CN109176574A - A kind of manipulator and its application method suitable for warehouse logistics - Google Patents
A kind of manipulator and its application method suitable for warehouse logistics Download PDFInfo
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- CN109176574A CN109176574A CN201811270354.2A CN201811270354A CN109176574A CN 109176574 A CN109176574 A CN 109176574A CN 201811270354 A CN201811270354 A CN 201811270354A CN 109176574 A CN109176574 A CN 109176574A
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- rack gear
- input
- gear
- roller
- outer cover
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Classifications
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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
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
-
- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of manipulators suitable for warehouse logistics, including installation shell, clamping device, preceding blocking means, regulating device；A kind of method of manipulator crawl object, comprising the following steps: step 1, installation is fixed；Step 2, the ambulatory splint is remain stationary, and the preceding shelves cross bar moves right；Step 3, the ambulatory splint moves right, and the preceding shelves cross bar is static；Step 4, it resets.Present invention is particularly suitable for crawl cylindrical objects, such as manufactured pipe fitting etc..By pulling the input rack gear, can grasp object to be grabbed is stable.Object to be grabbed can be closed before clamping object by front cross member plate, rolls forward is avoided to deviate from by a kind of manipulator and its application method suitable for warehouse logistics of the present invention.
Description
Technical field
The present invention relates to warehouse logistics technical fields, and in particular to a kind of manipulator and its use suitable for warehouse logistics
Method.
Background technique
Clamping or even mobile object are frequently necessary to during warehouse logistics.Common, it is often necessary to mobile longitudinal cylinder
The very best part, needs the tube-like element that fell when using forklift transport, very cumbersome and be possible in the step frequently fallen and established
Tube-like element is damaged in rapid.
Therefore it needs to design a kind of manipulator to grab tube-like element, is fitted on moving body, it can be fast
Prompt crawl tube-like element.
Summary of the invention
In order to solve the technical problems in background technology, the present invention provides a kind of manipulator suitable for warehouse logistics
And its application method, object to be grabbed can be closed by front cross member plate before clamping object, rolls forward is avoided to deviate from.
The technical solution adopted by the present invention to solve the technical problems is:
A kind of manipulator suitable for warehouse logistics, including installation shell, clamping device, preceding blocking means, regulating device；
The installation shell includes:
Outer cover body, hollow rectangle body shape；
Lateral slide opening is equipped with two, the outer cover body front end face left-half, outer cover body rear end face left side
Divide and is each provided with a lateral slide opening；
Strap is located in the middle part of the outer cover body front end face；
Attaching clamp is located on the right side of the outer cover body rear end face, and the attaching clamp is equipped at least two nuts and inserts
Hole；
The clamping device includes:
Postpone lantern ring, including the rectangle ring body being slidably located in the outer cover body, rectangle ring body front and rear end
It is respectively equipped with a lantern ring plate being only inserted in corresponding lateral slide opening；
It is driven inner casing, including is set in the intracorporal inner casing ontology of the straight-flanked ring, the inner casing ontology left-half is equipped with
It is driven inner cavity, the transmission inner cavity right side central is equipped with to the right the rotated through-hole of perforation inner casing ontology, the rotated through-hole inner wall
Equipped with through-hole inserted block, first half is equipped with to the right rack gear blind hole on the right side of the transmission inner cavity, and the inner casing ontology front end face is located at
It is additionally provided on the right side of rack gear blind hole and adjusts inner cavity, be equipped with front jack, the inner casing ontology on the left of the front end face of the transmission inner cavity
The ambulatory splint across corresponding lateral slide opening setting is additionally provided in the middle part of front end face；
Rack gear is inputted, is arranged in left-right direction through the outer cover body right end, the input rack gear left end is prolonged with described
The slow lantern ring right side back lower place is fixedly connected；
The preceding blocking means include:
Right wheel for inputting, the right side including being located at outer cover body inner cavity right end along the vertical direction are set wheel shaft, are rotatably set
In the right side is set on wheel shaft and is connect with the input rack-driving input gear, concentric it is located above the input gear
Input cone pulley；
