided with the decelerating motor 2, the top of decelerating motor 2 is provided with the grip slipper 3, the folder
Hold the top of seat 3 and be provided with the driving chain 4, the top of driving chain 4 is provided with the line slideway 5, and the straight line is led
The top of rail 5 is provided with the lifting chain 6, and the top of lifting chain 6 is provided with the drive 7, the top of drive 7
The lifting motor 8 is installed, the fixed plate 9 is installed under the lifting motor side 8, the lower section of fixed plate 9 is provided with
Slack adjuster 10, the lower section of slack adjuster 10 are provided with the chain connecting shaft 11, the top of chain connecting shaft 11
The telescopic legs 12 are installed, the lower section of telescopic legs 12 is provided with the bottom limiting plate 13, the bottom limit
Plate 13 top in position is provided with servo drive motor 14, and the top of servo drive motor 14 is provided with support plate 15, the support
15 side of plate is provided with support shaft 16, and 16 end of support shaft is provided with the block 17 that is fixedly clamped, described to be fixedly clamped under block 17
Side is provided with control device 18.
In the present embodiment, the line slideway 5, which includes, clamps manipulator 501, manipulator connecting shaft 502, end bearing
503rd, first 504 are replaced, 501 side of the clamping manipulator is provided with the manipulator connecting shaft 502, the manipulator connecting shaft
502 sides are provided with the end bearing 503, and 503 side of end bearing is provided with the replacement first 504.
In the present embodiment, the control device 18 includes control board 1801, information memory card 1802, material inductor
1803rd, Manipulator Controller 1804, the lower section of control board 1801 are provided with described information memory card 1802, described information
The lower section of memory card 1802 is provided with the material inductor 1803, and the lower section of material inductor 1803 is provided with the manipulator
Controller 1804, the material inductor 1803 have two with the Manipulator Controller 1804.
In the present embodiment, described device base 1 is connected with the telescopic legs 12, the decelerating motor 2 and the biography
Dynamic chain 4 connects.
In the present embodiment, the line slideway 5 is connected with the driving chain 4, the lifting chain 6 and the lifting electricity
Machine 8 connects.
In the present embodiment, the slack adjuster 10 is connected with the chain connecting shaft 11, the slack adjuster 10 with
The fixed plate 9 connects.
In the present embodiment, the servo drive motor 14 is connected with the block 17 that is fixedly clamped, the control device 18 with
The lifting motor 8 connects.
In the present embodiment, the bottom limiting plate 13 is connected with the lifting chain 6, the support shaft 16 and the clamping
Fixed block 17 connects.
In the present embodiment, specifically a point storehouse method is：
A, material clamp is filled on the line slideway 5 by the clamping manipulator 501 is moved, the material inductor
1803 pairs of materials sense, and drive the clamping manipulator 501 to grip similar material, and the lifting motor 8 drives
The lifting chain 6 is moved, and 5 height of line slideway is adjusted, the storage of information described in the control device 18
Deposit card 1802 and read material storing positional information, and material is sent to fixed position, complete to transport a point storehouse for material.
B, the 2 control material travelling speed of decelerating motor, the drive 7 drives the lifting chain 6 to move, described
Slack adjuster 10 is adjusted the elasticity of the lifting chain 6 with the chain adjustment axis 11, it is ensured that the lifting chain
6 elasticity of bar is moderate, and the bottom limiting plate 13 moves 5 dynamic heights to the line slideway and is defined.
Concrete operating principle is：Described device base 1 is to be supported device, and the decelerating motor 2 is controlling
Material is in 5 translational speed of line slideway, and the grip slipper 3 to be supported to the line slideway 5, lead by the straight line
For rail 5 to be transported to material, the clamping manipulator 501 is described material is placed into the top of line slideway 5
Manipulator connecting shaft 502 is to connect the clamping manipulator 501, and the end bearing 503 is to manipulator connection
502 end of axis is protected, described to replace first 504 to be replaced to the clamping manipulator 501, the lifting chain 6
To drive the line slideway 5 to be lifted, the drive 7 is described to carry to drive the lifting chain 6 to be moved
Lifting motor 8 for the lifting chain 6 work to provide power, and the fixed plate 9 is carrying out the slack adjuster 10
Fixed, the slack adjuster 10 is to be adjusted 6 elasticity of lifting chain, and the telescopic legs 13 are to right
9 height of fixed plate is adjusted, and the bottom limiting plate 13 is limiting 6 hoisting depth of lifting chain.
The basic principles, main features and advantages of the invention have been shown and described above.The technical staff of the industry should
Understand, the present invention is not limited to the above embodiments, and the above embodiments and description only describe the original of the present invention
Reason, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, these changes and improvements
It all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appending claims and equivalents circle
It is fixed.
Claims (9)
- A kind of 1. sub-bin device for the manipulator that discharges, it is characterised in that：Including device pedestal, decelerating motor, grip slipper, driving-chain Bar, lifting chain, drive, lifting motor, are provided with the decelerating motor above described device base, on the decelerating motor Side is provided with the grip slipper, and the driving chain is provided with above the grip slipper, is provided with above the driving chain straight Line guide rail, the line slideway top are provided with the lifting chain, the drive, institute are provided with above the lifting chain State and the lifting motor is installed above drive, fixed plate is installed below the lifting motor, is pacified below the fixed plate Equipped with slack adjuster, chain connecting shaft is installed, being provided with above the chain connecting shaft can below the slack adjuster Telescopic outrigger, the telescopic legs lower section are provided with bottom limiting plate, servo-drive are provided with above the bottom limiting plate Motor, the servo drive motor top are provided with support plate, and the support plate side is provided with support shaft, the support shaft end Portion is provided with the block that is fixedly clamped, and control device is provided with below the block that is fixedly clamped.
