CN110091315A - A kind of manipulator and robot and cooperation handling device and method for carrying - Google Patents
A kind of manipulator and robot and cooperation handling device and method for carrying Download PDFInfo
- Publication number
- CN110091315A CN110091315A CN201910350927.0A CN201910350927A CN110091315A CN 110091315 A CN110091315 A CN 110091315A CN 201910350927 A CN201910350927 A CN 201910350927A CN 110091315 A CN110091315 A CN 110091315A
- Authority
- CN
- China
- Prior art keywords
- elevating mechanism
- conveying device
- longitudinal conveying
- gripper
- mechanical arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0095—Gripping heads and other end effectors with an external support, i.e. a support which does not belong to the manipulator or the object to be gripped, e.g. for maintaining the gripping head in an accurate position, guiding it or preventing vibrations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0093—Programme-controlled manipulators co-operating with conveyor means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/048—Pendulum type
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Specific Conveyance Elements (AREA)
Abstract
The invention discloses a kind of manipulators, belong to carrying instrument field, and including the fixing body for connecting with mechanical arm and the gripper being mounted on the fixing body, the shovel board for shoveling loading object is additionally provided on the fixing body；The gripper is clamp-type gripper, and the clamp-type gripper includes finger, transmission mechanism and the driving device of bracket and installation on the bracket；The shovel board free end is equipped with the shovel dress portion of wedge shape, and the lozenges in the shovel dress portion is towards the gripper.The configuration of the present invention is simple, design rationally, can effectively reduce work load when gripper transports goods, improve service life and reduce use cost.
Description
Technical field
The present invention relates to carry instrument field, in particular to a kind of manipulator and robot and cooperation handling device and carrying
Method.
Background technique
Robot and artificial intelligence are the technical characterstics of the optimal representative of the current fourth industrial revolution, at present robot manipulating task
It is substantially applied in many fields；In cold chain industry, Chinese cold storage capacity is since 2008, every year with 23% or so
Speed increases, and is current very dynamic rising industry；Booming cold chain industry natural zone is carried out a large amount of frozen goods and is removed
Transport business demand.
Currently, the carrying of frozen goods is mostly or by manpower, but with the continuous rising of human cost, machine is carried
A possibility that instead of manual handling, is higher and higher.But the existing mechanical equipment for carrying, actuating station, that is, machine
Tool hand usually entirely lifts cargo to be handled from discharge end in carrying frozen product, then is moved to loading point, completes to carry
Process.
The mode of transport of this manipulator haves the shortcomings that handling efficiency is low, energy consumption is big, this can not be dropped well
The use cost of low manipulator can bring biggish cost burden to user.
Summary of the invention
Aiming at the problem that manipulator of the existing technology is not suitable for carrying frozen cargo, the purpose of the present invention is to provide
A kind of manipulator.
To achieve the above object, the technical solution of the present invention is as follows:
A kind of manipulator, including the fixing body for being connect with mechanical arm and the gripper being mounted on the fixing body, institute
State the shovel board being additionally provided on fixing body for shoveling loading object.
Preferably, the gripper is clamp-type gripper, and the clamp-type gripper includes bracket and is mounted on the bracket
On finger, transmission mechanism and driving device；The transmission mechanism is parallel link transmission mechanism, pinion and-rack driver
Structure, Double-gear drive transmission mechanism, inclined wedge lever transmission mechanism or sheave slidingtype transmission mechanism.
Preferably, the shovel board free end is equipped with the shovel dress portion of wedge shape, and the lozenges in the shovel dress portion is towards the gripper.
The invention also discloses a kind of robots, described including chassis and the mechanical arm being mounted on the chassis
Mechanical arm includes mechanical arm and the above-mentioned manipulator that connect with the mechanical arm.
Preferably, the mechanical arm is multi-joint manipulator arm, rectangular coordinate system mechanical arm or spherical coordinate system machine
Tool arm；The chassis is movable tray.