Roller is reversed, including being located at the twisted connecting rod of outer cover body inner cavity right half part along the longitudinal direction, being located at institute
State the torsion lantern ring in the middle part of twisted connecting rod, the torsion roller further include roller ontology, be located at the roller body outer wall and with
It is described to reverse the roller groove that lantern ring is rotatably assorted, the roller for being located at the roller ontology right end and connecting with input cone drive
Cone pulley, the rectangle jack for penetrating through the roller ontology setting in left-right direction；
Reverse core bar, including be rotatably plugged in the rotated through-hole torsion round bar, be located at torsion round bar right end
Center and the rectangle inserted link mating with the rectangle jack, the core bar bevel gear for being located at the torsion round bar left end, it is described
The torsion annular groove mating with the circular hole inserted block is also formed on torsion round bar outer wall；
Reseting pressuring spring is set on the rectangle inserted link, and described reseting pressuring spring one end abuts and another with the transmission inner casing
One end is abutted with torsion roller；
Left output wheel, including be located at along the vertical direction a left side intracavitary in the transmission set wheel shaft, rotatably be located at it is described
The output cone that a left side sets output gear on wheel shaft, is located on the output gear and connect with one heart with the core bar Bevel Gear Transmission
Gear；
Preceding blocking means, including being located at output rack gear intracavitary in the transmission in left-right direction, being located at the output rack gear
On the left of front end face and sequentially passes through front jack, the front vertical pole that lateral slide opening is arranged, is located on the right side of front vertical pole front end
Front transverse slat；
The regulating device includes:
Active screwed pipe, including being located at the first crossbar for adjusting inner cavity left side latter half, being rotatably set in
Coil body in the first crossbar is located at the coil body right end and passes through the torsion plug for adjusting inner cavity setting；
Driven element, including being located at the second crossbar for adjusting inner cavity first half, slidable set in left-right direction
The position limiting slide block being located in the first crossbar, the position limiting slide block rear end are equipped with the driven spiral shell being spirally connected with the coil body
Line.
Further, the input rack gear right end forms knob.
A kind of method of manipulator crawl object, comprising the following steps:
Step 1, installation is fixed:
The manipulator is mounted on to the front end face of moving body by the attaching clamp；
Operating moving body drives the manipulator to advance, until object to be grabbed enter strap and ambulatory splint it
Between；
Step 2, the ambulatory splint is remain stationary, and the preceding shelves cross bar moves right:
Step 2.1, the ambulatory splint is stationary:
Delay lantern ring described in the input rack drives is tentatively pulled to move right until being locked on a position limiting slide block left side to the right
End face, this is in the process since reseting pressuring spring acts on so that the transmission inner casing, ambulatory splint are static；
Step 2.2, the preceding shelves cross bar moves right:
It is synchronous with step 2.1 to carry out, i.e., it is defeated described in the input rack drives when tentatively pulling the input rack gear to the right
Enter gear, input cone pulley rotation；
The input cone pulley acts on the roller cone pulley and then drives the roller ontology, the rotation of rectangle jack, described
Rectangle jack drives the rectangle inserted link, torsion round bar, the rotation of core bar bevel gear, and the core bar bevel gear drives the output cone
Gear, output gear rotation；
The output gear drives the output rack gear, front vertical pole, front transverse slat to move right, until the output gear
Item is resisted against the rack gear blind hole right end and engages, and the object front-rear direction to be grabbed is closed by preceding shelves cross bar, outer cover body；
Step 3, the ambulatory splint moves right, and the preceding shelves cross bar is static:
Step 3.1, the ambulatory splint moves right:
Continuation pulls to the right delay lantern ring described in the input rack drives to continue to move right, the delay lantern ring effect
In the position limiting slide block and then drive the transmission inner casing, ambulatory splint that reseting pressuring spring active force is overcome to move right, the work
Dynamic clamping plate 22g clamps object to be grabbed with strap；
Step 3.2, the preceding shelves cross bar is static:
Synchronous with step 3.1 to carry out, continuation pulls to the right the input rack gear, and the input rack gear continues to drive described defeated
Enter gear, input cone pulley rotation；
Since the output rack gear is resisted against the right end locking of the rack gear blind hole, so that the left output wheel, torsion core
Bar, torsion roller locking；
It skids between the input cone pulley and roller cone pulley.
