CN109625926A - A kind of transportation manipulator and its working method of material carrying - Google Patents
A kind of transportation manipulator and its working method of material carrying Download PDFInfo
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- CN109625926A CN109625926A CN201811480141.2A CN201811480141A CN109625926A CN 109625926 A CN109625926 A CN 109625926A CN 201811480141 A CN201811480141 A CN 201811480141A CN 109625926 A CN109625926 A CN 109625926A
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- component
- arm
- support
- conveying robot
- transhipment
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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
- 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
- B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
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- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses the transportation manipulators that a kind of material is carried, belong to advanced manufacture and automatic field, including first material support component, first material conveying robot component, second material conveying robot component and material, the first material conveying robot component and second material conveying robot component are symmetricly set on the two sides of first material support component；Wherein, the first material conveying robot component and second material conveying robot component include pedestal, supporting table, the first lifting driving assembly, the first support frame, first linear module, the first support plate, first material transhipment component, first material transportation manipulator and first material conveying robot.Its is simple and reasonable, is readily produced, high degree of automation, reduces manual labor amount, improves work efficiency, storing amount is big and flexible in application.Working method is simple and easy, and course of work high degree of automation, required manpower is few, improves production efficiency, is suitble to industrial-scale application.
Description
Technical field
The invention belongs to advanced manufacture and automatic field, in particular to a kind of transportation manipulator of material carrying.This hair
A kind of bright working method for further relating to transportation manipulator that material is carried.
Background technique
Since reform and opening-up, national economy rapid growth, scientific and technical innovation, autonomous innovation have become the master of domestic industry development
Stream, China's industry just gradually develop to the direction of intensive style, energy-saving and emission-reduction, low-carbon.Since manipulator is offline on material and raw
The assembling of product product provides very good assist transportation and assembling tool, and achievable weight crawl is carried, overturning, docking, fine tuning angle
The three-dimensional space move loading actions such as degree, thus be widely used in industrial production.Manipulator can substitute the heavy labor of people partially with reality
The mechanization and automation now produced, under the easy manipulation of operator, many complex works of achievable automatic robot, and
Production and use cost are but greatly lowered, while use scope is also extensive, and flexibility and mobility are bigger.
The usually planar manipulator of manual handling or cross beam type that the domestic prior art is carried for bearing, hand labor are strong
Degree is big, under working efficiency.And planar manipulator seems inflexible to a certain extent, operation accuracy and operating efficiency
It is lower.
Summary of the invention
Goal of the invention: in order to overcome the above deficiency, the object of the present invention is to provide a kind of material carry transportation manipulator,
Its structure is simple, and design rationally, is readily produced, high degree of automation, reduces manual labor amount, improves work efficiency, and applies
Flexibly.The present invention also provides a kind of working methods for the transportation manipulator that material is carried, and working principle is simple and easy, the course of work
High degree of automation, required manpower is few, improves production efficiency, is suitble to industrial-scale application.
Technical solution: a kind of transportation manipulator that material is carried, including first material support component, first material carrying implement
Tool hand component, second material conveying robot component and material, the material are arranged in first material support component, and described the
One material carrying machine hand component and second material conveying robot component are symmetricly set on the two sides of first material support component；
Wherein, the first material conveying robot component and second material conveying robot component include pedestal, supporting table, first liter
It drops driving assembly, the first support frame, first linear module, the first support plate, first material and transports component, first material conveyance
Pedestal is arranged in close to the side of first material support component in tool hand and first material conveying robot, the supporting table, described
First lifting driving assembly is arranged in supporting table, and the lower end of first support frame is fixed on the first lifting driving assembly
On upper surface, first support plate is fixed on the first support frame, and the first linear module setting is in the first support
On the lower end surface of plate, the first material conveying robot is arranged in first linear module, and first material handling machinery
Hand can be transported between component in first material support component and first material by first linear module and transport material, and described first
Material transfer component and first material transportation manipulator are respectively provided on the base, and first material transhipment component is located at the first object
Expect between transportation manipulator and supporting table, the first material transportation manipulator first material can be transported the material on component into
Row transhipment.The transportation manipulator that material of the invention is carried is symmetrical arranged the in liftable first material support component two sides
One material carrying machine hand component and second material conveying robot component, can be by the first material support component in middle position
On material, by first material conveying robot component and second material conveying robot component by Material Sorting to two sides goods
On frame or other equipment, while the first material conveying robot component and second material conveying robot component that are arranged can be into
The movement in tri- directions row XYZ, to constantly carry out material transfer.
