CN108297064B

CN108297064B - Box body taking and placing manipulator

Info

Publication number: CN108297064B
Application number: CN201810390055.6A
Authority: CN
Inventors: 秦天云
Original assignee: Jiangsu Zhuoran Engineering Consulting Co ltd
Current assignee: JIANGSU ZHUORAN ENGINEERING CONSULTING Co.,Ltd.
Priority date: 2018-04-27
Filing date: 2018-04-27
Publication date: 2020-09-25
Anticipated expiration: 2038-04-27
Also published as: CN108297064A; CN111421520A

Abstract

The invention discloses a box body taking and placing manipulator which comprises a movable base, wherein the movable base is of a cuboid structure, a supporting column is vertically and fixedly connected to one end of the movable base in the length direction of the top of the movable base, a limiting slide rail is arranged on the side wall of the supporting column in the length direction of the supporting column, a moving device is movably arranged on the limiting slide rail, a horizontal plate is horizontally and fixedly connected to the outer wall of one side, away from the supporting column, of the moving device, a first push rod motor is horizontally and fixedly connected to the top of the horizontal plate, one end, away from the supporting column, of the first push rod motor is horizontally and fixedly connected with a fixed seat through a push rod, a telescopic groove is formed in one side, away from the. The box body taking and placing device is simple in structure and reasonable in design, the bottom plate can be used for protecting the box body and can stretch out and draw back in the box body taking and placing process, less space is occupied, the applicability is stronger, the problems that the box body is inconvenient to take and place and low in safety in the past are solved, the practicability is high, and the box body taking and placing device is easy to popularize.

Description

Box body taking and placing manipulator

Technical Field

The invention relates to the technical field of manipulators, in particular to a box body taking and placing manipulator.

Background

A robot is an automatic manipulator that simulates some of the motion functions of a human hand and arm to grasp, transport objects or manipulate tools according to a fixed program. The robot has the characteristics that various expected operations can be completed through programming, and the advantages of the robot and the manipulator are combined in structure and performance. The driving method can be classified into hydraulic, pneumatic, electric and mechanical.

When some box-shaped objects are stored and taken out in the storage tank, the box-shaped objects need to be manually placed, great inconvenience can be brought to workers when the storage tank is high, the forklift can only place the box body, the box body is inconveniently clamped and placed in the storage tank, the labor intensity of the workers is increased by manual placement, the efficiency is low, especially in the process of taking and placing the box body, the box body is easy to drop and break, the safety is low, and a box body taking and placing mechanical arm is designed for solving the problems.

Disclosure of Invention

The invention aims to solve the defects in the prior art and provides a box body taking and placing manipulator.

In order to achieve the purpose, the invention adopts the following technical scheme:

a box body taking and placing manipulator comprises a moving base, wherein the moving base is of a cuboid structure, one end of the top of the moving base in the length direction is vertically and fixedly connected with a supporting column, a limiting slide rail is arranged on the side wall of the supporting column in the length direction, a moving device is movably arranged on the limiting slide rail, a horizontal plate is horizontally and fixedly connected on the outer wall of one side, away from the supporting column, of the moving device, a first push rod motor is horizontally and fixedly connected with the top of the horizontal plate, one end, away from the supporting column, of the first push rod motor is horizontally and fixedly connected with a fixed seat through a push rod, a telescopic groove is formed in one side, away from the first push rod motor, of the fixed seat, a bottom plate is movably arranged in the telescopic groove, a telescopic rod is horizontally and fixedly connected on one side, close to the, fixed welding has extension spring between the vertical setting of disc and the lateral wall of disc and fixing base, the top of fixing base is provided with second push rod motor along its length direction, and the one end of second push rod motor passes through push rod fixedly connected with splint, the lateral wall that spacing slide rail was kept away from to the support column is improved level and is rotated and be connected with the wire winding roller.

Preferably, the top of the mobile device is fixedly connected with a steel wire rope, one end, far away from the mobile device, of the steel wire rope is fixedly welded on the winding roller, the top of the supporting column is provided with a fixing ring, and the steel wire rope penetrates through the fixing ring.

Preferably, the top of fixing base level fixedly connected with fixed plate, fixed plate and splint all set up along the width direction of fixing base, and all cover on the outer wall that fixed plate and splint are close to each other and be provided with the slipmat.

