CN109677905A - A kind of manipulator and method for carrying of intelligent material conveying - Google Patents
A kind of manipulator and method for carrying of intelligent material conveying Download PDFInfo
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- CN109677905A CN109677905A CN201811473433.3A CN201811473433A CN109677905A CN 109677905 A CN109677905 A CN 109677905A CN 201811473433 A CN201811473433 A CN 201811473433A CN 109677905 A CN109677905 A CN 109677905A
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- manipulator
- mechanical
- bottom end
- palm
- oil cylinder
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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
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
Abstract
The invention discloses a kind of manipulator of intelligent material conveying and method for carrying, manipulator includes mechanical handing hand, mechanical handing hand includes the first support arm, second extending arm, the machinery palm and four refers to grabbing device, first support arm is connected with each other by articulated shaft and the second extending arm, second extending arm is connected by Fan Zhang mechanism with the machinery palm, machinery palm bottom end is connected by four axis synchronous drive mechanisms with four finger grasping mechanisms, method includes near walking floor truck walking to material, first support arm, second extending arm, the machinery palm and four refers to that grabbing device cooperates, material is picked up, material is sent to designated place by trolley and manipulator cooperation, unclamp material, crawl point is returned to continue to grab material, the stretching, extension oil cylinder of second extending arm can also extend, enable mechanical grasping end rapidly close to material to extend the length of manipulator , the crawl efficiency and accuracy rate of material are high, and structure is simple, at low cost, and material is not easy to be pressed from both sides bad, and transported material is more stable and reliable.
Description
Technical field
The present invention relates to intelligent haulage equipment field, the manipulator and method for carrying of specially a kind of intelligent material conveying.
Background technique
In current material conveyance equipment, it can be divided into large-sized object and to small article.For small article, again
It can be divided into and be hardly damaged and two types easy to damage.In production handling process between, traditional equipment is tended not to, and is met
The requirement of article easy to damage, because of dynamics, precision of the article easy to damage to haulage equipment.There is stringent control in track, so
Enterprise is often by the way of manual handling.Although manual handling guarantees the safety of rapid wear object, this mode of transport is past
It is costly toward low efficiency, it hinders enterprise to realize automation and improves itself competitiveness.
But with the week of manipulator, completely new change is brought on mode of transport to fragile goods.Manipulator is flexible and changeable,
Accuracy profundity is liked by enterprise.The traditional mode of transport of the positive changer of manipulator.Manipulator is one that developed recently gets up
Kind high-tech automated handling equipment, it can complete the various job tasks with it by programming, wherein grabbing mechanical mass
Hand is exactly a kind of more typical manipulator.
The manipulator of existing intelligence haulage equipment has the following deficiencies:
(1) in logistics express delivery handling process, since cargo size changes greatly, and manipulator stock size all immobilizes
, therefore the cargo within the scope of certain fixed dimensions can only be grabbed, it is just needed to change if encountering the cargo bigger than manipulator bigger
The manipulator of size grabs, and the cargo type that manipulator can grab is less, need to shift and convey the cargo or object of various sizes
When material, it is necessary to which a variety of manipulators grab respectively, and Robot Type is more, increase material cost of transfer；
(2) manipulator generally uses metal to make, therefore rigidity is larger, when manipulator clamping material is tighter, folder bad object easily occurs
The problems such as expecting or make material deformation, skidding, influences quality of material, if clamping force is excessively loose, material easily falls to make from mechanical rubber sleeve
At the consequence for carrying failure, handling efficiency is influenced.
Summary of the invention
In order to overcome the shortcomings of prior art, the present invention provides manipulator and the carrying side of a kind of intelligent material conveying
The stretching, extension oil cylinder of method, the second extending arm can also extend, so that the length for extending manipulator enables mechanical grasping end to approach rapidly
Material, Fan Zhang mechanism improve the crawl efficiency and accuracy rate of material, and four axis driving mechanisms are driven simultaneously by second motor
Dynamic four mechanical fingers clamp material, and material clamping is high-efficient, and structure is simple, and at low cost, mechanical finger is extending to be shortened, can be to not
The material of similar shape and height is clamped, and rubber suction cups can not only play the role of auxiliary clamp material, and material is not easy to be pressed from both sides
Bad, the transport of material is more steady reliable, can effectively solve the problem of background technique proposes.