Further, the transportation manipulator that above-mentioned material is carried, the first lifting driving assembly include pinboard, rise
The lower end surface of pinboard is arranged in drop oil cylinder, one group of guide sleeve, one group of guide post and one group of first sliding block, first sliding block
On, and the first sliding block can slide in supporting table, and the guide sleeve is fixed in the four corners of pinboard upper surface,
The upper end of the guide post is fixed in the four corners of the first support frame lower end surface, and the lower end of guide post is set
Set in guide sleeve, the lifting cylinder is arranged in the middle position of pinboard upper surface, and the upper end of lifting cylinder with
The lower end surface of first support frame connects.In the lifting cylinder lifting process of setting, the first support plate is driven to be gone up and down, thus band
Dynamic first material conveying robot is gone up and down, while by the guide post and guide sleeve of rectangular frame setting, maintaining lifting
The stabilization of process.
Further, the transportation manipulator that above-mentioned material is carried, the supporting table are equipped with two parallel first and slide
Slot, first sliding block is arranged in first sliding groove, and the first sliding block can move in first sliding groove, first sliding block and
The section of first sliding groove is T-type.Sliding slot is set in supporting table, the first lifting driving assembly can be moved along first sliding groove,
To which the material for transporting first material between component and first material transportation manipulator is all transported through.
Further, the transportation manipulator that above-mentioned material is carried, first support frame include one group of first column and
Bottom plate, first column is set as 4, and the first column is arranged in the four corners of bottom plate, and the bottom plate setting exists
On the upper end of guide post, first support plate is arranged on the upper end of the first column, and the first linear module is along
For one support plate length direction between adjacent guide post, the first linear module can drive first material conveying robot
Material is transported between first material support component and first material transhipment component.The support frame of setting can stablize support first
Support plate, first linear module and first material conveying robot.
Further, the transportation manipulator that above-mentioned material is carried, the first material conveying robot include turntable, the
One CCD camera, first material clamp assemblies and the second lifting cylinder, the turntable are connect with first linear module, and described first
CCD camera is arranged in first linear module, and the first material clamp assemblies and the second lifting cylinder are arranged on turntable, institute
The second lifting cylinder is stated to connect with first material clamp assemblies.Material set point is carried out by the first CCD camera, so that it is determined that required
The position for carrying material, enables first material clamp assemblies to clamp or discharge material by the second lifting cylinder.
Further, the transportation manipulator that above-mentioned material is carried, the first material clamp assemblies include fixed clamp
Arm and active grasping arm, the section of the fixed clamping arm is L-type, and one end of fixed clamping arm is equipped with extension, described
Active grasping arm is hinged with extension, and the active grasping arm is equipped with stretch rod, the fixation close to one end of fixed clamping arm
Clamping limb is equipped with first through hole, end of the stretch rod far from active grasping arm extended the far from the end of active grasping arm
One through-hole, second lifting cylinder is connect with the end that stretch rod stretches out first through hole, and the second lifting cylinder can pull
Stretch rod rises or decline, and the lower end of the fixed clamping arm and active grasping arm is wedge shape.Second lifting cylinder is upward
Pull stretch rod, active grasping arm is rotated around with the hinged position of fixed clamping arm, and the lower end of active grasping arm to
The direction of fixed clamping arm is close, so that material is clamped feeding；When blowing, the second lifting cylinder stretches out lower push-and-pull boom, living
Dynamic clamping limb is rotated around with the hinged position of fixed clamping arm, and active grasping arm is far from fixed clamping arm, so that movable
Clamping limb distance between fixed clamping arm increases, so that material be discharged.
Further, the transportation manipulator that above-mentioned material is carried, the first material support component and first material turn
Transporting component includes pedestal, scissors mechanism, upper pallet and pallet, and the lower end of the scissors mechanism is set on the base, described to cut
The upper end of fork mechanism connect with upper pallet, and pallet setting is on upper pallet, and the material setting is on pallet, and described the
Material on the pallet of first material support component can be carried to the pallet of first material transhipment component by one material clamp assemblies
On.First material support component carries out feeding, first material by the lifting of scissors mechanism convenient for first material conveying robot
Scissors mechanism in support component makes upper end material always close to first material conveying robot；First material transports component
Scissors mechanism stretch out in it is high-order when, convenient for from first material handling machinery receiver material on hand, then first material transhipment group
The scissors mechanism of part is contracted to extreme lower position, convenient for the object on first material transportation manipulator clamping first material transhipment component
Material.
Further, the transportation manipulator that above-mentioned material is carried, the pedestal lower end surface of the first material transhipment component
It is equipped with the second sliding block, the pedestal is equipped with second sliding slot, and second sliding block is arranged in second sliding slot, and second is sliding
Block can move in second sliding slot.The second sliding block and second sliding slot being arranged guarantee that first material transhipment component can be with first material
Transportation manipulator synchronizing moving.