Preferably, the top and the bottom in flexible groove are kept away from flexible inslot bottom one end and are all provided with the cardboard, the top and the bottom of bottom plate all are provided with the limiting plate, and the one side that the limiting plate kept away from each other all is provided with the gyro wheel, the gyro wheel contacts in the inner wall setting in flexible groove.

Preferably, the extension spring is arranged around the outer wall of the telescopic rod.

Preferably, the volume of the bottom plate is matched with the volume of the telescopic groove.

Preferably, the top of the movable base is fixedly provided with a stepping motor, and an output shaft of the stepping motor is fixedly connected with the winding roller through a bolt.

Compared with the prior art, the invention has the beneficial effects that:

1. through the design of fixing base, flexible groove, telescopic link, disc, extension spring, second push rod motor, splint, fixed plate and slipmat, can stably get and put the box body, and get the in-process at the box body, the bottom plate not only can stretch out and draw back its protection, occupies space still less, and the suitability is stronger.

2. Through step motor, wire winding roller, solid fixed ring, spacing slide rail and mobile device's design, can the height of device is got to convenient control clamp, gets the box body and puts in the goods groove of co-altitude not, and it is more convenient to use.

The box body taking and placing device is simple in structure, reasonable in design, high in practicability and easy to popularize, and solves the problems that a box body is inconvenient to take and place and low in safety in the past.

Drawings

Fig. 1 is a schematic view of an overall structure of a box pick-and-place manipulator according to the present invention;

fig. 2 is a schematic structural view of a fixing base of a box taking and placing manipulator according to the present invention;

FIG. 3 is an enlarged view of portion A of FIG. 2;

fig. 4 is a top view of a fixing base of a box pick-and-place robot according to the present invention.

In the figure: the device comprises a movable base 1, a support column 2, a limiting slide rail 3, a moving device 4, a horizontal plate 5, a first push rod motor 6, a fixed seat 7, an expansion groove 8, a bottom plate 9, an expansion rod 10, a disc 11, a tension spring 12, a second push rod motor 13, a clamping plate 14, a fixed plate 15, a non-slip mat 16, a winding roller 17, a steel wire rope 18, a fixing ring 19, a stepping motor 20, a clamping plate 21 and a limiting plate 22.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.

Referring to fig. 1-4, a box taking and placing manipulator comprises a movable base 1, the movable base 1 is a cuboid structure, one end of the top of the movable base 1 in the length direction is vertically and fixedly connected with a support column 2, the side wall of the support column 2 is provided with a limit slide rail 3 along the length direction, a movable device 4 is movably arranged on the limit slide rail 3, the outer wall of one side of the movable device 4 far away from the support column 2 is horizontally and fixedly connected with a horizontal plate 5, the top of the horizontal plate 5 is horizontally and fixedly connected with a first push rod motor 6, one end of the first push rod motor 6 far away from the support column 2 is horizontally and fixedly connected with a fixed seat 7 through a push rod, one side of the fixed seat 7 far away from the first push rod motor 6 is provided with a telescopic groove 8, a bottom plate 9 is movably arranged in the telescopic groove 8, one side of the bottom plate 9 close to the support column 2 is horizontally and fixedly, the disc 11 is vertically arranged, an extension spring 12 is fixedly welded between the disc 11 and the side wall of the fixed seat 7, a second push rod motor 13 is arranged at the top of the fixed seat 7 along the length direction of the fixed seat, a clamping plate 14 is fixedly connected to one end of the second push rod motor 13 through a push rod, a wire winding roller 17 is horizontally and rotatably connected to the side wall, away from the limiting slide rail 3, of the support column 2, a steel wire rope 18 is fixedly connected to the top of the mobile device 4, one end, away from the mobile device 4, of the steel wire rope 18 is fixedly welded to the wire winding roller 17, a fixing ring 19 is arranged at the top of the support column 2, the steel wire rope 18 penetrates through the fixing ring 19, a fixing plate 15 is horizontally and fixedly connected to the top of the fixed seat 7, the fixing plate 15 and the clamping plate 14 are both arranged along the width direction of the fixed seat 7, anti-skid pads, the top and the bottom of bottom plate 9 all are provided with limiting plate 22, and the one side that limiting plate 22 kept away from each other all is provided with the gyro wheel, and the gyro wheel contacts in the inner wall setting of flexible groove 8, and extension spring 12 encircles the outer wall setting of telescopic link 10, and the fixed step motor 20 that is provided with in top of moving base 1 is moved to the volume of bottom plate 9 and the volume size looks adaptation of flexible groove 8, and step motor 20's output shaft passes through bolt and winding roller 17 fixed connection.