The technical solution adopted by the present invention to solve the technical problems is:
A kind of manipulator and method for carrying of intelligent material conveying, the present invention provides a kind of manipulator of intelligent material conveying and
Method for carrying, including the mechanical handing hand being mounted on walking floor truck, the mechanical handing hand includes the first support arm, the
Two extending arms, the mechanical palm and four refer to grabbing device, and first support arm bottom end is mutually interconnected by articulated shaft with the second extending arm
It connects；
Second extending arm include arm set and be mounted on arm set in stretching, extension oil cylinder, extension oil cylinder bottom end is fixedly connected with
Mounting plate, the mounting plate bottom end are connected by Fan Zhang mechanism with the machinery palm；
The mechanical palm bottom end is connected by four axis synchronous drive mechanisms with four finger grasping mechanisms, and described four refer to grasping mechanism packet
Four cylindrical sleeves for being located at mechanical palm bottom end are included, telescopic oil cylinder, the telescopic oil cylinder bottom end installation are installed in the cylindrical sleeve
There is mechanical finger.
Further, the articulated shaft is movably arranged on the first support arm bottom end, and the fixed company of articulated shaft and arm set top
It is connected together, states and be equipped with pivoted arm driving mechanism on the right side of articulated shaft.
Further, the pivoted arm driving mechanism includes the first motor being located on the right side of articulated shaft and is mounted in articulated shaft
The driven gear in portion, the output shaft of the first motor are connected with driving gear, and the driving gear is mutually nibbled with driven gear
It closes.
Further, the Fan Zhang mechanism includes the center-pole for being vertically mounted on mounting plate bottom center, the center-pole
Side set there are four stretch oil cylinder, the stretching oil cylinder top is mounted on mounting plate bottom end, four drawing oils by oil cylinder ear
The axis of cylinder is symmetrical about center-pole, and the outer sheath for stretching oil cylinder is equipped with buffer spring, stretches the bottom of oil cylinder and center-pole
End, which is respectively connected with, turns ball, and there are five multi-directional ball groove seats for the machinery palm installation, and the bottom end for turning ball is plugged in universal ball groove
In ball groove inside seat.
Further, the mechanical palm bottom surface is equipped with four sliding slots, and the four axis synchronous drive mechanism includes passing through motor
The sliding block that shell is mounted on the second motor of mechanical palm bottom center and is plugged in sliding slot, the output shaft on second motor top
Taper master gear is installed, there are four tapers for the engagement of taper master gear top side from gear, and the taper is solid on the inside of gear
Dingan County is equipped with screw rod, and the screw rod is movably arranged on mechanical palm bottom end, the sliding block bottom end and cylindrical sleeve top by bearing block
It is fixed together, and screw is installed inside sliding block, the screw matches with screw rod and screw is set in the outer of screw rod
Side.
Further, the mechanical finger side is equipped with several rubber suction cups, and middle airport, institute are equipped with inside mechanical finger
It states middle airport and is connected by suction tank with rubber suction cups, and middle airport top side is connected with micro-suction pump by hose,
The micro-suction pump is mounted on mechanical palm top surface.
Further, the mechanical palm is equipped with the slot that several permission hoses slide in it, and hose is plugged in slot
Interior portion outboard is also arranged with protection metal pipe.
Further, the mechanical finger bottom end, which also tilts, is connected with electric telescopic rod, and the axis of mechanical finger is stretched with electronic
The axis angle of contracting bar is 90-150 °, and the electric telescopic rod bottom end is connected with square block, and the square block is connected with shovel piece.
In addition, the present invention also provides a kind of method for carrying of intelligent material conveying manipulator, the step of Manipulator Transportation material
It is rapid as follows:
S100, walking floor truck are first walked near material under the control of the controller, after the crawl range for reaching manipulator,
Floor truck pause of walking is walked；
S200, the first support arm, the second extending arm, the mechanical palm and four refer to that grabbing device cooperates, and material are picked up, then machine
Tool is raised to settling position pause on hand, and material will not drop out manipulator at this time；
S300, the walking floor truck material transportation that grab manipulator to designated position, manipulator release material, then walk
Material place is grabbed in floor truck return, is continued to grab material, be moved in circles back and forth.