Further, the transportation manipulator that above-mentioned material is carried, the first material transportation manipulator include the second line
Property mould group, screw support seat, screw rod, third sliding block, fixing seat, first rotating shaft, the second shaft, manipulator large arm, manipulator are small
Arm, third shaft, the 4th shaft, the 5th shaft, connecting plate, large arm transfer block and first material clamp assemblies, second line
Property mould group setting on the base, the screw support seat is arranged in the second linear mould group, and the screw rod is erected at screw support
On seat, and screw rod can be driven by the first driving motor, and the third sliding block is set on screw rod, and the fixing seat setting exists
On third sliding block, the large arm transfer block is connect by first rotating shaft with fixing seat, and the manipulator large arm passes through the second shaft
It is connect with large arm transfer block, the manipulator large arm is connect by third shaft with mechanical hand arm, and the machinery hand arm is logical
It crosses the 4th shaft to connect with connecting plate, the connecting plate is equipped with the 5th shaft, and the first material clamp assemblies pass through the 5th
Shaft is connect with connecting plate, and the first material clamp assemblies of the first material transportation manipulator can clamp first material transhipment group
Material on part.Use five axis robots in the application, while cooperating first material clamp assemblies, five axis robots can compared with
It is mobile in a wide range of, first material clamp assemblies can be moved to first material by five axis robots and transport the movement of component direction
The second linear mould group to material placement direction, while setting drives five axis robots synchronous with first material transhipment component shifting
It is dynamic.
The present invention also provides a kind of working methods for the transportation manipulator that material is carried, comprising the following steps:
1) pallet with material is placed into first material support component by fork truck, cutting in first material support component
Fork mechanism is in contraction state；
2) the first lifting driving assembly rises；
3) the first linear module driving first on first material conveying robot component and second material conveying robot component
Material clamp assemblies are in the top of material in first material support component；
4) on first material conveying robot component and second material conveying robot component on the first CCD camera scan respectively
The boundary position of material in first material support component；
5) the first lifting driving assembly decline, between fixed clamping arm and active grasping arm insertion material, the second lifting cylinder is opened
It is dynamic to shrink, it pulls stretch rod to be lifted up, so that active grasping arm is rotated to the direction of fixed clamping arm, and material is pressed on
Between fixed clamping arm and active grasping arm；
6) the first lifting driving assembly rises until the material that fixed clamping arm and active grasping arm clamp is higher than first material branch
The height of material on support component；
7) first linear module drives first material clamp assemblies mobile to two sides first material transhipment component direction；
8) the scissors mechanism expansion of first material transhipment component, the first lifting driving assembly decline, until first material clamping group
Material is placed into first material and turned by the pallet on material contact first material transhipment component on part, first material clamp assemblies
It transports on the pallet on component；
9) the first lifting driving assembly rises, and first linear module driving first material clamp assemblies are supported to intermediate first material
Component direction is mobile, repeats step 3) -8), constantly by the material transfer in first material support component to first material transhipment group
On part；
10) scissors mechanism of first material transhipment component is shunk, and first material transportation manipulator clamps first material and transports component
On material place specified location；
11) first material transhipment component is moved along second sliding slot, while the second linear mould group and first material transport component synchronization
Mobile, the material that first material transportation manipulator clamps on first material transhipment component places next specified location.
The working method for the transportation manipulator that material of the present invention is carried, working principle is simple and easy, the course of work
High degree of automation, required manpower is few, improves production efficiency, is suitble to industrial-scale application.
Above-mentioned technical proposal can be seen that be turned the invention has the following beneficial effects: material of the present invention carrying
Manipulator is transported, structure is simple, and design rationally, is readily produced.The high degree of automation for the transportation manipulator that material is carried, work
It is high-efficient, it is flexible in application.The working method for the transportation manipulator that material of the present invention is carried, working principle is simple and easy,
Course of work high degree of automation, required manpower is few, improves production efficiency, is suitble to industrial-scale application.
Detailed description of the invention
Fig. 1 is the structural schematic diagram for the transportation manipulator that material of the present invention is carried；
Fig. 2 is the top view for the transportation manipulator that material of the present invention is carried；
Fig. 3 is the structural schematic diagram of first material conveying robot of the present invention；
Fig. 4 is the structural schematic diagram of first material transportation manipulator of the present invention.
In figure: first material support component 1, pedestal 11, scissors mechanism 12, upper pallet 13, pallet 14, first material are carried
Mechanical arm assembly 2, second material conveying robot component 3, pedestal 31, second sliding slot 311, supporting table 32, first sliding groove 321,
First lifting driving assembly 33, pinboard 331, lifting cylinder 332, guide sleeve 333, guide post 334, the first sliding block 335, first
Support frame 34, the first column 341, bottom plate 342, first linear module 35, the first support plate 36, first material transhipment component 37,
Second sliding block 371, first material transportation manipulator 38, the second linear mould group 381, screw support seat 382, screw rod 383, third are sliding
Block 384, fixing seat 385, first rotating shaft 386, the second shaft 387, manipulator large arm 388, mechanical hand arm 389, third shaft
3810, the 4th shaft 3811, the 5th shaft 3812, connecting plate 3813, large arm transfer block 3814, first material conveying robot
39, turntable 391, the first CCD camera 392, first material clamp assemblies 393, fixed clamping arm 3931, active grasping arm 3932,
Extension 3933, stretch rod 3934, first through hole 3935, the second lifting cylinder 394, material 4.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to is used to explain the present invention, and is not considered as limiting the invention.
