CN111232637A - Nimble transport manipulator - Google Patents
Nimble transport manipulator Download PDFInfo
- Publication number
- CN111232637A CN111232637A CN202010096362.0A CN202010096362A CN111232637A CN 111232637 A CN111232637 A CN 111232637A CN 202010096362 A CN202010096362 A CN 202010096362A CN 111232637 A CN111232637 A CN 111232637A
- Authority
- CN
- China
- Prior art keywords
- control box
- fixed
- motor
- support column
- transmission shaft
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- 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
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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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
- B65G47/905—Control arrangements
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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
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/042—Sensors
Abstract
The invention discloses a flexible carrying manipulator which comprises a transmission case and a support column, wherein the bottom end of the support column is fixed at the bottom of the transmission case through a first bearing, the top end of the support column penetrates through the top of the transmission case and is fixedly provided with a support arm, the other end of the support arm is connected with a movable arm through a rotating shaft, the other end of the movable arm is fixedly provided with a gripper through a flange plate, a first hydraulic rod is fixed on the support arm, the other end of the first hydraulic rod is connected with a telescopic rod through a universal joint, the other end of the telescopic rod is fixed on the movable arm, a control part is arranged in the control case, and an electric wheel is arranged at the bottom of the control case.
Description
Technical Field
The invention relates to the technical field of manipulators, in particular to a flexible carrying manipulator.
Background
With the development of science and technology and the continuous improvement of industrialization degree, manipulators are used more and more widely, the appearance of the manipulators frees workers from heavy and dangerous working environments and can complete work in a high-precision and high-efficiency mode, and the manipulators are common equipment in industrial production and are widely applied in the processes of many industries.
The frame is fixed on ground to the manipulator commonly used, is unfavorable for the removal of manipulator like this, because the degree of freedom is restricted moreover, can not all-round removal tongs carry out the goods and snatch, can not hold tongs gripping dynamics moreover to still need the staff to control according to the environment at the scene, brought very big inconvenience for the staff.
Disclosure of Invention
The present invention is directed to a flexible handling robot to solve the above problems of the related art.
In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides a nimble transport manipulator, includes transmission case and support column, the support column bottom is fixed through first bearing the transmission bottom of the case portion, the top of support column is passed the transmission top of the case portion is fixed with the support arm, the other end of support arm is connected with the digging arm through the pivot, the other end of digging arm is fixed with the tongs through the ring flange, be fixed with first hydraulic stem on the support arm, the other end of first hydraulic stem is connected with the telescopic link through universal joint, the other end of telescopic link is fixed on the digging arm, be equipped with control unit in the control box, electronic round is installed to the control bottom of the case portion.
As a further scheme of the invention: and the flange plate is provided with a distance sensor and a vision sensor.
As a further scheme of the invention: and the gripper is provided with a deformation sensor and a pressure sensor.
As a further scheme of the invention: a fixing frame is installed in the control box, a sleeve is fixed on the fixing frame, and the supporting column is installed in the sleeve through the first bearing.
As a further scheme of the invention: install slewing mechanism in the control box, slewing mechanism includes motor, transmission shaft, driving gear and driven gear, the motor is installed the control box bottom, transmission shaft one end with the motor is connected, the transmission shaft other end is installed through the second bearing in the mount, the driving gear is fixed on the transmission shaft, driven gear fixes on the support column, the driving gear with driven gear cooperation is connected.
As a further scheme of the invention: the motor is a slow-speed motor, and the number of teeth of the driving gear is less than that of the driven gear.
As a further scheme of the invention: second hydraulic rods are installed at the left end and the right end of the bottom of the control box, and the other ends of the second hydraulic rods penetrate through the bottom of the control box and the supporting plate to be fixedly connected.
Compared with the prior art, the invention has the beneficial effects that: the stress deformation condition of the goods can be fed back through installing the touch sensor and the pressure sensor on the gripper, so that the gripping force of the gripper is adjusted, the situation that the gripper cannot grip tightly or damage the goods is avoided, the gripper can be rapidly contacted with the goods through installing the distance sensor and the vision sensor on the flange plate, the operation of workers on site is not needed, the whole mechanical arm can be conveniently moved through the installed electric wheels, and the goods can be gripped in an all-round mode through the arranged rotating mechanism and the telescopic mechanism.
Drawings
Fig. 1 is a schematic structural view of a flexible handling robot.
Fig. 2 is a schematic sectional view of a control box of a flexible handling robot.
Fig. 3 is a schematic view of a control box of a flexible handling robot.