Further, the step of material being grabbed is as follows:
After S201, walking floor truck reach material place to be handled, driving backspin of second extending arm in pivoted arm driving mechanism
Proper angle is gone to, makes the mechanical palm towards material to be grabbed, then the second extending arm is extended close to material；
S202, Fan Zhang mechanism adjust the bottom surface direction of the mechanical palm, make mechanical palm face material, then telescopic oil cylinder starts, and makes four
A mechanical finger is located at four faces on the outside of material, and keeps the bottom end height of shovel piece lower than material bottom end height；
S203, four axis synchronous drive mechanisms of starting make four mechanical axis directions for being directed toward the mechanical palm, mechanical finger gradually holdfast
Material, and electric telescopic rod extends at this time, holds four shovel pieces by the bottom of material, prevents material from falling；
S204, the starting of pivoted arm driving mechanism, rise material, so that the material in transportational process be made not encounter barrier.
Compared with prior art, the beneficial effects of the present invention are:
(1) the second extending arm of the invention can not only be rotated using articulated shaft as axis around the first support arm, to make manipulator
Grasping end alignment material is to keep material crawl position more accurate, and the stretching, extension oil cylinder of the second extending arm can also extend, thus
The length for extending manipulator enables mechanical grasping end rapidly close to material, to considerably increase manipulator crawl material
Efficiency.
(2) design of Fan Zhang mechanism can not only make the mechanical palm quickly rotate to face material, to improve material
Efficiency and accuracy rate being grabbed, and during material transportation, the turning mechanical palm can make material keep optimal transport posture transport,
It ensure that the stability and quality of material.
(3) four axis driving mechanisms of the invention drive four mechanical fingers to clamp material simultaneously by second motor, protect
Clamping synchronism have been demonstrate,proved, has improved clamping efficiency, and reduce driving motor, structure is simple, and it is at low cost, and telescopic oil cylinder makes machine
Tool refer to it is extending shorten, the material of different shape and height can not only be clamped, can be to various shapes and type of volume
Material clamped, practicability is high, and when telescopic oil cylinder extends mechanical finger can make to clamp range and increase, to make mechanical finger
Multiple materials being stacked can be clamped simultaneously, to substantially increase materials moving efficiency.
(4) rubber suction cups of the invention can not only play the role of auxiliary clamp material, and can provide elastic buffer power and make
Material be not easy to be pressed from both sides it is bad, also offer stiction and suction make material be not easy rotate or slide, to keep material more stable solid
Fixed, material will not deform because clamping force is excessive, skid, fall, and also reduce the vibration force that material is passed to when trolley vibration,
Improve material transportation quality.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is that machinery of the invention slaps the schematic diagram of the section structure of bowing；
Fig. 3 is four axis grabbing device schematic cross-sectional views of the invention；
Fig. 4 is that the mechanical palm of the invention faces upward the schematic diagram of the section structure.
Figure label:
1- mechanical handing hand；The first support arm of 2-；The second extending arm of 3-；The 4- machinery palm；5- tetra- refers to grabbing device；6- turns over palm machine
Structure；Tetra- axis synchronous drive mechanism of 7-；8- pivoted arm driving mechanism；9- rubber suction cups；
31- arm set；32- stretches oil cylinder；33- articulated shaft；34- mounting plate；
41- sliding slot；42- slot；
51- cylindrical sleeve；52- telescopic oil cylinder；53- mechanical finger；54- electric telescopic rod；55- square block；56- shovel piece；Air in 57-
Hole；58- suction tank；
61- center-pole；62- stretches oil cylinder；63- oil cylinder ear；64- buffer spring；65- turns ball；66- multi-directional ball groove seat；
The second motor of 71-；72- sliding block；73- taper master gear；74- taper is from gear；75- screw rod；76- screw；
81- first motor；82- driven gear；83- driving gear；
91- hose；92- micro-suction pump；93- protection metal pipe.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
As shown in Figures 1 to 4, the present invention provides a kind of manipulator of intelligent material conveying and method for carrying, including peace
Mechanical handing hand 1 on walking floor truck, mechanical handing hand 1 include the first support arm 2, the second extending arm 3, the mechanical palm
4 and four refer to that grabbing device 5, the first support arm 2 are located at top, and top and the walking floor truck of the first support arm 2 directly connect
It is connected together, the control device on trolley can control support arm lifting or rotation.First support arm 2, which is played, grabs material for mechanical arm
Pressure be transferred on more stable floor truck, thus make material carry it is more stable.