In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", " clockwise ", " inverse
The orientation or positional relationship of the instructions such as hour hands " is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of description originally
Invention and simplified description, rather than the device or element of indication or suggestion meaning must have a particular orientation, with specific side
Position construction and operation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include one or more of the features.In the description of the present invention, unless otherwise indicated, the meaning of " plurality " is two
It is a or more than two, unless otherwise restricted clearly.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can be machine
Tool connection, is also possible to be electrically connected；It can be directly connected, two members can also be can be indirectly connected through an intermediary
Connection inside part.For the ordinary skill in the art, above-mentioned term can be understood in this hair as the case may be
Concrete meaning in bright.
In the present invention unless specifically defined or limited otherwise, fisrt feature second feature "upper" or "lower"
It may include that the first and second features directly contact, also may include that the first and second features are not direct contacts but pass through it
Between other characterisation contact.Moreover, fisrt feature includes the first spy above the second feature " above ", " above " and " above "
Sign is right above second feature and oblique upper, or is merely representative of first feature horizontal height higher than second feature.Fisrt feature exists
Second feature " under ", " lower section " and " following " include that fisrt feature is directly below and diagonally below the second feature, or is merely representative of
First feature horizontal height is less than second feature.
Embodiment
The transportation manipulator that material as shown in Figure 1, 2 is carried, including first material support component 1, first material are carried
Mechanical arm assembly 2, second material conveying robot component 3 and material 4, the material 4 are arranged in first material support component 1
On, the first material conveying robot component 2 and second material conveying robot component 3 are symmetricly set on first material support
The two sides of component 1；Wherein, the first material conveying robot component 2 and second material conveying robot component 3 include pedestal
31, supporting table 32, first goes up and down driving assembly 33, the first support frame 34, first linear module 35, the first support plate 36, first
Material transfer component 37, first material transportation manipulator 38 and first material conveying robot 39, the setting of supporting table 32 exist
Close to the side of first material support component 1, the first lifting driving assembly 33 is arranged in supporting table 32 pedestal 31, described
The lower end of first support frame 34 is fixed on the upper surface of the first lifting driving assembly 33, and the fixation of the first support plate 36 is set
It sets on the first support frame 34, the first linear module 35 is arranged on the lower end surface of the first support plate 36, first object
Expect that conveying robot 39 is arranged in first linear module 35, and first material conveying robot 39 passes through first linear module
35 can transport material 4 between first material support component 1 and first material transhipment component 37, and the first material transports component
37 and first material transportation manipulator 38 be arranged on pedestal 31, and first material transhipment component 37 positioned at first material turn
It transports between manipulator 38 and supporting table 32, first material can be transported the object on component 37 by the first material transportation manipulator 38
Material 4 is transported through.In addition, the first lifting driving assembly 33 includes 332, one groups of pinboard 331, lifting cylinder guide sleeves 333, one
Group guide post 334 and one group of first sliding block 335, first sliding block 335 are arranged on the lower end surface of pinboard 331, and the
One sliding block 335 can slide in supporting table 32, and the guide sleeve 333 is fixed at the four corners of 331 upper surface of pinboard
On, the upper end of the guide post 334 is fixed in the four corners of 34 lower end surface of the first support frame, and guide post
334 lower end is arranged in guide sleeve 333, and the middle position of 331 upper surface of pinboard is arranged in the lifting cylinder 332,
And the upper end of lifting cylinder 332 is connect with the lower end surface of the first support frame 34.It is main by the first lifting driving assembly 33
For driving first material conveying robot 39 to rise or decline, to clamp, transport, place material 4.
Since first material conveying robot component 2 and second material conveying robot component 3 are symmetrical arranged, in the first object
Expect upper settable multiple first materials for placing material 4 between conveying robot component 2 and second material conveying robot component 3
Support component 1, therefore the first material conveying robot component 2 and second material conveying robot component 3 being arranged are slidably
Structure, specifically, supporting table 32 is equipped with two parallel first sliding grooves 321, first sliding block 335 is arranged in first sliding groove
In 321, and the first sliding block 335 can move in first sliding groove 321, the section of first sliding block 335 and first sliding groove 321
For T-type.
In addition, first linear module 35 and the first support plate 36 need to be arranged stable support construction, first just can guarantee
The stability that linear mould group 35 is slided in the first support plate 36, therefore, the first support frame 34 includes one group of first 341 He of column
Bottom plate 342, first column 341 is set as 4, and the first column 341 is arranged in the four corners of bottom plate 342, institute
It states bottom plate 342 to be arranged on the upper end of guide post 334, the upper end of the first column 341 is arranged in first support plate 36
On, the first linear module 35 along 36 length direction of the first support plate between adjacent guide post 334, the First Line
Property mould group 35 can drive first material conveying robot 39 between first material support component 1 and first material transhipment component 37
Transport material 4.