The invention also discloses a kind of cooperation handling device, including at least one above-mentioned robot and mutually perpendicular
Cross conveyor and longitudinal conveying device, the cross conveyor and longitudinal conveying device docking；The lateral transfer dress
Set the output end for being mounted on third elevating mechanism；Two ends of the longitudinal conveying device are hinged with the first elevating mechanism respectively
With the second elevating mechanism；It further include fixed bracket, first elevating mechanism, the second elevating mechanism, third elevating mechanism are pacified
On the fixed bracket.
Preferably, first elevating mechanism and/or second elevating mechanism and the fixed bracket are hinged.
It is another preferred, first elevating mechanism and/or second elevating mechanism and the fixed bracket slide
Connection, the glide direction are parallel to the conveying direction of the longitudinal conveying device.
Preferably, the cross conveyor, the longitudinal conveying device are belt conveyor；The lateral transfer dress
Arc-shaped guide plate is installed at the docking set or at the docking of the longitudinal conveying device.
The invention also discloses the method for carrying of above-mentioned cooperation handling device, comprising the following steps:
Step 1 adjusts the first elevating mechanism and the second elevating mechanism, and longitudinal conveying device one end is made to be aligned discharge end top
End, other end alignment loading end bottom end；
Step 2 adjusts third elevating mechanism, makes cross conveyor and the smooth docking of longitudinal conveying device；
Step 3, mobile robot are located at robot at discharge end or loading end；
Cargo to be loaded and unloaded is shoveled dress by shovel board by step 4, starting cross conveyor and longitudinal conveying device, robot
In shovel board, then cargo to be loaded and unloaded is caught by gripper, cargo to be loaded and unloaded is dragged into cross finally by mobile mechanical arm
To in conveying device or longitudinal conveying device；
Step 5, according to cargo handling speed, adjust the first elevating mechanism and the second elevating mechanism, make longitudinal conveying device
One end reduce height according to the decline of discharge end cargo height is synchronous, the other end is promoted according to the rising synchronous of loading end height
Highly；And it is adjusted in synchronism third elevating mechanism, make cross conveyor and longitudinal conveying device smooth docking always.
By adopting the above technical scheme, due to the setting of shovel board, cargo to be captured in shovel board, is made by shovel
Cargo to be captured can obtain strong support, and after gripper grasping stability lives the cargo in shovel board, pass through mechanical arm
Cargo can be carried by drag action；In handling process, rubbing surface is shovel board, cargo relative mechanical pawl without relative motion, from
And it is able to maintain intact；Relative to traditional manpower transport and gripper, gripper of the invention can either improve working efficiency,
Save human resources consumption, additionally it is possible to the handling work of cargo is completed with smaller power.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of gripper of the present invention；
Fig. 2 is a kind of schematic side view of gripper of the present invention；
Fig. 3 is a kind of schematic top plan view of gripper of the present invention；
Fig. 4 is a kind of structural schematic diagram of robot of the present invention；
Fig. 5 is a kind of structural schematic diagram for the handling device that cooperates of the present invention；
Fig. 6 be the present invention it is a kind of cooperation handling device in longitudinal conveying device structural schematic diagram (this figure can with transmission
Fig. 1 replacement of mechanism patent of invention).
In figure: 1- gripper, 11- fixing body, 12- gripper, 13- shovel board, 2- robot, the chassis 21-, 22- mechanical arm, 3-
Longitudinal conveying device, the first elevating mechanism of 31-, the second elevating mechanism of 32-, 4- cross conveyor, 41- third elevating mechanism,
61- rack, 62- shaft, 63- roller, 64- conveyer belt, 65- cargo baffle, 7- arc-shaped guide plate.
Specific embodiment
Specific embodiments of the present invention will be further explained with reference to the accompanying drawing.It should be noted that for
The explanation of these embodiments is used to help understand the present invention, but and does not constitute a limitation of the invention.In addition, disclosed below
The each embodiment of the present invention involved in technical characteristic can be combined with each other as long as they do not conflict with each other.
As shown in Figure 1-3, a kind of manipulator 1, including the fixing body 11 for connecting with mechanical arm 2 and is mounted on fixing body
Gripper 12 on 11 is additionally provided with the shovel board 13 for shoveling loading object on fixing body 11.