First support arm, 2 bottom end is connected with each other by articulated shaft 33 and the second extending arm 3.Articulated shaft 33 is movably arranged on
One support arm, 2 bottom end, and articulated shaft 33 is fixed together with arm set top, is stated and is equipped with pivoted arm driving machine on the right side of articulated shaft 33
Structure 8.Pivoted arm driving mechanism 8 includes the first motor 81 for being located at 33 right side of articulated shaft and the driven tooth for being mounted on 33 middle part of articulated shaft
Wheel 82, the output shaft of first motor 81 are connected with driving gear 83, and driving gear 83 and driven gear 82 are intermeshed.Second stretches
Swing arm 3 includes the stretching, extension oil cylinder 32 that arm covers 31 and is mounted in arm set 31, and stretching, extension 32 bottom end of oil cylinder is fixedly connected with mounting plate 34.
8 working principle of pivoted arm driving mechanism are as follows: when first motor 81 starts, motor is rotated with driving gear 83,
Driving gear 83 is rotated with driven gear 82, so that articulated shaft 33 be made to rotate with the second extending arm 3, second is adjusted at this time
The rotation angle of extending arm 3, makes the extending direction of extending arm 3 be towards the direction of material to be grabbed, to save movement, saves
Mechanical arm improves Manipulator Transportation efficiency close to the adjustment time of material.
Preferably, the second extending arm 3 can not only be that axis is rotated around the first support arm 2 with articulated shaft 33, to make machine
The grasping end alignment material of tool hand is to keep material crawl position more accurate, and the stretching, extension oil cylinder 32 of the second extending arm 3 can also
Elongation, to extend the length of manipulator, enables mechanical grasping end rapidly close to material, grabs to considerably increase manipulator
Take the efficiency of material.
34 bottom end of mounting plate is connected by Fan Zhang mechanism 6 with the machinery palm 4, and Fan Zhang mechanism 6 includes being vertically mounted on installation
The center-pole 61 of 34 bottom center of plate, center-pole 61 is motionless, and the machinery palm 4 is revolved with the ball 65 that turns of 61 bottom end of center-pole for fulcrum
Turn, ensure that the stability of mechanical 4 rotation of the palm.The side of center-pole 61 is set there are four oil cylinder 62 is stretched, and stretches 62 top of oil cylinder
It is mounted on 34 bottom end of mounting plate by oil cylinder ear 63, the axis of four stretching oil cylinders 62 is symmetrical about center-pole 61, drawing oil
The axis of cylinder 62 is parallel with the axis of center-pole 61, what the axis of the two neighboring axis for stretching oil cylinder 62 and center-pole 61 formed
Face is mutually perpendicular to, and the axis of two axis of two opposite stretching oil cylinders 62 and center-pole 61 is in the same plane.In this way
When two opposite stretching oil cylinders, 62 1 cylinder piston rods extend a cylinder piston rod shortening every time, it just can make machinery
The palm 4 is overturn in solid space towards some direction, more stable.
Stretch oil cylinder 62 outer sheath be equipped with buffer spring 64, the top and bottom end of buffer spring 64 respectively with mounting plate
34 and 4 contact of the mechanical palm, reduce the vibration force of the mechanical palm 4 because the vibration of travelling bogie be transferred to the second extending arm 3 when
It waits by 64 cushion effect vibratory forces of buffer spring, so 4 Oscillation Amplitudes of the mechanical palm are smaller, to keep the material in transport figure more steady
It is fixed, vibration is alleviated to the extent of damage of material, greatly ensure that the clamping force of manipulator and the intact degree of material.
The bottom end of stretching oil cylinder 62 and center-pole 61, which is respectively connected with, turns ball 65, and there are five universal ball grooves for installation on the machinery palm 4
Seat 66, the bottom end for turning ball 65 is plugged in the ball groove inside multi-directional ball groove seat 66, and turning ball 65 can be in multi-directional ball groove seat 66 freely
When the piston rod of rotation, in this way stretching oil cylinder 62 elongates or shortens, the machinery palm 4 can be with rotation, and rotary resistance is smaller.
It is coordinate with center-pole 61 for convenience of description, four drawings in 61 left side of center-pole, right side, front side, rear side will be located at
It stretches oil cylinder 62 and is successively named as left oil cylinder, right oil cylinder, preceding oil cylinder, rear oil cylinder, the axis of left oil cylinder, center-pole 61 and right oil cylinder three
In the same plane, the axis of 61 three of preceding oil cylinder, rear oil cylinder and center-pole is also in the same plane for line.