In the figure: 1-control box, 2-support column, 3-first bearing, 4-support arm, 5-rotating shaft, 6-movable arm, 7-flange plate, 8-gripper, 9-first hydraulic rod, 10-universal joint, 11-telescopic rod, 12-control part, 13-electric wheel, 14-deformation sensor, 15-pressure sensor, 16-vision sensor, 17-distance sensor, 18-fixed frame, 19-sleeve, 20-rotating mechanism, 21-motor, 22-transmission shaft, 23-driving gear, 24-driven gear, 25-second bearing, 26-second hydraulic rod and 27-support plate.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
Referring to fig. 1 to 3, in the embodiment of the invention, the flexible carrying manipulator comprises a control box 1 and a support column 2, the bottom end of the support column 2 is fixed at the bottom of the control box 1 through a first bearing 3, the top end of the support column 2 penetrates through the top of the control box 1 and is fixed with a support arm 4, the other end of the support arm 4 is connected with a movable arm 6 through a rotating shaft 5, the other end of the movable arm 6 is fixed with a gripper 8 through a flange 7, a first hydraulic rod 9 is fixed on the support arm 4, the other end of the first hydraulic rod 9 is connected with a telescopic rod 11 through a universal joint 10, the other end of the telescopic rod 11 is fixed on the movable arm 6, a control part 12 is arranged in the control box 1, and the bottom of the control box 1 is provided with an.
EXAMPLE 2
In this embodiment, as shown in fig. 1, a distance sensor 17 and a visual sensor 16 are mounted on the flange 7.
In this embodiment, as shown in fig. 1, the hand grip is mounted with a deformation sensor 14 and a pressure sensor 15.
In this embodiment, as shown in fig. 2, a fixing frame 18 is installed in the control box 1, a sleeve 19 is fixed on the fixing frame 18, and the supporting column 2 is installed in the sleeve 19 through the first bearing 3.
In this embodiment, as shown in fig. 2, a rotating mechanism 20 is installed in the control box 1, the rotating mechanism 20 includes a motor 21, a transmission shaft 22, a driving gear 23 and a driven gear 24, the motor 21 is installed at the bottom of the control box 1, one end of the transmission shaft 22 is connected to the motor 21, the other end of the transmission shaft 22 is installed in the fixing frame 18 through a second bearing 25, the driving gear 23 is fixed on the transmission shaft 22, the driven gear 24 is fixed on the supporting column 2, and the driving gear 23 is connected to the driven gear 24 in a matching manner.
In this embodiment, as shown in fig. 2, the motor 21 is a slow motor, and the number of teeth of the driving gear 23 is less than that of the driven gear 24.
In this embodiment, as shown in fig. 3, the second hydraulic rods 26 are installed at both left and right ends of the bottom of the control box 1, and the other ends of the second hydraulic rods 26 penetrate through the bottom of the control box 1 and are fixedly connected with the support plate 27.
The working principle of the invention is as follows: when the manipulator is used, the manipulator is integrally moved to a working position through the control part 12 by using the electric wheel 13, then the visual sensor 16 and the motor 21 are started through the control part 12 to drive the transmission shaft 22 to rotate, the support column 4 rotates at a slower rotating speed through the matching of the driving gear 23 and the driven gear 24, the number of teeth of the driving gear 23 is less than that of the driven gear 24 to realize the slow rotation of the support column 4, then the distance sensor 17 and the first hydraulic rod 9 are started through the control part 12 to adjust the distance between the hand grip 8 and the goods until the hand grip 8 contacts the goods, then the goods are wrapped through the control part 12, meanwhile, the pressure sensor 15 and the deformation sensor 14 respectively transmit the gripping pressure of the hand grip 8 and the deformation state of the goods to a worker, the worker stops gripping after selecting proper data, the pressure value at the moment is memorized, when snatching next time, directly transfer this pressure value state with tongs 8, utilize second hydraulic stem 26 to drive backup pad 27 and go up and down, when backup pad 27 and ground contact, can enough play the holistic effect of part support, can also improve the holistic stability of manipulator.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (7)
1. The flexible carrying manipulator comprises a control box (1) and a support column (2), and is characterized in that the bottom end of the support column (2) is fixed at the bottom of the control box (1) through a first bearing (3), the top end of the support column (2) penetrates through the top of the control box (1) and is fixedly provided with a support arm (4), the other end of the support arm (4) is connected with a movable arm (6) through a rotating shaft (5), the other end of the movable arm (6) is fixedly provided with a gripper (8) through a flange plate (7), a first hydraulic rod (9) is fixedly arranged on the support arm (4), the other end of the first hydraulic rod (9) is connected with a telescopic rod (11) through a universal joint (10), the other end of the telescopic rod (11) is fixed on the movable arm (6), and a control part (12) is arranged in the control box (1), and an electric wheel (13) is arranged at the bottom of the control box (1).