First material conveying robot 39 as shown in Figure 3 includes turntable 391, the first CCD camera 392, first material folder
Component 393 and the second lifting cylinder 394 are held, the turntable 391 is connect with first linear module 35, first CCD camera 392
It is arranged in first linear module 35, the first material clamp assemblies 393 and the second lifting cylinder 394 are arranged in turntable 391
On, second lifting cylinder 394 is connect with first material clamp assemblies 393.First material clamp assemblies 393 include fixing clamp
Gripping arm 3931 and active grasping arm 3932, the section of the fixed clamping arm 3931 are L-type, and the one of fixed clamping arm 3931
End is equipped with extension 3933, and the active grasping arm 3932 and extension 3933 are hinged, and the active grasping arm 3932 is close to solid
One end of clamp gripping arm 3931 is equipped with stretch rod 3934, and the fixed clamping arm 3931 is set far from the end of active grasping arm 3932
There is first through hole 3935, the extended first through hole 3935 in end of the stretch rod 3934 far from active grasping arm 3932 is described
Second lifting cylinder 394 is connect with the end that stretch rod 3934 stretches out first through hole 3935, and the second lifting cylinder 394 can be drawn
Dynamic stretch rod 3934 rises or decline, and the lower end of the fixed clamping arm 3931 and active grasping arm 3932 is wedge shape.
In the application, first material support component 1 and first material transhipment component 37 include pedestal 11, scissors mechanism 12,
Upper pallet 13 and pallet 14, the lower end of the scissors mechanism 12 are arranged on the pedestal 11, the upper end of the scissors mechanism 12
It is connect with upper pallet 13, the pallet 14 is arranged on upper pallet 13, and the material 4 is arranged on pallet 14, first object
Material 4 on the pallet 14 of first material support component 1 can be carried to first material transhipment component 37 by material clamping component 393
On pallet 14.11 lower end surface of pedestal that first material transports component 37 is equipped with the second sliding block 371, and the pedestal 31 is equipped with the
Two sliding slots 311, second sliding block 371 is arranged in second sliding slot 311, and the second sliding block 371 can be in second sliding slot 311
It is mobile.Since the material 4 on the pallet 14 of first material support component 1 is constantly taken away by first material conveying robot 39, because
This scissors mechanism 12 constantly rises, so that the material 4 on the pallet 14 of first material support component 1 is in same level position always
It sets, when scissors mechanism 12 extend out to extreme position, the material 4 on the pallet 14 of first material support component 1 only remains last
Layer.However first material transhipment component 37 is to be first in extended position, first material conveying robot 39 all puts material
After the pallet 14 for setting first material transhipment component 37, the scissors mechanism of first material transhipment component 37 is contracted to extreme position,
14 material of pallet that first material transports component 37 is constantly transferred to designated position by first material transportation manipulator 38.
First material transportation manipulator 38 as shown in Figure 4 is five axis robots, and first material transportation manipulator 38 includes
Second linear mould group 381, screw support seat 382, screw rod 383, third sliding block 384, fixing seat 385, first rotating shaft 386, second
Shaft 387, mechanical hand arm 389, third shaft 3810, the 4th shaft 3811, the 5th shaft 3812, connects manipulator large arm 388
Fishplate bar 3813, large arm transfer block 3814 and first material clamp assemblies 393, the second linear mould group 381 are arranged in pedestal 31
On, the screw support seat 382 is arranged in the second linear mould group 381, and the screw rod 383 is erected on screw support seat 382,
And screw rod 383 can be driven by the first driving motor, and the third sliding block 384 is set on screw rod 383, the fixing seat
385 are arranged on third sliding block 384, and the large arm transfer block 3814 is connect by first rotating shaft 386 with fixing seat 385, described
Manipulator large arm 388 is connect by the second shaft 387 with large arm transfer block 3814, and the manipulator large arm 388 is turned by third
Axis 3810 is connect with mechanical hand arm 389, and the machinery hand arm 389 is connect by the 4th shaft 3811 with connecting plate 3813,
The connecting plate 3813 is equipped with the 5th shaft 3812, and the first material clamp assemblies 393 are by the 5th shaft 3812 and even
Fishplate bar 3813 connects, and the first material clamp assemblies 393 of the first material transportation manipulator 38 can clamp first material transhipment
Material 4 on component 37.