Fan Zhang mechanism 6 promotes the principle of mechanical 4 overturning of the palm as follows:
(1) if desired the left side bottom surface of the mechanical palm 4 is flipped up when raising, and the piston rod of left oil cylinder shortens, the piston of right oil cylinder
Bar elongation, other two oil cylinder are failure to actuate, and the mechanical palm 4 rotates clockwise at this time, and the left side of the machinery palm 4 is lifted, under the height of right side
Drop, so that the mechanical palm 4 be enable preferably to grab the material for being located at 4 lower lefts of the mechanical palm；
(2) if desired the right side bottom surface of the mechanical palm 4 is flipped up when raising, and the piston rod of right oil cylinder shortens, the piston of left oil cylinder
Bar elongation, other two oil cylinder are failure to actuate, and the mechanical palm 4 rotates clockwise at this time, and the right side of the machinery palm 4 is lifted, under the height of left side
Drop, so that the mechanical palm 4 be enable preferably to grab the material for being located at 4 lower rights of the mechanical palm；
(3) if desired the front side bottom surface of the mechanical palm 4 is flipped up when raising, and the piston rod of preceding oil cylinder shortens, the piston of rear oil cylinder
Bar elongation, other two oil cylinder are failure to actuate, and the front side of the machinery palm 4 is lifted, posterior height decline；
(4) if desired the rear side bottom surface of the mechanical palm 4 is flipped up when raising, and the piston rod of rear oil cylinder shortens, the piston of preceding oil cylinder
Bar elongation, other two oil cylinder are failure to actuate, and the rear side of the machinery palm 4 lifts, front height decline.
Preferably, the design of Fan Zhang mechanism 6 can not only make the mechanical palm 4 quickly rotate to face material, to improve
The crawl efficiency and accuracy rate of material, and during material transportation, the turning mechanical palm 4 can make material keep optimal transport
Posture transport, ensure that the stability and quality of material.
Machinery 4 bottom ends of the palm are connected by four axis synchronous drive mechanisms 7 with four finger grasping mechanisms 5, and 4 bottom surfaces of the machinery palm are equipped with
Four sliding slots 41, four axis synchronous drive mechanisms 7 include 71 He of the second motor that 4 bottom centers of the mechanical palm are mounted on by motor casing
The sliding block 72 being plugged in sliding slot 41, the output shaft on 71 top of the second motor are equipped with taper master gear 73, taper master gear 73
There are four tapers for top side engagement from gear 74, and the axis and taper of taper master gear 73 are mutually perpendicular to from the axis of gear 74.
Taper is fixedly installed with screw rod 75 on the inside of gear 74, and screw rod 75 is movably arranged on 4 bottoms of the mechanical palm by bearing block
It holds, bearing is installed in bearing block, bearing is set in outside screw rod 75, so that screw rod 75 is rotated freely but cannot be controlled or anteroposterior position
It moves.72 bottom end of sliding block is fixed together with 51 top of cylindrical sleeve, and screw 76 is equipped with inside sliding block 72, screw 76 and silk
Bar 75 matches and screw 76 is set in the outside of screw rod 75.
Four finger grasping mechanisms 5 include four cylindrical sleeves 51 for being located at 4 bottom ends of the mechanical palm, and flexible oil is equipped in cylindrical sleeve 51
Cylinder 52, cylindrical sleeve 51 are the mounting shell of telescopic oil cylinder 52, and 52 bottom end of telescopic oil cylinder is equipped with mechanical finger 53.
Four axis driving mechanisms 7 drive four sliding blocks 72 to slide and four mechanical fingers 53 are driven to firmly grasp the process of material side such as
Under:
It is located at four mechanical fingers 53 on the outside of material, the starting of telescopic oil cylinder 52 extends mechanical finger 53, to make material
In the crawl space formed into four mechanical fingers 53.Then starting the second motor 71, motor drives taper master gear 73 to rotate,
Taper master gear 73 drives four tapers to rotate simultaneously from gear 74, at this time the synchronized rotation simultaneously of four screw rods 75, because four
Sliding block 72 and four screws 76 can only slide in sliding slot 41, thus screw 76 under the drive of screw rod 75 to the left, to the right or
Forward, it moves backward, four sliding blocks 72 are towards the center position displacement of the machinery palm at this time, and four sliding blocks 72 drive flexible oil at this time
Cylinder 52 and mechanical finger 53 are displaced towards the centre of the palm, i.e., four mechanical fingers 53 shrink clamping space, to slowly clamp material.
