CN108621198A - A kind of storage intelligent transport mechanical arm - Google Patents
A kind of storage intelligent transport mechanical arm Download PDFInfo
- Publication number
- CN108621198A CN108621198A CN201810715699.8A CN201810715699A CN108621198A CN 108621198 A CN108621198 A CN 108621198A CN 201810715699 A CN201810715699 A CN 201810715699A CN 108621198 A CN108621198 A CN 108621198A
- Authority
- CN
- China
- Prior art keywords
- motor
- mechanical arm
- controller
- fixedly connected
- pedestal
- 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.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/025—Arms extensible telescopic
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
Abstract
The present invention relates to mechanical arm technical fields, and disclose a kind of storage intelligent transport mechanical arm, including pedestal, the bottom of the pedestal is fixedly connected with support leg, the bottom end of the support leg is connected with idler wheel, bearing is installed at the top of the pedestal, it is fixedly connected with support plate at the top of the bearing, the top of the support plate and elevating lever is fixedly connected on the right side of the hydraulic cylinder, the top of the elevating lever is fixedly connected with telescopic rod, and the bottom of the fixed ring is movably installed with gripper clamp.Storage intelligent transport mechanical arm, distance signal is conducted to controller by two range sensors, controller controls hydraulic cylinder to control the height of elevating lever, controller controls the length of first motor control telescopic rod, controller controls the second motor control gripper clamp and grips cargo, controls the steering of bearing control entirety, controls idler wheel to move, save a large amount of manpowers, the use for the person of being convenient to use.
Description
Technical field
The present invention relates to mechanical arm technical field, specially a kind of storage intelligent transport mechanical arm.
Background technology
Mechanical arm is the Chinese translation of " ROBOT " word, due to video display publicity and science fiction influence, people often
Mechanical arm is imagined as the mechanically and electrically sub-device of outer people seemingly, but the fact be not in this way, especially industrial machinery arm, with people I
Appearance often has no similarity, and according to national standard master, industrial machinery arm is defined as that " its operation machine automatically controls, can
Overprogram, multipurpose, and three or more axis can be programmed, it can be it is fixed or mobile, industry from
Used in dynamicization application ", operation machine is defined as " being a kind of machine, mechanism is usually hinged or is slided relatively by a series of again
Dynamic component is formed, it usually has several degree of freedom, to capture or mobile object（Tool or workpiece）, " so to industry
Mechanical arm can be understood as：The Mechatronic device of anthropomorphic arm, wrist and hand function；It can be arbitrary object or tool by sky
Between pose（Position and posture）Time-varying require moved, to complete a certain industrial job requirements, for example be clamped
Soldering turret or welding gun have carried out spot welding or arc-welding to automobile or body of motor cycle；Carry die casting or stamping forming part or component；
It is cut by laser；Spraying；Make-up machinery parts etc..
With the development of logistic industry, storage is also risen therewith, and when some weights need transport, it is necessary to it is a large amount of
Manpower, some Transport Machinery are also seasonable and rise, and advantage is needed manpower reduction, and wherein Transport Machinery arm is popular, can
Telescopic adjustment facilitates putting and transporting for cargo, and grip is strong, but underaction, and it is inconvenient to turn to, and not smart enoughization needs
Waste of manpower cost, to propose that a kind of storage is solved the above problems with intelligent transport mechanical arm.
Invention content
（One）The technical issues of solution
In view of the deficiencies of the prior art, the present invention provides a kind of storage intelligent transport mechanical arms, have steering flexibly, have
Certain intelligence, the advantages that not needing waste of manpower, solve underaction, and it is inconvenient to turn to, and not smart enoughization needs wave
The problem of taking human cost.
（Two）Technical solution
To realize that above-mentioned steering is flexible, has certain intelligence, do not need waste of manpower purpose, the present invention provides following technology
Scheme：A kind of storage intelligent transport mechanical arm, including pedestal, the bottom of the pedestal are fixedly connected with support leg, the branch
The bottom end of spike is connected with idler wheel, and the outer surface of the idler wheel is socketed with crawler belt, bearing is equipped at the top of the pedestal,
It is fixedly connected with support plate at the top of the bearing, controller is installed at the top of the support plate, the controller
Top is installed with the first range sensor, the top of the support plate and one end far from controller is installed with hydraulic pressure
Cylinder, the top of the support plate and is fixedly connected with elevating lever on the right side of the hydraulic cylinder, and the top of the elevating lever is solid
Surely it is connected with telescopic rod, first motor is installed with inside the left end of the telescopic rod, the right end of the telescopic rod fixes peace
Equipped with the second motor, the bottom end of second motor is provided with nut, and the bottom of the nut is provided with second distance sensor,
The second distance sensor is fixedly connected with the second motor by nut, and the bottom end of the second distance sensor is fixedly connected
There are fixed ring, the bottom of the fixed ring to be movably installed with gripper clamp.