When work, based on above mechanism basis, specifically includes the following steps:
1) pallet 14 with material 4 is placed into first material support component 1 by fork truck, first material support component 1
On scissors mechanism 12 be in contraction state；
2) the first lifting driving assembly 33 rises；
3) first linear module 35 on first material conveying robot component 2 and second material conveying robot component 3 drives
First material clamp assemblies 393 are in the top of material 4 in first material support component 1；
4) on first material conveying robot component 2 and second material conveying robot component 3 on the first CCD camera 392 divide
Not Sao Miao in first material support component 1 material 4 boundary position；
5) the first lifting driving assembly 33 declines, and fixed clamping arm 3931 and active grasping arm 3932 are inserted between material 4, and second
The starting of lifting cylinder 394 is shunk, and stretch rod 3934 is pulled to be lifted up, so that active grasping arm 3932 is to fixed clamping arm 3931
Direction rotate, and material 4 is pressed between fixed clamping arm 3931 and active grasping arm 3932；
6) the first lifting driving assembly 33 rises until the material 4 that fixed clamping arm 3931 and active grasping arm 3932 clamp is higher than
The height of material 4 in first material support component 1；
7) first linear module 35 drives first material clamp assemblies 393 mobile to two sides first material transhipment 37 direction of component；
8) scissors mechanism 12 of first material transhipment component 37 is unfolded, and the first lifting driving assembly 33 declines, until first material
The pallet 14 on material contact first material transhipment component 37 on clamp assemblies 393, first material clamp assemblies 393 are by material
4 are placed on the pallet 14 on first material transhipment component 37；
9) the first lifting driving assembly 33 rises, and first linear module 35 drives first material clamp assemblies 393 to centre first
1 direction of material support component is mobile, repeats step 3) -8), the material 4 in first material support component 1 is constantly transported to the
On one material transfer component 37, while material is more and more on first material transhipment component 37, and first material transports component 37
Scissors mechanism 12 is gradually reduced, so that first material transhipment 37 upper end material of component is in first material conveying robot 39 always
Certain distance, and in first material support component 1 material 4 it is fewer and fewer, the scissors mechanism of first material support component 1
12 are gradually increasing；
10) scissors mechanism 12 of first material transhipment component 37 is shunk, and first material transportation manipulator 38 clamps first material and turns
The material 4 transported on component 37 places specified location；
11) first material transhipment component 37 is moved along second sliding slot 311, while the second linear mould group 381 is transported with first material
37 synchronizing moving of component, the material 4 that first material transportation manipulator 38 clamps on first material transhipment component 37 are placed next
Specified location.
The above-mentioned course of work is first material conveying robot component 2 and second material conveying robot component 3 from first
Feeding in material support component 1, to the process of two sides blowing, opposite, it can be pressed from both sides first by first material transportation manipulator 38
Two sides material is taken, material is placed on first material transhipment component 37, the second linear mould group 381 drives first material clamping group
Part 393 is moved along pedestal, while first material transhipment component 37 is moved along pedestal, and whole materials of the same side can be placed into the
On the pallet 14 of one material transfer component 37, first material transhipment component 37 rises to upper end material close to first material carrying implement
Tool hand 39, the scissors mechanism 12 of first material support component 1 extend out to maximum position, and first linear module 35 drives first material
Conveying robot 39 is moved to 14 top of pallet of first material transhipment component 37, the object on clamping first material transhipment component 37
Material, material 4 is placed on the pallet 14 of first material support component 1, and first linear module 35 drives first material carrying implement
Tool hand 39 constantly back and forth carries material, until material carrying finishes, first material transports component 37 as material subtracts during this
It is few constantly to rise, the continuous decline as material increases of first material support component 1.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the principle of the present invention, several improvement can also be made, these improvement also should be regarded as of the invention
Protection scope.
Claims (10)
1. the transportation manipulator that a kind of material is carried, it is characterised in that: removed including first material support component (1), first material
Mechanical arm assembly (2), second material conveying robot component (3) and material (4) are transported, the material (4) is arranged in first material
In support component (1), the first material conveying robot component (2) and second material conveying robot component (3) are symmetrically set
Set the two sides in first material support component (1)；Wherein, the first material conveying robot component (2) and second material are removed
Fortune mechanical arm assembly (3) includes pedestal (31), supporting table (32), the first lifting driving assembly (33), the first support frame (34), the
One linear mould group (35), the first support plate (36), first material transhipment component (37), first material transportation manipulator (38) and the
One material carrying machine hand (39), supporting table (32) setting is in pedestal (31) close to the one of first material support component (1)
Side, first lifting driving assembly (33) are arranged on supporting table (32), and the lower end of first support frame (34) is fixed
On the upper surface of the first lifting driving assembly (33), first support plate (36) is fixed at the first support frame (34)
On, the first linear module (35) is arranged on the lower end surface of the first support plate (36), the first material conveying robot
(39) it is arranged on first linear module (35), and first material conveying robot (39) can by first linear module (35)
Material (4) are transported between first material support component (1) and first material transhipment component (37), the first material transhipment group
Part (37) and first material transportation manipulator (38) are arranged on pedestal (31), and first material transhipment component (37) is located at
Between first material transportation manipulator (38) and supporting table (32), the first material transportation manipulator (38) can be by first material
Material (4) in transhipment component (37) is transported through.