Preferably, by second motor 71, four mechanical fingers 53 of driving clamp material to four axis driving mechanisms 7 simultaneously,
It ensure that clamping synchronism, improve clamping efficiency, and reduce driving motor, structure is simple, and it is at low cost, and telescopic oil cylinder 52
Make mechanical finger 53 is extending to shorten, the material of different shape and height can not only be clamped, it can be to various shapes and body
The material of product type is clamped, and practicability is high, and telescopic oil cylinder 52 makes mechanical finger 53 that can make to clamp range increase when extending, from
And mechanical finger 53 is enable to clamp multiple materials being stacked simultaneously, to substantially increase materials moving efficiency.
53 side of mechanical finger is equipped with several rubber suction cups 9, and middle airport 57, middle airport are equipped with inside mechanical finger 53
57 are connected by suction tank 58 with rubber suction cups 9, and 57 top side of middle airport is connected with micro-suction pump 92 by hose 91,
Micro-suction pump 92 is mounted on 4 top surfaces of the mechanical palm.91 tip portion of hose is fixed on left side and the column of sliding block 72 by pipe thread
The outside of shape set 51, so that hose 91 will not touch screw rod 75 when moving mechanical finger 53.
The machinery palm 4 is equipped with the slot 42 that several permission hoses 91 slide in it, and there are flexible for the bottom end of hose 91
Length, i.e., regardless of mechanical finger 53 rises or falls, 91 total energy of hose keeps stablizing conveying air pressure, to guarantee the suction of sucker.
The portion outboard that hose 91 is plugged in slot 42 is also arranged with protection metal pipe 93, and protection metal pipe 93 can protect hose 91 to exempt from
By the frictional force of slot 42, make hose 91 will not gas leakage.
Preferably, after mechanical finger 53 clamps material, close to material, rubber suction cups 9 can not only for the side of rubber suction cups 9
There is provided elastic buffer power makes material be not easy to be pressed from both sides bad, and rubber suction cups 9 can also provide stiction and material is made to be not easy to rotate or sliding
It is dynamic, along with the starting of micro-suction pump 92 absorbs air, to make negative pressure successively from hose 91, middle airport 57, suction tank
58 reach in each sucker, to make each sucker that the side of material tightly be sucked, to make the more stable fixation of material, remove
Material during fortune will not deform because clamping force is excessive, skid, fall, and pass to material when also reducing trolley vibration
Vibration force improves material transportation quality.
53 bottom end of mechanical finger, which also tilts, is connected with electric telescopic rod 54, and the axis of mechanical finger 53 and electric telescopic rod 54
Axis angle is 90-150 °, and 54 bottom end of electric telescopic rod is connected with square block 55, and square block 55 is connected with shovel piece 56.Mechanical finger
After 53 clamp the side of material, the elongation of electric telescopic rod 54 makes shovel piece 56 hold the bottom surface of material, to make material will not be from four
It is slid between a mechanical finger 53, has taken the gravity of a part of material, so that the clamping force and pressure of mechanical finger 53 are alleviated, from
And make material be not easy to be pressed from both sides it is bad.
In addition, the present invention also provides a kind of method for carrying of intelligent material conveying manipulator, the step of Manipulator Transportation material
It is rapid as follows:
S100, walking floor truck are first walked near material under the control of the controller, after the crawl range for reaching manipulator,
Floor truck pause of walking is walked；
S200, the first support arm, the second extending arm, the mechanical palm and four refer to that grabbing device cooperates, and material are picked up, then machine
Tool is raised to settling position pause on hand, and material will not drop out manipulator at this time；
S300, the walking floor truck material transportation that grab manipulator to designated position, manipulator release material, then walk
Material place is grabbed in floor truck return, is continued to grab material, be moved in circles back and forth.
The step of material is grabbed is as follows:
After S201, walking floor truck reach material place to be handled, driving backspin of second extending arm in pivoted arm driving mechanism
Proper angle is gone to, makes the mechanical palm towards material to be grabbed, then the second extending arm is extended close to material；
S202, Fan Zhang mechanism adjust the bottom surface direction of the mechanical palm, make mechanical palm face material, then telescopic oil cylinder starts, and makes four
A mechanical finger is located at four faces on the outside of material, and keeps the bottom end height of shovel piece lower than material bottom end height；
S203, four axis synchronous drive mechanisms of starting make four mechanical axis directions for being directed toward the mechanical palm, mechanical finger gradually holdfast
Material, and electric telescopic rod extends at this time, holds four shovel pieces by the bottom of material, prevents material from falling；
S204, the starting of pivoted arm driving mechanism, rise material, so that the material in transportational process be made not encounter barrier.