Preferably, the pedestal is internally provided with clump weight and motor, and the front of the support leg is movable with the back side
It is connected with the idler wheel that quantity is five.
Preferably, the bearing is connect with the motor output shaft in pedestal, and motor is electrically connected with the controller, the electricity in pedestal
Machine can be Y250M-4, the first motor（12）With the second motor（13）Can be Y180M-4.
Preferably, the controller is electrically connected with hydraulic cylinder, first motor and the second motor, the controller and first
Range sensor is connected with second distance sensor signal.
Preferably, the outer surface of the nut is provided with vertical line, and the inner wall of the gripper clamp is provided with band.
Preferably, first range sensor can be in VDM28-8-L-IO/73c/136VDM28 apart from laser ranging
Sensor, the second distance sensor can be JCS-3506-D-F ultrasonic sensors.
（Three）Advantageous effect
Compared with prior art, the present invention provides a kind of storage intelligent transport mechanical arm, has following advantageous effect：
Storage intelligent transport mechanical arm conducts distance signal to controller, controller control by two range sensors
Hydraulic cylinder processed controls the height of elevating lever, and controller controls the length of first motor control telescopic rod, controller control the
Two motors control gripper clamp and grip cargo, control the steering of bearing control entirety, control idler wheel to move, save a large amount of people
Power, the intelligentized easy to operate use of user.
Description of the drawings
Fig. 1 is schematic structural view of the invention；
Fig. 2 is present system figure.
In figure：1 pedestal, 2 support legs, 3 idler wheels, 4 crawler belts, 5 bearings, 6 support plates, 7 controllers, 8 first range sensors,
9 hydraulic cylinders, 10 elevating levers, 11 telescopic rods, 12 first motors, 13 second motors, 14 nuts, 15 second distance sensors, 16
Fixed ring, 17 gripper clamps.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
- 2 are please referred to Fig.1, a kind of storage intelligent transport mechanical arm, including pedestal 1, pedestal 1 are internally provided with counterweight
Block and motor, the motor in pedestal 1 can be Y250M-4, and the bottom of pedestal 1 is fixedly connected with support leg 2, the bottom end of support leg 2
It is connected with idler wheel 3, front and the back side of support leg 2 are connected with the idler wheel 3 that quantity is five, the appearance of idler wheel 3
Surface cover is connected to crawler belt 4, and the top of pedestal 1 is equipped with bearing 5, and the top of bearing 5 is fixedly connected with support plate 6, the top of support plate 6
Portion is installed with controller 7, and bearing 5 is connect with the motor output shaft in pedestal 1, and motor is electrically connected with controller 7, controller
7 top is installed with the first range sensor 8, and the first range sensor 8 can be VDM28-8-L-IO/73c/136VDM28
Middle one end apart from laser sensor, the top of support plate 6 and far from controller 7 is installed with hydraulic cylinder 9, support plate 6
Top and be fixedly connected with elevating lever 10 positioned at the right side of hydraulic cylinder 9, the top of elevating lever 10 is fixedly connected with telescopic rod
11, first motor 12 is installed with inside the left end of telescopic rod 11, the right end of telescopic rod 11 is installed with the second motor 13,
Controller 7 is electrically connected with hydraulic cylinder 9, first motor 12 and the second motor 13, and first motor 12 can be with the second motor 13
The bottom end of Y180M-4, the second motor 13 are provided with nut 14, and the outer surface of nut 14 is provided with vertical line, and the bottom of nut 14 is set
It is equipped with second distance sensor 15, second distance sensor 15 can be JCS-3506-D-F ultrasonic sensors, controller 7 and the
One range sensor 8 is connected with 15 signal of second distance sensor, and second distance sensor 15 and the second motor 13 pass through nut
14 are fixedly connected, and the bottom end of second distance sensor 15 is fixedly connected with fixed ring 16, and the bottom of fixed ring 16 is movably installed with
The inner wall of gripper clamp 17, gripper clamp 17 is provided with band.
When in use, the input order in controller 7, installs corresponding gripper clamp 17, checks motor, sensor and cylinder
Operation.