Further, further include step 4, reset:
By the input rack gear, delay lantern ring be moved to the left, the reseting pressuring spring act on the transmission inner casing make its with
With being moved to the left, until the transmission inner casing is resisted against the outer cover body left side；The input rack gear, delay lantern ring continue
It is moved to the left, the delay lantern ring is reset in the middle part of transmission inner casing；
At the same time, the input rack gear acts on the preceding latch device, so that the preceding shelves slide bar is moved to the left reset；
After the preceding shelves slide bar is moved to the locking of outer cover body left end, skid between the input cone pulley and roller cone pulley.
Beneficial effects of the present invention:
Present invention is particularly suitable for crawl cylindrical objects, such as manufactured pipe fitting etc..By pulling the input rack gear,
It can grasp object to be grabbed is stable.
A kind of manipulator suitable for warehouse logistics of the present invention can pass through front cross member plate before clamping object
Object to be grabbed is closed, the object to be grabbed of tubular is avoided to deviate from forward:
Pull input rack gear leading portion: the preceding crosspiece bar moves to right, and front position among ambulatory splint and strap is sealed
It closes, avoids during clamping the band crawl object, object compression rolls forward abjection to be grabbed.
Pull input rack gear back segment: the transmission inner casing, ambulatory splint move right, and object to be grabbed is firmly grasped；
The input rack gear is reversely pushed, can be resetted.
A kind of manipulator suitable for warehouse logistics of the present invention can incite somebody to action to avoid the vibration of car body, mechanical gripper
Object to be grabbed is done to fall, or directly with ambulatory splint, strap clamping when, cylindric its outer circumferential walls of object to be grabbed
Rolls forward is deviate from after receiving pressure.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is a kind of structural schematic diagram of embodiment of the grabbing device.
Fig. 2 is the structural schematic diagram of the grabbing device another kind embodiment.
Fig. 3 is the structural schematic diagram of the grabbing device another kind embodiment.
Fig. 4 is the portion A enlarged diagram in Fig. 1.
Fig. 5 is the portion B enlarged diagram in Fig. 2.
Fig. 6 is C-C cross-sectional view in Fig. 1.
In figure:
1. shell is installed, 11. outer cover bodies, 12. lateral slide openings, 13. straps, 14. attaching clamps；
2. clamping device, 21. rectangle lantern rings, 21a. collar body, 21b. lantern ring plate, 22. transmission inner casings, 22a. inner casing
Ontology, 22b. transmission inner cavity, 22c. rotated through-hole, 22d. rack gear blind hole, 22e. adjust inner cavity, 22f. front jack, and 22g. lives
Dynamic clamping plate, 23. input rack gears；
3. blocking means before, 31. right wheel for inputting, 31a. set on the right side wheel shaft, 31b. input gear, and 31c. inputs cone pulley, 32. torsions
Roller, 32a. twisted connecting rod, 32b. reverse lantern ring, 32c. roller ontology, 32d. roller groove, 32e. roller cone pulley, 32f. square
Shape jack, 33. torsion core bars, 33a. reverse round bar, and 33b. rectangle inserted link, 33c. core bar bevel gear, 33. torsion annular grooves, 34. is multiple
Position pressure spring, 35. left output wheels, 35a. set on a left side wheel shaft, 35b. output gear, 35c. output bevel gear wheel, blocking means before 36., 36a.
Export rack gear, 36b. front vertical pole, 36c. front transverse slat；
4. regulating device, 41. active screwed pipes, 41a. first crossbar, 41b. coil body, 41c. reverse plug, 42. is driven
Element, 42a. second crossbar, 42b. position limiting slide block.