In the present invention, the structure of gripper 12 is by diversified forms, any existing gripper, but the present embodiment is preferably
Clamp-type gripper, in general, clamp-type gripper includes bracket and rack-mount finger, transmission mechanism and driving device,
Transmission mechanism is parallel link transmission mechanism, rack-and-pinion type transmission mechanism, Double-gear drive transmission mechanism, inclined wedge lever
Perhaps sheave slidingtype transmission mechanism driving device is usually motor or cylinder to formula transmission mechanism.
In the present embodiment, for the ease of the shovel dress portion of wedge shape is arranged in 13 free end of shovel board by cargo shovel to shovel board 13,
The lozenges in dress portion is shoveled towards gripper 12.
As shown in figure 4, the invention also discloses a kind of robot 2, including chassis 21 and the machine being mounted on chassis 21
Tool arm, mechanical arm include mechanical arm 22 and the manipulator 1 that connect with the mechanical arm 22.Wherein, fixing body 11 is usual
It is rotatablely connected with mechanical arm 22, to reduce the quantity of structural member.
In the present embodiment, mechanical arm is multi-joint manipulator arm, rectangular coordinate system mechanical arm or spherical coordinate system machine
Tool arm, this is several common structures of mechanical arm in the prior art, and the present invention repeats no more；Meanwhile in order to facilitate machine
The movement of people 2, in the present embodiment, chassis 21 is movable tray, be equipped with thereon idler wheel or crawler belt etc. for walking mechanism,
It is also equipped with the hydraulic support leg used when robot 2 works simultaneously.
As shown in figure 5, the invention also discloses a kind of cooperation handling device, including at least one above-mentioned robot 2 with
And mutually perpendicular cross conveyor 4 and longitudinal conveying device 3, cross conveyor 4 and 3 docking of longitudinal conveying device；It is horizontal
It is mounted on to conveying device 4 on the output end of third elevating mechanism 41；Two ends of longitudinal conveying device 3 are hinged with respectively
One elevating mechanism 31 and the second elevating mechanism 32；It further include fixed bracket, the first above-mentioned elevating mechanism 31, the second elevating mechanism
32, third elevating mechanism 41 is installed on fixed bracket.
Arc-shaped guide plate 7 is installed at the docking of cross conveyor 4 or at the docking of longitudinal conveying device 3；This reality
It is total to apply example, arc-shaped guide plate 7 is positioned only on cross conveyor 4.
First elevating mechanism 31, the second elevating mechanism 32, third elevating mechanism 41 are straight line driving mechanism, e.g. gas
Cylinder, hydraulic cylinder, electronic screw rod etc., the present embodiment is preferably cylinder.
Cross conveyor 4, longitudinal conveying device 3 are belt conveyor, chain scraper conveyor or roller conveyor etc., sheet
Embodiment is preferably belt conveyor；Cross conveyor 4, the structure of longitudinal conveying device 3 are identical, only in size and shape
Difference or identical；As shown in fig. 6, the belt conveyor includes rack 61, shaft 62, roller 63 and conveyer belt 64,
Conveyer belt 64 is preferably frictional force check conveyer belt, when guaranteeing that 3 tilt angle of longitudinal conveying device changes, conveyer belt 64
It still is able to provide sufficient frictional force for cargo, prevents from sliding；Cargo gear is mounted in the rack 61 of 64 two sides of conveyer belt
Plate 65 is mounted on railing 66 to prevent cargo sideslip from falling in the rack 61 of 64 two sides of conveyer belt, railing 66 is located at cargo gear
The top of plate 65.
Wherein, third elevating mechanism 41 is in a vertical shape is fixedly connected on fixed bracket, and cross conveyor 4 is generally horizontal
Setting, does the elevating movement of vertical direction under the driving of third elevating mechanism 41；But for the stationarity for keeping movement, Gu
Guide rail is installed on fixed rack, sliding block compatible with the guide rail is installed on cross conveyor 4.