In conclusion storage intelligent transport mechanical arm, conducts distance signal to control by two range sensors
Device 7 processed, controller 7 control hydraulic cylinder 9 to control the height of elevating lever 10, and it is flexible that controller 7 controls the control of first motor 12
The length of bar 11, controller 7 control the second motor 13 control gripper clamp 17 and grip cargo, and control bearing 5 controls whole steering,
Control idler wheel 3 moves, and saves a large amount of manpowers, the intelligentized easy to operate use of user.
It should be noted that herein, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also include other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in process, method, article or equipment including the element.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
Understanding without departing from the principles and spirit of the present invention can carry out these embodiments a variety of variations, modification, replace
And modification, the scope of the present invention is defined by the appended.
Claims (6)
1. a kind of storage intelligent transport mechanical arm, including pedestal（1）, it is characterised in that：The pedestal（1）Bottom fix connect
It is connected to support leg（2）, the support leg（2）Bottom end be connected with idler wheel（3）, the idler wheel（3）Outer surface be socketed with
Crawler belt（4）, the pedestal（1）Top bearing is installed（5）, the bearing（5）Top be fixedly connected with support plate（6）,
The support plate（6）Top be installed with controller（7）, the controller（7）Top be installed with the first distance
Sensor（8）, the support plate（6）Top and far from controller（7）One end be installed with hydraulic cylinder（9）, described
Support plate（6）Top and be located at hydraulic cylinder（9）Right side be fixedly connected with elevating lever（10）, the elevating lever（10）Top
End is fixedly connected with telescopic rod（11）, the telescopic rod（11）Left end inside be installed with first motor（12）, described to stretch
Contracting bar（11）Right end be installed with the second motor（13）, second motor（13）Bottom end be provided with nut（14）, institute
State nut（14）Bottom be provided with second distance sensor（15）, the second distance sensor（15）With the second motor（13）
Pass through nut（14）It is fixedly connected, the second distance sensor（15）Bottom end be fixedly connected with fixed ring（16）, described solid
Determine ring（16）Bottom be movably installed with gripper clamp（17）.
2. a kind of storage intelligent transport mechanical arm according to claim 1, it is characterised in that：The pedestal（1）It is interior
Portion is provided with clump weight and motor, the support leg（2）To be connected with quantity with the back side be five idler wheels in front
（3）.
3. a kind of storage intelligent transport mechanical arm according to claim 1, it is characterised in that：The bearing（5）With base
Seat（1）Interior motor output shaft connection, motor and controller（7）Electrical connection, the pedestal（1）Interior motor can be Y250M-4,
The first motor（12）With the second motor（13）Can be Y180M-4.
4. a kind of storage intelligent transport mechanical arm according to claim 1, it is characterised in that：The controller（7）With
Hydraulic cylinder（9）, first motor（12）With the second motor（13）Electrical connection, the controller（7）With the first range sensor（8）
With second distance sensor（15）Signal connects.
5. a kind of storage intelligent transport mechanical arm according to claim 1, it is characterised in that：The nut（14）It is outer
Surface is provided with vertical line, the gripper clamp（17）Inner wall be provided with band.
6. a kind of storage intelligent transport mechanical arm according to claim 1, it is characterised in that：First Distance-sensing
Device（8）Can be VDM28-8-L-IO/73c/136VDM28 in apart from laser range sensor, the second distance sensor（15）
Can be JCS-3506-D-F ultrasonic sensors.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810715699.8A CN108621198A (en) | 2018-07-03 | 2018-07-03 | A kind of storage intelligent transport mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810715699.8A CN108621198A (en) | 2018-07-03 | 2018-07-03 | A kind of storage intelligent transport mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108621198A true CN108621198A (en) | 2018-10-09 |
Family
ID=63688652
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810715699.8A Pending CN108621198A (en) | 2018-07-03 | 2018-07-03 | A kind of storage intelligent transport mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108621198A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110371865A (en) * | 2019-07-12 | 2019-10-25 | 东南大学 | A kind of special equipment lifting arc shell |
| CN111975109A (en) * | 2020-07-05 | 2020-11-24 | 黄朋飞 | High-speed numerical control sawing machine control system and method |
-
2018
- 2018-07-03 CN CN201810715699.8A patent/CN108621198A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110371865A (en) * | 2019-07-12 | 2019-10-25 | 东南大学 | A kind of special equipment lifting arc shell |
| CN111975109A (en) * | 2020-07-05 | 2020-11-24 | 黄朋飞 | High-speed numerical control sawing machine control system and method |
| CN111975109B (en) * | 2020-07-05 | 2022-04-26 | 黄朋飞 | High-speed numerical control sawing machine control system and method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20181009 |