Specific embodiment
Below in conjunction with attached drawing, the present invention is described in further detail.
A kind of manipulator suitable for warehouse logistics, including installation shell 1, clamping device 2, preceding blocking means 3, regulating device
4；
The installation shell 1 includes:
Outer cover body 11, hollow rectangle body shape；
Lateral slide opening 12 is equipped with two, the 11 front end face left-half of outer cover body, 11 rear end face of the outer cover body
Left-half is each provided with a lateral slide opening 12；
Strap 13 is located in the middle part of 11 front end face of outer cover body；
Attaching clamp 14 is located on the right side of 11 rear end face of outer cover body, and the attaching clamp 14 is equipped at least two
Nut jack；
The clamping device 2 includes:
Postpone lantern ring 21, including the rectangle ring body 21a being slidably located in the outer cover body 11, the rectangle ring body
The front and rear end 21a is respectively equipped with a lantern ring plate 21b being only inserted in corresponding lateral slide opening 12；
It is driven inner casing 22, inner casing ontology 22a, the inner casing ontology 22a including being set in the rectangle ring body 21a are left
Half part is equipped with transmission inner cavity 22b, and the rotation that the transmission inner cavity 22b right side central is equipped with to the right perforation inner casing ontology 22a is logical
Hole 22c, the rotated through-hole 22c inner wall are equipped with through-hole inserted block, and first half is equipped with to the right rack gear on the right side of the transmission inner cavity 22b
Blind hole 22d, the inner casing ontology 22a front end face, which is located to be additionally provided at the right side rack gear blind hole 22d, adjusts inner cavity 22e, the transmission
It is equipped with front jack 22f on the left of the 22b front end face of inner cavity, is additionally provided in the middle part of the inner casing ontology 22a front end face across corresponding cross
The ambulatory splint 22g being arranged to slide opening 12；
It should be noted that the front jack 22f is less than the thickness of the transmission inner cavity 22b in the thickness of vertical direction
Degree avoids output rack gear 36a abjection in front of front jack 22f.
Input rack gear 23, in left-right direction through 11 right end of outer cover body be arranged, 23 left end of input rack gear and
The 21 right side back lower place of delay lantern ring is fixedly connected；
The preceding blocking means 3 include:
Right wheel for inputting 31, the right side including being located at the 11 inner cavity right end of outer cover body along the vertical direction are set wheel shaft 31a, can be turned
It is dynamic be located at the input gear 31b for setting on wheel shaft 31a and being sequentially connected with the input rack gear 23 in the right side, it is concentric be located at described in
Input cone pulley 31c above input gear 31b；
Reverse roller 32, including be located at along the longitudinal direction the 11 inner cavity right half part of outer cover body twisted connecting rod 32a,
The torsion lantern ring 32b being located in the middle part of the twisted connecting rod 32a, the torsion roller 32 further include roller ontology 32c, be located at it is described
Roller ontology 32c outer wall and the roller groove 32d being rotatably assorted with the torsion lantern ring 32b, to be located at the roller ontology 32c right
End and the roller cone pulley 32e being sequentially connected with input cone pulley 31c, the square for penetrating through the roller ontology 32c setting in left-right direction
Shape jack 32f；
Reverse core bar 33, including be rotatably plugged in the rotated through-hole 22c torsion round bar 33a, be located at torsion
Round bar 33a right end center and the rectangle inserted link 33b mating with the rectangle jack 32f, to be located at the torsion round bar 33a left
The core bar bevel gear 33c at end also forms the torsion ring mating with the circular hole inserted block on the torsion round bar 33a outer wall
Slot 33d；
Reseting pressuring spring 34 is set on the rectangle inserted link 33b, described 34 one end of reseting pressuring spring and the transmission inner casing 22
Abut and the other end with reverse roller 32 abut；
Wheel shaft 35a, rotatable is set on left output wheel 35, the left side including being located in the transmission inner cavity 22b along the vertical direction
The left side is located to set output gear 35b on wheel shaft 35a, be located at one heart on the output gear 35b and bore tooth with the core bar
Take turns the output bevel gear wheel 35c of 33c transmission connection；
Preceding blocking means 36, described in being located at the output rack gear 36a being driven in the 22b of inner cavity in left-right direction, being located at
On the left of output rack gear 36a front end face and sequentially passes through front jack 22f, the front vertical pole 36b that lateral slide opening 12 is arranged, is located at institute
State the front transverse slat 36c on the right side of the front end front vertical pole 36b；
The regulating device 4 includes:
Active screwed pipe 41, including being located at the first crossbar 41a for adjusting the left side inner cavity 22e latter half, can be rotated
The coil body 41b being set in the first crossbar 41, be located at the coil body 41b right end and pass through adjust inner cavity
The torsion plug 41c of 22e setting；
Driven element 42, including be located in left-right direction it is described adjust inner cavity 22e first half second crossbar 42a, can
The position limiting slide block 42b of sliding being set in the first crossbar 41, the rear end the position limiting slide block 42b are equipped with and the screwed pipe sheet
The slave thread that body 41b is spirally connected.