- A kind of 2. sub-bin device of manipulator that discharges according to claim 1, it is characterised in that：The line slideway includes Manipulator, manipulator connecting shaft, end bearing, replacement head are clamped, the clamping manipulator side is provided with the manipulator and connects Spindle, the manipulator connecting shaft side are provided with the end bearing, and the end bearing side is provided with the replacement head.
- A kind of 3. sub-bin device of manipulator that discharges according to claim 1, it is characterised in that：The control device includes Control board, information memory card, material inductor, Manipulator Controller, the control board lower section are provided with the letter Memory card is ceased, the material inductor is installed below described information memory card, is provided with below the material inductor described Manipulator Controller, the material inductor have two with the Manipulator Controller.
- A kind of 4. sub-bin device of manipulator that discharges according to claim 1, it is characterised in that：Described device base and institute Telescopic legs connection is stated, the decelerating motor is connected with the driving chain.
- A kind of 5. sub-bin device of manipulator that discharges according to claim 1, it is characterised in that：The line slideway and institute Driving chain connection is stated, the lifting chain is connected with the lifting motor.
- A kind of 6. sub-bin device of manipulator that discharges according to claim 1, it is characterised in that：The slack adjuster with The chain connects axis connection, and the slack adjuster is connected with the fixed plate.
- A kind of 7. sub-bin device of manipulator that discharges according to claim 1, it is characterised in that：The servo drive motor It is connected with the block that is fixedly clamped, the control device is connected with the lifting motor.
- A kind of 8. sub-bin device of manipulator that discharges according to claim 1, it is characterised in that：The bottom limiting plate with The lifting chain connection, the support shaft are connected with the block that is fixedly clamped.
- 9. a kind of manipulator that discharges divides storehouse method, it is characterised in that：Specifically a point storehouse method is：A, material clamp is filled on the line slideway and is moved by the clamping manipulator, the material inductor to material into Row sensing, drives the clamping manipulator to grip similar material, and the lifting motor drives the lifting chain to carry out Movement, is highly adjusted the line slideway, and information memory card described in the control device reads material storing position Information, and material is sent to fixed position, complete to transport a point storehouse for material.B, the decelerating motor control material travelling speed, the drive drive the lifting chain movement, the elastic tune Section device is adjusted the elasticity of the lifting chain with the chain adjustment axis, it is ensured that the lifting chain elasticity is fitted In, the bottom limiting plate is defined line slideway movement height.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711295978.5A CN108016859A (en) | 2017-12-08 | 2017-12-08 | A kind of sub-bin device and method of the manipulator that discharges |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711295978.5A CN108016859A (en) | 2017-12-08 | 2017-12-08 | A kind of sub-bin device and method of the manipulator that discharges |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108016859A true CN108016859A (en) | 2018-05-11 |
Family
ID=62072905
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711295978.5A Withdrawn CN108016859A (en) | 2017-12-08 | 2017-12-08 | A kind of sub-bin device and method of the manipulator that discharges |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108016859A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109533841A (en) * | 2018-12-18 | 2019-03-29 | 安徽双骏智能科技有限公司 | A kind of vertical conveying equipment |
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| CN205009254U (en) * | 2015-07-10 | 2016-02-03 | 陈方 | Manipulator learning system |
| CN105480693A (en) * | 2015-12-17 | 2016-04-13 | 钟辉 | Environment-friendly overhaul line for waste recycled objects |
| CN205441978U (en) * | 2016-02-22 | 2016-08-10 | 佛山市小伙伴科技有限公司 | Brick device is chosen to high -efficient intelligence |
| CN205633978U (en) * | 2016-03-30 | 2016-10-12 | 武汉科技大学 | Manipulator cooperation conveyor means based on intelligent fish model |
| CN206366993U (en) * | 2016-12-28 | 2017-08-01 | 河南工程学院 | A kind of automatic clamping and placing material manipulator |
| CN206406049U (en) * | 2016-11-03 | 2017-08-15 | 北京信息科技大学 | A kind of storage picking robot for carrying clamping type manipulator |
| CN206653393U (en) * | 2017-02-22 | 2017-11-21 | 刘亚莉 | A kind of horizontal feeding device of manipulator |
-
2017
- 2017-12-08 CN CN201711295978.5A patent/CN108016859A/en not_active Withdrawn
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205009254U (en) * | 2015-07-10 | 2016-02-03 | 陈方 | Manipulator learning system |
| CN105480693A (en) * | 2015-12-17 | 2016-04-13 | 钟辉 | Environment-friendly overhaul line for waste recycled objects |
| CN205441978U (en) * | 2016-02-22 | 2016-08-10 | 佛山市小伙伴科技有限公司 | Brick device is chosen to high -efficient intelligence |
| CN205633978U (en) * | 2016-03-30 | 2016-10-12 | 武汉科技大学 | Manipulator cooperation conveyor means based on intelligent fish model |
| CN206406049U (en) * | 2016-11-03 | 2017-08-15 | 北京信息科技大学 | A kind of storage picking robot for carrying clamping type manipulator |
| CN206366993U (en) * | 2016-12-28 | 2017-08-01 | 河南工程学院 | A kind of automatic clamping and placing material manipulator |
| CN206653393U (en) * | 2017-02-22 | 2017-11-21 | 刘亚莉 | A kind of horizontal feeding device of manipulator |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109533841A (en) * | 2018-12-18 | 2019-03-29 | 安徽双骏智能科技有限公司 | A kind of vertical conveying equipment |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20180511 |
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| WW01 | Invention patent application withdrawn after publication |