The method for carrying of manipulator first starts the first support arm, and then successively arm, the mechanical palm and machinery are upheld in starting second
Refer to, manipulator behavior is regular, and motor program design complexity is lower, reduces program cost, and stable clamping
Step keeps manipulator behavior more smooth, and it is also just more stable to carry material.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case where without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims
Variation is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.
Claims (10)
1. a kind of manipulator of intelligent material conveying, including the mechanical handing hand (1) being mounted on walking floor truck, feature
Be: the mechanical handing hand (1) includes the first support arm (2), the second extending arm (3), the mechanical palm (4) and four finger grabbing devices
(5), the first support arm (2) bottom end is connected with each other by articulated shaft (33) and the second extending arm (3)；
Second extending arm (3) includes arm set (31) and the stretching, extension oil cylinder (32) being mounted in arm set (31), the extension oil
Cylinder (32) bottom end is fixedly connected with mounting plate (34), and (4) phase is slapped by Fan Zhang mechanism (6) and machinery in mounting plate (34) bottom end
Connection；
The mechanical palm (4) bottom end refers to that grasping mechanism (5) are connected with four by four axis synchronous drive mechanisms (7), and described four refer to
Grasping mechanism (5) includes four cylindrical sleeves (51) for being located at the mechanical palm (4) bottom end, is equipped with flexible oil in the cylindrical sleeve (51)
Cylinder (52), telescopic oil cylinder (52) bottom end are equipped with mechanical finger (53).
2. a kind of manipulator of intelligent material conveying according to claim 1, it is characterised in that: the articulated shaft (33) is living
It is dynamic to be mounted on the first support arm (2) bottom end, and articulated shaft (33) is fixed together with arm set () top, states articulated shaft (33)
Right side is equipped with pivoted arm driving mechanism (8).
3. a kind of manipulator of intelligent material conveying according to claim 2, it is characterised in that: the pivoted arm driving mechanism
It (8) include the driven gear (82) for being located at the first motor (81) on the right side of articulated shaft (33) and being mounted in the middle part of articulated shaft (33),
The output shaft of the first motor (81) is connected with driving gear (83), and the driving gear (83) and driven gear (82) are mutual
Engagement.
4. a kind of manipulator of intelligent material conveying according to claim 1, it is characterised in that: the Fan Zhang mechanism (6)
Center-pole (61) including being vertically mounted on mounting plate (34) bottom center, the side of the center-pole (61) set there are four stretch
Oil cylinder (62), the stretching oil cylinder (62) top are mounted on mounting plate (34) bottom end, four stretching oil cylinders by oil cylinder ear (63)
(62) axis about center-pole (61) symmetrically, stretch oil cylinder (62) outer sheath be equipped with buffer spring (64), drawing oil
The bottom end of cylinder (62) and center-pole (61), which is respectively connected with, turns ball (65), and there are five multi-directional ball groove seats for installation on the mechanical palm (4)
(66), the bottom end for turning ball (65) is plugged in the internal ball groove of multi-directional ball groove seat (66).
5. a kind of manipulator of intelligent material conveying according to claim 1, it is characterised in that: the described mechanical palm (4) bottom
Face is equipped with four sliding slots (41), and the four axis synchronous drive mechanism (7) includes being mounted in the mechanical palm (4) bottom end by motor casing
The second motor (71) of the heart and the sliding block (72) being plugged in sliding slot (41), the output shaft installation on the second motor (71) top
Have taper master gear (73), there are four tapers for taper master gear (73) top side engagement from gear (74), and the taper is from tooth
It is fixedly installed with screw rod (75) on the inside of wheel (74), the screw rod (75) is movably arranged on the mechanical palm (4) bottom end, institute by bearing block
It states sliding block (72) bottom end to be fixed together with cylindrical sleeve (51) top, and screw (76), institute is installed inside sliding block (72)
It states screw (76) and screw rod (75) match and screw (76) is set in the outsides of screw rod (75).
6. a kind of manipulator of intelligent material conveying according to claim 1, it is characterised in that: mechanical finger (53) side
Face is equipped with several rubber suction cups (9), and is equipped with middle airport (57) inside mechanical finger (53), and the middle airport (57) passes through
Suction tank (58) is connected with rubber suction cups (9), and middle airport (57) top side is connected with micro-suction pump by hose (91)
(92), the micro-suction pump (92) is mounted on the mechanical palm (4) top surface.
7. a kind of manipulator of intelligent material conveying according to claim 6, it is characterised in that: on the mechanical palm (4)
Equipped with the slot (42) that several permissions hose (91) are slided in it, hose (91) is plugged in the portion outboard in slot (42) also
It is arranged with protection metal pipe (93).