Further, 23 right end of input rack gear forms knob.
A kind of method of manipulator crawl object, comprising the following steps:
It should be noted that the manipulator has the function of fast grabbing, prevents object to be grabbed from deviating from forward；Cooperation
Moving body uses, then the function of mobile crawl and mobile object to be grabbed may be implemented；The object to be grabbed is preferably cylinder
The very best part.
Step 1, installation is fixed:
The manipulator is mounted on to the front end face of moving body by the attaching clamp 14；
Operating moving body drives the manipulator to advance, until object 5 to be grabbed enters strap 13 and activity folder
Between plate 22g；
Step 2, the ambulatory splint 22g is remain stationary, and the preceding shelves cross bar 36c moves right:
Step 2.1, the ambulatory splint 22g is stationary:
It tentatively pulls the input rack gear 23 that the delay lantern ring 21 is driven to move right to the right and is slided until being locked on limit
The left side block 42b, this is in the process since reseting pressuring spring 34 acts on so that the transmission inner casing 22, ambulatory splint 22g are static；
Step 2.2, the preceding shelves cross bar 36c moves right:
Synchronous with step 2.1 to carry out, i.e., when tentatively pulling the input rack gear 23 to the right, the input rack gear 23 drives institute
State input gear 31b, input cone pulley 31c rotation；
The input cone pulley 31c acts on the roller cone pulley 32e and then drives the roller ontology 32c, rectangle jack
32f rotation, the rectangle jack 32f drives the rectangle inserted link 33b, torsion round bar 33a, core bar bevel gear 33c rotation, described
Core bar bevel gear 33c drives the output bevel gear wheel 35c, output gear 35b rotation；
The output gear 35b drives the output rack gear 36a, front vertical pole 36b, front transverse slat 36c to move right, directly
It is resisted against the rack gear blind hole 22d right end to the output rack gear 36a and engages, 5 front-rear direction of object to be grabbed is preceding
Shelves cross bar 36c, outer cover body 11 are closed；
It will be apparent that when the output rack gear 36a is resisted against the rack gear blind hole 22d right end and engages, institute in step 1
It states delay lantern ring 21 to be locked on the left of position limiting slide block 42b or be locked on the left of position limiting slide block 42b just not yet, avoid described
In the case that front transverse slat 36c not yet completely closes strap 13, ambulatory splint 22g front space, the transmission
Inner casing, ambulatory splint 22g begin to move right；
Further, in order to meet the above requirements, institute is driven by rotating the torsion plug 41c, coil body 41b
The position of normality lower limit sliding block 42b can be adjusted by stating position limiting slide block 42b movement.