First elevating mechanism 31, the second elevating mechanism 32, fixed bracket, longitudinal conveying device 3 constitute plane double leval jib machine
Structure, by changing the length of the first elevating mechanism 31, the second elevating mechanism 32, is realized wherein fixed bracket is fixed and adjusts longitudinal direction
The purpose of 3 two end heights of conveying device, but when in order to guarantee that 3 two end heights of longitudinal conveying device change,
One elevating mechanism 31 will not be stuck with the second elevating mechanism 32, and the present embodiment summarizes, the first elevating mechanism 31 and/or the second lifting
Mechanism 32 and fixed bracket are hinged；
Or alternatively, in another embodiment, the first elevating mechanism 31 and/or the second elevating mechanism 32 with it is fixed
Bracket slide connection, the glide direction are parallel to the conveying direction of longitudinal conveying device 3；
Again or alternatively, the first elevating mechanism 31, the second elevating mechanism 32 do not connect directly with longitudinal conveying device 3
It connects, but in the output end of the first elevating mechanism 31, the hinged slide of output end of the second elevating mechanism 32, while longitudinally fed
Sliding rail compatible with slide is installed in the rack 61 of device 3, sliding rail is made to be parallel to the conveying direction of longitudinal conveying device 3,
Namely it is parallel to the conveyer belt 64 on longitudinal conveying device 3；In this way, being adjusted in the first elevating mechanism 31, the second elevating mechanism 32
When saving output end position, the slide one side of output end installation is opposite, and longitudinal conveying device 3 rotates, another side is also in rack
It is slided on 61, when guaranteeing 3 two end height variations of longitudinal conveying device, the first elevating mechanism 31, the second elevating mechanism 32
It impregnable can stretch.Above-mentioned setting enables the first elevating mechanism 31, the second elevating mechanism 32 and fixed bracket solid
Fixed connection, improves the service life of both.
The invention also discloses the method for carrying of above-mentioned cooperation handling device, comprising the following steps:
Step 1 adjusts the first elevating mechanism 31 and the second elevating mechanism 32, makes the alignment unloading of 3 one end of longitudinal conveying device
Hold top, other end alignment loading end bottom end；
Step 2, adjust third elevating mechanism 41, make cross conveyor 4 be highly suitable for it is flat with longitudinal conveying device 3
Along docking；
Step 3, mobile robot 2 are located at robot 2 at discharge end or loading end；
Step 4, starting cross conveyor 4 and longitudinal conveying device 3, robot 2 pass through shovel board 13 for goods to be loaded and unloaded
Object shovel catches cargo to be loaded and unloaded in the shovel board 13, then through gripper 12, will be to finally by the movement of mobile mechanical arm 22
The cargo of handling drags on cross conveyor 4 or longitudinal conveying device 3, completes handling and the transmission process of cargo；
Step 5, according to cargo handling speed, adjust the first elevating mechanism 31 and the second elevating mechanism 32, make longitudinally fed
One end of device 3 reduces height according to the decline of discharge end cargo height is synchronous, and the other end is same according to the rising of loading end height
Walk hoisting depth；And it is adjusted in synchronism third elevating mechanism 41, refute cross conveyor 4 smoothly always with longitudinal conveying device 3
It connects.
In conjunction with attached drawing, the embodiments of the present invention are described in detail above, but the present invention is not limited to described implementations
Mode.For a person skilled in the art, in the case where not departing from the principle of the invention and spirit, to these embodiments
A variety of change, modification, replacement and modification are carried out, are still fallen in protection scope of the present invention.
Claims (10)
1. a kind of manipulator, special including the fixing body for connecting with mechanical arm and the gripper being mounted on the fixing body
Sign is: the shovel board for shoveling loading object is additionally provided on the fixing body.
2. manipulator according to claim 1, it is characterised in that: the gripper is clamp-type gripper, the clamp-type hand
Pawl includes finger, transmission mechanism and the driving device of bracket and installation on the bracket；The transmission mechanism is to connect in parallel
Rod-type transmission mechanism, rack-and-pinion type transmission mechanism, Double-gear drive transmission mechanism, inclined wedge lever transmission mechanism or slot
Skidding dynamic formula transmission mechanism.