8. a kind of manipulator of intelligent material conveying according to claim 1, it is characterised in that: mechanical finger (53) bottom
End also inclination is connected with electric telescopic rod (54), and the axis of mechanical finger (53) and the axis angle of electric telescopic rod (54) are
90-150 °, electric telescopic rod (54) bottom end is connected with square block (55), and the square block (55) is connected with shovel piece (56).
9. a kind of method for carrying of intelligent material conveying manipulator, it is characterised in that: the step of Manipulator Transportation material is as follows:
S100, walking floor truck are first walked near material under the control of the controller, after the crawl range for reaching manipulator,
Floor truck pause of walking is walked；
S200, the first support arm, the second extending arm, the mechanical palm and four refer to that grabbing device cooperates, and material are picked up, then machine
Tool is raised to settling position pause on hand, and material will not drop out manipulator at this time；
S300, the walking floor truck material transportation that grab manipulator to designated position, manipulator release material, then walk
Material place is grabbed in floor truck return, is continued to grab material, be moved in circles back and forth.
10. a kind of method for carrying of the manipulator of intelligent material conveying according to claim 9, it is characterised in that: by object
The step of material crawl, is as follows:
After S201, walking floor truck reach material place to be handled, driving backspin of second extending arm in pivoted arm driving mechanism
Proper angle is gone to, makes the mechanical palm towards material to be grabbed, then the second extending arm is extended close to material；
S202, Fan Zhang mechanism adjust the bottom surface direction of the mechanical palm, make mechanical palm face material, then telescopic oil cylinder starts, and makes four
A mechanical finger is located at four faces on the outside of material, and keeps the bottom end height of shovel piece lower than material bottom end height；
S203, four axis synchronous drive mechanisms of starting make four mechanical axis directions for being directed toward the mechanical palm, mechanical finger gradually holdfast
Material, and electric telescopic rod extends at this time, holds four shovel pieces by the bottom of material, prevents material from falling；
S204, the starting of pivoted arm driving mechanism, rise material, so that the material in transportational process be made not encounter barrier.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811473433.3A CN109677905A (en) | 2018-12-04 | 2018-12-04 | A kind of manipulator and method for carrying of intelligent material conveying |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811473433.3A CN109677905A (en) | 2018-12-04 | 2018-12-04 | A kind of manipulator and method for carrying of intelligent material conveying |
Publications (1)
| Publication Number | Publication Date |
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| CN109677905A true CN109677905A (en) | 2019-04-26 |
Family
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811473433.3A Pending CN109677905A (en) | 2018-12-04 | 2018-12-04 | A kind of manipulator and method for carrying of intelligent material conveying |
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| CN (1) | CN109677905A (en) |
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| CN110065528A (en) * | 2019-05-08 | 2019-07-30 | 北京国电龙源环保工程有限公司 | Denitrating catalyst places the handling system with dry trolley |
| CN110550452A (en) * | 2019-04-11 | 2019-12-10 | 广汽本田汽车有限公司 | Conveying device |
| CN111282758A (en) * | 2020-03-20 | 2020-06-16 | 三门宣教机械设备有限公司 | Device for spraying paint |
| CN111696265A (en) * | 2020-06-30 | 2020-09-22 | 周美丽 | Fruit quality screening and selling device for supermarket |
| CN112318538A (en) * | 2020-11-06 | 2021-02-05 | 北京航天发射技术研究所 | Cargo handling manipulator |
| CN113617671A (en) * | 2021-08-02 | 2021-11-09 | 苏州快捷智能科技有限公司 | Intelligent sorting system and sorting device thereof |
| CN114313967A (en) * | 2021-12-28 | 2022-04-12 | 北新建材(天津)有限公司 | Auxiliary material adding device for substrate production |
| CN114655704A (en) * | 2022-05-24 | 2022-06-24 | 烟台吉兴汽车部件有限公司 | Conveying mechanism based on automatic assembly production line of automobile roof |
| CN115123918A (en) * | 2022-08-29 | 2022-09-30 | 江苏博锐达电力设备有限公司 | Multi-functional electric power hoist of multi-direction portable |
| CN116374611A (en) * | 2023-05-19 | 2023-07-04 | 太原福莱瑞达物流设备科技有限公司 | A transport clamping jaw device for buffering feed cylinder |
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Application publication date: 20190426 |