Step 3, the ambulatory splint 22g moves right, and the preceding shelves cross bar 36c is static:
Step 3.1, the ambulatory splint 22g moves right:
Continuation pulls to the right the input rack gear 23 that the delay lantern ring 21 is driven to continue to move right, the delay lantern ring
21 act on the position limiting slide block 42b and then the transmission inner casing 22, ambulatory splint 22g are driven to overcome 34 active force of reseting pressuring spring
It moves right, the ambulatory splint 22g clamps object 5 to be grabbed with strap 13；
Step 3.2, the preceding shelves cross bar 36c is static:
Synchronous with step 3.1 to carry out, continuation pulls to the right the input rack gear 23, and the input rack gear 23 continues to drive institute
State input gear 31b, input cone pulley 31c rotation；
Since the output rack gear 36a is resisted against the right end locking of the rack gear blind hole 22d, so that the left output wheel
35, core bar 33 is reversed, torsion roller 32 engages；
It skids between the input cone pulley 31c and roller cone pulley 32e.
Further, further include step 4, reset:
The input rack gear 23, delay lantern ring 21 are moved to the left, the reseting pressuring spring 34 acts on the transmission inner casing
22, which follow it, is moved to the left, until the transmission inner casing 22 is resisted against 11 left side of outer cover body；The input rack gear
23, delay lantern ring 21 continues to be moved to the left, and the delay lantern ring 21 is reset to 22 middle part of transmission inner casing；
At the same time, the input rack gear 23 acts on the preceding latch device 3, so that the preceding shelves slide bar 36 is moved to the left
It resets；After the preceding shelves slide bar 36 is moved to the locking of 11 left end of outer cover body, the input cone pulley 31c and roller cone pulley 32e it
Between skid.
Taking the above-mentioned ideal embodiment according to the present invention as inspiration, through the above description, relevant staff is complete
Various changes and amendments can be carried out without departing from the scope of the technological thought of the present invention' entirely.The technology of this invention
Property range is not limited to the contents of the specification, it is necessary to which the technical scope thereof is determined according to the scope of the claim.
Claims (4)
1. a kind of manipulator suitable for warehouse logistics, it is characterised in that: including installing shell (1), clamping device (2), front
Device (3), regulating device (4)；
The installation shell (1) includes:
Outer cover body (11), hollow rectangle body shape；
Lateral slide opening (12) is equipped with two, outer cover body (11) the front end face left-half, the outer cover body (11) rear end
Face left-half is each provided with a lateral slide opening (12)；
Strap (13) is located in the middle part of the outer cover body (11) front end face；
Attaching clamp (14) is located on the right side of the outer cover body (11) rear end face, and the attaching clamp (14) is equipped at least two
Nut jack；
The clamping device (2) includes:
Postpone lantern ring (21), including the rectangle ring body (21a) being slidably located in the outer cover body (11), the rectangle ring body
The front and rear end (21a) is respectively equipped with a lantern ring plate (21b) being only inserted in corresponding lateral slide opening (12)；
It is driven inner casing (22), including the inner casing ontology (22a) being set in the rectangle ring body (21a), the inner casing ontology
(22a) left-half is equipped with transmission inner cavity (22b), and transmission inner cavity (22b) right side central is equipped with to the right perforation inner casing ontology
The rotated through-hole (22c) of (22a), rotated through-hole (22c) inner wall are equipped with through-hole inserted block, transmission inner cavity (22b) right side
First half is equipped with to the right rack gear blind hole (22d), and inner casing ontology (22a) front end face is located at rack gear blind hole (22d) right side