In the invention, a worker drives a winding roller 17 to rotate through a stepping motor 20, a moving device 4 is controlled to move on a limiting slide rail 3 through a steel wire rope 18, so that the height of a horizontal plate 5 is controlled, a first push rod motor 6 is started to drive a fixed seat 7 to move towards a cargo groove, when a bottom plate 9 contacts the cargo groove and continues to move, an extension spring 12 is extended, the bottom plate 9 extends towards an extension groove 8, a roller on a limiting plate 22 rolls on the inner wall of the extension groove 8, a second push rod motor 13 is controlled, objects in the cargo groove are clamped through a clamping plate 14 and a fixing plate 15, a box body is taken out of the cargo groove through the first push rod motor 6, after the cargo groove is taken out, the bottom plate 9 continues to move towards the opening direction of the extension groove 8 due to the tension of the extension spring 12 until the limiting plate 22 contacts the clamping plate 21 to stop, the bottom plate 9 can avoid falling off, the invention has simple structure, reasonable design and easy popularization.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.

Claims

1. The box body taking and placing manipulator comprises a movable base (1) and is characterized in that the movable base (1) is of a cuboid structure, a supporting column (2) is vertically and fixedly connected with one end of the top of the movable base (1) in the length direction, a limiting sliding rail (3) is arranged on the side wall of the supporting column (2) in the length direction, a moving device (4) is movably arranged on the limiting sliding rail (3), a horizontal plate (5) is horizontally and fixedly connected onto the outer wall of one side, away from the supporting column (2), of the moving device (4), a first push rod motor (6) is horizontally and fixedly connected onto the top of the horizontal plate (5), a fixing seat (7) is horizontally and fixedly connected onto one end, away from the supporting column (2), of the first push rod motor (6) through a push rod, a telescopic groove (8) is formed in one side, away from the first push rod, a bottom plate (9) is movably arranged in the telescopic groove (8), one side, close to the supporting column (2), of the bottom plate (9) is horizontally and fixedly connected with a telescopic rod (10), one end, far away from the bottom plate (9), of the telescopic rod (10) movably and horizontally penetrates through the side wall of the fixing seat (7) and is fixedly connected with a disc (11), the disc (11) is vertically arranged, a tension spring (12) is fixedly welded between the disc (11) and the side wall of the fixing seat (7), a second push rod motor (13) is arranged at the top of the fixing seat (7) along the length direction of the fixing seat, one end of the second push rod motor (13) is fixedly connected with a clamping plate (14) through a push rod, and a winding roller (17) is horizontally and rotatably connected to the side wall;

the top of the mobile device (4) is fixedly connected with a steel wire rope (18), one end, far away from the mobile device (4), of the steel wire rope (18) is fixedly welded on the winding roller (17), a fixing ring (19) is arranged at the top of the supporting column (2), and the steel wire rope (18) penetrates through the fixing ring (19);

the top horizontal fixedly connected with fixed plate (15) of fixing base (7), fixed plate (15) and splint (14) all set up along the width direction of fixing base (7), and all cover on the outer wall that fixed plate (15) and splint (14) are close to each other and are provided with slipmat (16).

2. The manipulator according to claim 1, wherein a clamping plate (21) is disposed at one end of the top and the bottom of the telescopic slot (8) far from the bottom of the telescopic slot (8), a limiting plate (22) is disposed at the top and the bottom of the bottom plate (9), and a roller is disposed at one side of the limiting plate (22) far from each other, and the roller contacts with the inner wall of the telescopic slot (8).

3. A cassette handling robot as claimed in claim 1, wherein said extension spring (12) is arranged around the outer wall of the telescopic rod (10).

4. A manipulator according to claim 1, wherein the volume of the base plate (9) is adapted to the volume of the slot (8).

5. The box taking and placing manipulator according to claim 1, wherein a stepping motor (20) is fixedly arranged on the top of the moving base (1), and an output shaft of the stepping motor (20) is fixedly connected with the winding roller (17) through a bolt.