2. the transportation manipulator that material according to claim 1 is carried, it is characterised in that: the first lifting driving assembly
It (33) include pinboard (331), lifting cylinder (332), one group of guide sleeve (333), one group of guide post (334) and one group of first cunning
Block (335), first sliding block (335) is arranged on the lower end surface of pinboard (331), and the first sliding block (335) can prop up
It is slided in support platform (32), the guide sleeve (333) is fixed in the four corners of pinboard (331) upper surface, described to lead
The upper end of Xiang Zhu (334) is fixed in the four corners of the first support frame (34) lower end surface, and guide post (334)
In guide sleeve (333), the lifting cylinder (332) is arranged in the middle position of pinboard (331) upper surface for lower end setting,
And the upper end of lifting cylinder (332) is connect with the lower end surface of the first support frame (34).
3. the transportation manipulator that material according to claim 2 is carried, it is characterised in that: the supporting table (32) is equipped with
Two parallel first sliding grooves (321), the first sliding block (335) setting is in first sliding groove (321), and the first sliding block
(335) it can be moved in first sliding groove (321), the section of first sliding block (335) and first sliding groove (321) is T-type.
4. the transportation manipulator that material according to claim 3 is carried, it is characterised in that: the first support frame (34) packet
One group of first column (341) and bottom plate (342) are included, first column (341) is set as 4, and the first column (341) is set
It sets in the four corners of bottom plate (342), the bottom plate (342) is arranged on the upper end of guide post (334), and described first
Fagging (36) is arranged on the upper end of the first column (341), and the first linear module (35) is long along the first support plate (36)
Direction is spent between adjacent guide post (334), and the first linear module (35) can drive first material conveying robot
(39) material (4) are transported between first material support component (1) and first material transhipment component (37).
5. the transportation manipulator that material according to claim 4 is carried, it is characterised in that: the first material handling machinery
Hand (39) includes turntable (391), the first CCD camera (392), first material clamp assemblies (393) and the second lifting cylinder
(394), the turntable (391) connect with first linear module (35), and the first CCD camera (392) setting is linear first
In mould group (35), the first material clamp assemblies (393) and the second lifting cylinder (394) are arranged on turntable (391), described
Second lifting cylinder (394) is connect with first material clamp assemblies (393).
6. the transportation manipulator that material according to claim 5 is carried, it is characterised in that: the first material clamp assemblies
It (393) include fixed clamping arm (3931) and active grasping arm (3932), the section of the fixed clamping arm (3931) is L-type,
And one end of fixed clamping arm (3931) is equipped with extension (3933), the active grasping arm (3932) and extension (3933)
Hingedly, the active grasping arm (3932) is equipped with stretch rod (3934) close to the one end of fixed clamping arm (3931), the fixation
Clamping limb (3931) is equipped with first through hole (3935) far from the end of active grasping arm (3932), and the stretch rod (3934) is separate
The extended first through hole in end (3935) of active grasping arm (3932), second lifting cylinder (394) and stretch rod
(3934) the end connection of first through hole (3935) is stretched out, and the second lifting cylinder (394) can pull on stretch rod (3934)
It rises or declines, the lower end of the fixed clamping arm (3931) and active grasping arm (3932) is wedge shape.
7. the transportation manipulator that material according to claim 6 is carried, it is characterised in that: the first material support component
(1) and first material transhipment component (37) includes pedestal (11), scissors mechanism (12), upper pallet (13) and pallet (14), described
The lower end of scissors mechanism (12) is arranged on pedestal (11), and the upper end and upper pallet (13) of the scissors mechanism (12) are even
It connects, the pallet (14) is arranged on upper pallet (13), and the material (4) is arranged on pallet (14), the first material folder
The material (4) on the pallet (14) of first material support component (1) can be carried to first material transhipment component by holding component (393)
(37) on pallet (14).
8. the transportation manipulator that material according to claim 7 is carried, it is characterised in that: the first material transports component
(37) pedestal (11) lower end surface is equipped with the second sliding block (371), and the pedestal (31) is equipped with second sliding slot (311), described
Second sliding block (371) setting is in second sliding slot (311), and the second sliding block (371) can move in second sliding slot (311).
9. the transportation manipulator that material according to claim 8 is carried, it is characterised in that: the first material transhipment is mechanical
Hand (38) includes the second linear mould group (381), screw support seat (382), screw rod (383), third sliding block (384), fixing seat
(385), first rotating shaft (386), the second shaft (387), manipulator large arm (388), mechanical hand arm (389), third shaft
(3810), the 4th shaft (3811), the 5th shaft (3812), connecting plate (3813), large arm transfer block (3814) and first material
Clamp assemblies (393), the second linear mould group (381) are arranged on pedestal (31), and screw support seat (382) setting exists
On second linear mould group (381), the screw rod (383) is erected on screw support seat (382), and screw rod (383) can pass through
The driving of first driving motor, the third sliding block (384) are set on screw rod (383), and the fixing seat (385) is arranged in third
On sliding block (384), the large arm transfer block (3814) is connect by first rotating shaft (386) with fixing seat (385), the manipulator
Large arm (388) is connect by the second shaft (387) with large arm transfer block (3814), and the manipulator large arm (388) passes through third
Shaft (3810) is connect with mechanical hand arm (389), and the machinery hand arm (389) passes through the 4th shaft (3811) and connecting plate
(3813) it connects, the connecting plate (3813) is equipped with the 5th shaft (3812), and the first material clamp assemblies (393) pass through
5th shaft (3812) is connect with connecting plate (3813), the first material clamp assemblies of the first material transportation manipulator (38)
(393) material (4) in first material transhipment component (37) can be clamped.