It is additionally provided with and adjusts inner cavity (22e), be equipped with front jack (22f) on the left of transmission inner cavity (22b) front end face, the inner casing ontology
The ambulatory splint (22g) being arranged across corresponding lateral slide opening (12) is additionally provided in the middle part of (22a) front end face；
It inputs rack gear (23), is arranged in left-right direction through the outer cover body (11) right end, input rack gear (23) left end
It is fixedly connected with delay lantern ring (21) the right side back lower place；
The preceding blocking means (3) include:
Right wheel for inputting (31), the right side including being located at the outer cover body (11) inner cavity right end along the vertical direction sets wheel shaft (31a), can
Rotation be located at the right side set on wheel shaft (31a) and with the input gear (31b) of input rack gear (23) transmission connection, concentric
The input cone pulley (31c) being located above the input gear (31b)；
It reverses roller (32), the twisted connecting rod including being located at the outer cover body (11) inner cavity right half part along the longitudinal direction
(32a), the torsion lantern ring (32b) being located in the middle part of the twisted connecting rod (32a), the torsion roller (32) further includes roller ontology
(32c), the roller groove (32d) for being located at roller ontology (32c) outer wall and being rotatably assorted with torsion lantern ring (32b),
It is located at roller ontology (32c) right end and the roller cone pulley (32e), in left-right direction with input cone pulley (31c) transmission connection
Penetrate through the rectangle jack (32f) of roller ontology (32c) setting；
Reverse core bar (33), including be rotatably plugged in the rotated through-hole (22c) torsion round bar (33a), be located at torsion
Turn round bar (33a) right end center and the rectangle inserted link (33b) mating with the rectangle jack (32f), is located at the torsion
The core bar bevel gear (33c) of the left end round bar (33a) also forms and the circular hole inserted block on torsion round bar (33a) outer wall
Mating torsion annular groove (33d)；
Reseting pressuring spring (34) is set on the rectangle inserted link (33b), described reseting pressuring spring (34) one end and the transmission inner casing
(22) abut and the other end with reverse roller (32) abut；
Left output wheel (35), the left side including being located in transmission inner cavity (22b) along the vertical direction are set wheel shaft (35a), be can be rotated
Be located at the left side set output gear (35b) on wheel shaft (35a), be located on the output gear (35b) with one heart and with it is described
The output bevel gear wheel (35c) of core bar bevel gear (33c) transmission connection；
Preceding blocking means (36), including being located at the output rack gear (36a) being driven in inner cavity (22b) in left-right direction, being located at institute
State on the left of output rack gear (36a) front end face and sequentially pass through front jack (22f), the front vertical pole that lateral slide opening (12) is arranged
(36b), the front transverse slat (36c) being located on the right side of front vertical pole (36b) front end；
The regulating device (4) includes:
Active screwed pipe (41), including being located at the first crossbar (41a) for adjusting the left side inner cavity (22e) latter half, can turn
The dynamic coil body (41b) being set on the first crossbar (41) is located at the coil body (41b) right end and passes through and adjusts
Save the torsion plug (41c) of inner cavity (22e) setting；
Driven element (42), including be located in left-right direction it is described adjust inner cavity (22e) first half second crossbar (42a),
The position limiting slide block (42b) being slidably set on the first crossbar (41), the position limiting slide block rear end (42b) are equipped with and institute
State the slave thread that coil body (41b) is spirally connected.
2. a kind of manipulator suitable for warehouse logistics according to claim 1, it is characterised in that: the input rack gear
(23) right end forms knob.