3. manipulator according to claim 1, it is characterised in that: the shovel board free end is equipped with the shovel dress portion of wedge shape, institute
The lozenges in shovel dress portion is stated towards the gripper.
4. a kind of robot, it is characterised in that: including chassis and the mechanical arm being mounted on the chassis, the manipulator
Arm includes mechanical arm and the manipulator as described in any one of claims 1-3 that connect with the mechanical arm.
5. robot according to claim 4, it is characterised in that: the mechanical arm is multi-joint manipulator arm, right angle
Coordinate system mechanical arm or spherical coordinate system mechanical arm；The chassis is movable tray.
6. a kind of cooperation handling device, it is characterised in that: including at least one as described in claim any one of 4-5 robot with
And mutually perpendicular cross conveyor and longitudinal conveying device, the cross conveyor and longitudinal conveying device docking；Institute
State the output end that cross conveyor is mounted on third elevating mechanism；Two ends of the longitudinal conveying device are hinged with respectively
First elevating mechanism and the second elevating mechanism；It further include fixed bracket, first elevating mechanism, the second elevating mechanism, third
Elevating mechanism is installed on the fixed bracket.
7. cooperation handling device according to claim 6, it is characterised in that: first elevating mechanism and/or described
Two elevating mechanisms and the fixed bracket are hinged.
8. cooperation handling device according to claim 6, it is characterised in that: first elevating mechanism and/or described
Two elevating mechanisms are connect with the fixed bracket slide, and the glide direction is parallel to the conveying side of the longitudinal conveying device
To.
9. cooperation handling device according to claim 6, it is characterised in that: the cross conveyor, the longitudinal direction are defeated
Sending device is belt conveyor；It is installed at the docking of the cross conveyor or at the docking of the longitudinal conveying device
There is arc-shaped guide plate.
10. a kind of method for carrying for the handling device that cooperates as claim in any one of claims 6-9, it is characterised in that: including following
Step:
Step 1 adjusts the first elevating mechanism and the second elevating mechanism, makes longitudinal conveying device one end alignment discharge end top, another
One end alignment loading end bottom end；
Step 2 adjusts third elevating mechanism, makes cross conveyor and the smooth docking of longitudinal conveying device；
Step 3, mobile robot are located at robot at discharge end or loading end；
Step 4, starting cross conveyor and longitudinal conveying device, robot is by shovel board by cargo shovel to be loaded and unloaded mounted in shovel
On plate, then cargo to be loaded and unloaded is caught by gripper, finally by mobile mechanical arm by cargo to be loaded and unloaded drag to laterally it is defeated
It send on device or longitudinal conveying device；
Step 5, according to cargo handling speed, adjust the first elevating mechanism and the second elevating mechanism, make the one of longitudinal conveying device
End reduces height according to the decline of discharge end cargo height is synchronous, and the other end is promoted high according to the rising synchronous of loading end height
Degree；And it is adjusted in synchronism third elevating mechanism, make cross conveyor and longitudinal conveying device smooth docking always.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910350927.0A CN110091315A (en) | 2019-04-28 | 2019-04-28 | A kind of manipulator and robot and cooperation handling device and method for carrying |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910350927.0A CN110091315A (en) | 2019-04-28 | 2019-04-28 | A kind of manipulator and robot and cooperation handling device and method for carrying |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110091315A true CN110091315A (en) | 2019-08-06 |
Family
ID=67446252
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910350927.0A Withdrawn CN110091315A (en) | 2019-04-28 | 2019-04-28 | A kind of manipulator and robot and cooperation handling device and method for carrying |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110091315A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113334410A (en) * | 2021-05-17 | 2021-09-03 | 东南大学 | Shovel type double-rocker mechanical gripper mechanism |
-
2019
- 2019-04-28 CN CN201910350927.0A patent/CN110091315A/en not_active Withdrawn
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113334410A (en) * | 2021-05-17 | 2021-09-03 | 东南大学 | Shovel type double-rocker mechanical gripper mechanism |
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Application publication date: 20190806 |