10. the working method for the transportation manipulator that material according to claim 9 is carried, it is characterised in that: including following
Step:
1) pallet (14) with material (4) is placed on first material support component (1) by fork truck, first material support
Scissors mechanism (12) on component (1) is in contraction state；
2) the first lifting driving assembly (33) rises；
3) first linear module on first material conveying robot component (2) and second material conveying robot component (3)
(35) driving first material clamp assemblies (393) is in the top of material (4) on first material support component (1)；
4) on first material conveying robot component (2) and second material conveying robot component (3) on the first CCD camera
(392) boundary position of material (4) on first material support component (1) is scanned respectively；
5) the first lifting driving assembly (33) decline, fixed clamping arm (3931) and active grasping arm (3932) insertion material (4)
Between, the second lifting cylinder (394) starting is shunk, and pulls stretch rod (3934) to be lifted up, so that active grasping arm (3932)
It is rotated to the direction of fixed clamping arm (3931), and material (4) is pressed on fixed clamping arm (3931) and active grasping arm
(3932) between；
6) the first lifting driving assembly (33) rises until the object that fixed clamping arm (3931) and active grasping arm (3932) clamp
Expect that (4) are higher than the height of material (4) on first material support component (1)；
7) first linear module (35) driving first material clamp assemblies (393) transports component (37) direction to two sides first material
It is mobile；
8) scissors mechanism (12) expansion of first material transhipment component (37), the first lifting driving assembly (33) decline, until the
The pallet (14) in material (4) contact first material transhipment component (37) on one material clamp assemblies (393), first material folder
It holds on the pallet (14) that material (4) is placed into first material transhipment component (37) by component (393)；
9) the first lifting driving assembly (33) rises, and first linear module (35) drives first material clamp assemblies (393) in
Between first material support component (1) direction it is mobile, repeat step 3) -8), constantly by the material on first material support component (1)
(4) it is transported in first material transhipment component (37)；
10) scissors mechanism (12) of first material transhipment component (37) is shunk, first material transportation manipulator (38) clamping first
Material (4) on material transfer component (37) places specified location；
11) first material transhipment component (37) is mobile along second sliding slot (311), while the second linear mould group (381) and the first object
Material transhipment component (37) synchronizing moving, first material transportation manipulator (38) clamp the material in first material transhipment component (37)
(4) next specified location is placed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811480141.2A CN109625926A (en) | 2018-12-05 | 2018-12-05 | A kind of transportation manipulator and its working method of material carrying |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811480141.2A CN109625926A (en) | 2018-12-05 | 2018-12-05 | A kind of transportation manipulator and its working method of material carrying |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109625926A true CN109625926A (en) | 2019-04-16 |
Family
ID=66071384
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811480141.2A Withdrawn CN109625926A (en) | 2018-12-05 | 2018-12-05 | A kind of transportation manipulator and its working method of material carrying |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109625926A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113275401A (en) * | 2021-07-22 | 2021-08-20 | 山东柏源技术有限公司 | Drawing equipment for pipe machining |
| CN114408812A (en) * | 2021-12-30 | 2022-04-29 | 黄冈市津志家电科技有限公司 | Intelligent material conveying equipment |
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| CN108621120A (en) * | 2018-07-09 | 2018-10-09 | 薛敏强 | A kind of conveying machinery arm of Multifunctional rotary displacement that capableing of branch's feeding |
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|---|---|---|---|---|
| DE3637114A1 (en) * | 1986-10-31 | 1988-05-05 | Rupert App Gmbh & Co | Above-floor conveying system |
| DE4344299A1 (en) * | 1993-12-23 | 1995-06-29 | Knauer Maschf Gmbh | Machine for transferring stones ready for transporting |
| CN201291457Y (en) * | 2008-11-06 | 2009-08-19 | 苏州工业职业技术学院 | Mechanical arm for carrying |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113275401A (en) * | 2021-07-22 | 2021-08-20 | 山东柏源技术有限公司 | Drawing equipment for pipe machining |
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| CN114408812A (en) * | 2021-12-30 | 2022-04-29 | 黄冈市津志家电科技有限公司 | Intelligent material conveying equipment |
| CN114408812B (en) * | 2021-12-30 | 2024-01-09 | 黄冈市津志家电科技有限公司 | Intelligent material conveying equipment |
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Application publication date: 20190416 |
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