3. a kind of application method of manipulator suitable for warehouse logistics according to claim 2, it is characterised in that: including
Following steps:
Step 1, installation is fixed:
The manipulator is mounted on to the front end face of moving body by the attaching clamp (14)；
Operating moving body drives the manipulator to advance, until object to be grabbed (5) enter strap (13) and activity folder
Between plate (22g)；
Step 2, the ambulatory splint (22g) remain stationary, and the preceding shelves cross bar (36c) moves right:
Step 2.1, the ambulatory splint (22g) is stationary:
It tentatively pulls the input rack gear (23) that the delay lantern ring (21) is driven to move right to the right to slide until being locked on limit
The left side block (42b), this is in the process since reseting pressuring spring (34) act on so that the transmission inner casing (22), ambulatory splint (22g)
It is static；
Step 2.2, the preceding shelves cross bar (36c) moves right:
Synchronous with step 2.1 to carry out, i.e., when tentatively pulling input rack gear (23) to the right, the input rack gear (23) drives institute
State input gear (31b), input cone pulley (31c) rotation；
The input cone pulley (31c) acts on the roller cone pulley (32e) and then the roller ontology (32c), rectangle is driven to insert
Hole (32f) rotation, the rectangle jack (32f) drive the rectangle inserted link (33b), torsion round bar (33a), core bar bevel gear
(33c) rotation, the core bar bevel gear (33c) drive the output bevel gear wheel (35c), output gear (35b) rotation；
The output gear (35b) drives the output rack gear (36a), front vertical pole (36b), front transverse slat (36c) to move right
It is dynamic, until the output rack gear (36a) is resisted against rack gear blind hole (22d) right end and engages, before the object (5) to be grabbed
Rear direction is closed by preceding shelves cross bar (36c), outer cover body (11)；
Step 3, the ambulatory splint (22g) moves right, and the preceding shelves cross bar (36c) is static:
Step 3.1, the ambulatory splint (22g) moves right:
Continuation pulls to the right the input rack gear (23) that the delay lantern ring (21) is driven to continue to move right, the delay lantern ring
(21) it acts on the position limiting slide block (42b) and then the transmission inner casing (22), ambulatory splint (22g) is driven to overcome reseting pressuring spring
(34) active force moves right, and the ambulatory splint (22g) clamps object (5) to be grabbed with strap (13)；
Step 3.2, the preceding shelves cross bar (36c) is static:
Synchronous with step 3.1 to carry out, continuation pulls to the right the input rack gear (23), and the input rack gear (23) continues to drive institute
State input gear (31b), input cone pulley (31c) rotation；
Since output rack gear (36a) is resisted against the right end locking of the rack gear blind hole (22d), so that the left output wheel
(35), core bar (33), torsion roller (32) locking are reversed；
It skids between the input cone pulley (31c) and roller cone pulley (32e).
4. a kind of application method of manipulator according to claim 3, it is characterised in that:
Further include step 4, reset:
The input rack gear (23), delay lantern ring (21) are moved to the left, the reseting pressuring spring (34) acts in the transmission
Shell (22) follows it to be moved to the left, until the transmission inner casing (22) is resisted against the outer cover body (11) left side；It is described
Input rack gear (23), delay lantern ring (21) continue to be moved to the left, and the delay lantern ring (21) is reset in the middle part of transmission inner casing (22)；
At the same time, the input rack gear (23) acts on the preceding latch device (3), so that the preceding shelves slide bar (36) is to moving to left
It is dynamic to reset；After the preceding shelves slide bar (36) is moved to the locking of outer cover body (11) left end, the input cone pulley (31c) and roller are bored
It skids between wheel (32e).
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811270354.2A CN109176574B (en) | 2018-10-29 | 2018-10-29 | Manipulator suitable for warehouse logistics and use method thereof |
| CN202110622903.3A CN113320870B (en) | 2018-10-29 | 2018-10-29 | Object grabbing method for warehouse logistics |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811270354.2A CN109176574B (en) | 2018-10-29 | 2018-10-29 | Manipulator suitable for warehouse logistics and use method thereof |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110622903.3A Division CN113320870B (en) | 2018-10-29 | 2018-10-29 | Object grabbing method for warehouse logistics |
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| CN109176574A true CN109176574A (en) | 2019-01-11 |
| CN109176574B CN109176574B (en) | 2021-07-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110622903.3A Active CN113320870B (en) | 2018-10-29 | 2018-10-29 | Object grabbing method for warehouse logistics |
| CN201811270354.2A Active CN109176574B (en) | 2018-10-29 | 2018-10-29 | Manipulator suitable for warehouse logistics and use method thereof |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110622903.3A Active CN113320870B (en) | 2018-10-29 | 2018-10-29 | Object grabbing method for warehouse logistics |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110092123A (en) * | 2019-05-05 | 2019-08-06 | 国网山东省电力公司日照供电公司 | A kind of self-service clamping handling device and its application method suitable for warehouse |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN113320870A (en) | 2021-08-31 |
| CN113320870B (en) | 2022-08-02 |
| CN109176574B (en) | 2021-07-13 |
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