2. Flexible handling robot according to claim 1, characterized in that distance sensors (17) and vision sensors (16) are mounted on the flange (7).
3. Flexible handling robot according to claim 2, characterized in that the hand grip is mounted with deformation sensors (14) and pressure sensors (15).
4. Flexible handling robot according to claim 1, characterized in that a holder (18) is mounted in the control box (1), that a sleeve (19) is fixed to the holder (18), and that the support column (2) is mounted in the sleeve (19) by means of the first bearing (3).
5. The flexible handling manipulator according to claim 4, wherein a rotating mechanism (20) is installed in the control box (1), the rotating mechanism (20) comprises a motor (21), a transmission shaft (22), a driving gear (23) and a driven gear (24), the motor (21) is installed at the bottom of the control box (1), one end of the transmission shaft (22) is connected with the motor (21), the other end of the transmission shaft (22) is installed in the fixing frame (18) through a second bearing (25), the driving gear (23) is fixed on the transmission shaft (22), the driven gear (24) is fixed on the supporting column (2), and the driving gear (23) is connected with the driven gear (24) in a matching manner.
6. Flexible handling robot according to claim 5, characterized in that the motor (21) is a slow motor and the number of teeth of the driving gear (23) is small compared to the number of teeth of the driven gear (24).
7. The flexible handling manipulator according to claim 1, characterized in that the left and right ends of the bottom of the control box (1) are provided with second hydraulic rods (26), and the other ends of the second hydraulic rods (26) penetrate through the bottom of the control box (1) and are fixedly connected with a support plate (27).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010096362.0A CN111232637A (en) | 2020-02-14 | 2020-02-14 | Nimble transport manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010096362.0A CN111232637A (en) | 2020-02-14 | 2020-02-14 | Nimble transport manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111232637A true CN111232637A (en) | 2020-06-05 |
Family
ID=70867323
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010096362.0A Pending CN111232637A (en) | 2020-02-14 | 2020-02-14 | Nimble transport manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111232637A (en) |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102310409A (en) * | 2010-07-05 | 2012-01-11 | 株式会社安川电机 | Robot apparatus and gripping method for use in robot apparatus |
| KR101141133B1 (en) * | 2010-08-25 | 2012-05-02 | 에스티엑스조선해양 주식회사 | Lug attaching equipment |
| CN207014351U (en) * | 2017-08-10 | 2018-02-16 | 安徽理工大学 | Series-parallel connection truss-like may move heavily loaded foundry robot |
| CN207522588U (en) * | 2017-12-02 | 2018-06-22 | 孙献光 | A kind of robot carried for logistics goods |
| CN108582025A (en) * | 2018-05-30 | 2018-09-28 | 杭州师范大学钱江学院 | Logistics robot palletizer trolley and its carrying palletizing method |
| CN109648555A (en) * | 2018-12-18 | 2019-04-19 | 湖北航天技术研究院总体设计所 | A kind of automatic transferring tool arm control method based on Multi-sensor Fusion |
| CN209190760U (en) * | 2018-10-02 | 2019-08-02 | 河南师范大学 | A kind of airport cargo carrying humanoid robot |
| CN209322039U (en) * | 2018-12-27 | 2019-08-30 | 山东利和饲料科技有限公司 | A kind of manipulator for the folded packet of feed |
| CN209554079U (en) * | 2019-02-25 | 2019-10-29 | 昆山紫东智能科技有限公司 | A kind of transfer robot |
| CN209919883U (en) * | 2019-05-21 | 2020-01-10 | 安徽蓝瑟智能科技有限公司 | Multifunctional vision carrying manipulator |
| CN110722534A (en) * | 2019-10-29 | 2020-01-24 | 南昌新芯科技有限公司 | Education is with intelligent commodity circulation transfer robot |
-
2020
- 2020-02-14 CN CN202010096362.0A patent/CN111232637A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102310409A (en) * | 2010-07-05 | 2012-01-11 | 株式会社安川电机 | Robot apparatus and gripping method for use in robot apparatus |
| KR101141133B1 (en) * | 2010-08-25 | 2012-05-02 | 에스티엑스조선해양 주식회사 | Lug attaching equipment |
| CN207014351U (en) * | 2017-08-10 | 2018-02-16 | 安徽理工大学 | Series-parallel connection truss-like may move heavily loaded foundry robot |
| CN207522588U (en) * | 2017-12-02 | 2018-06-22 | 孙献光 | A kind of robot carried for logistics goods |
| CN108582025A (en) * | 2018-05-30 | 2018-09-28 | 杭州师范大学钱江学院 | Logistics robot palletizer trolley and its carrying palletizing method |
| CN209190760U (en) * | 2018-10-02 | 2019-08-02 | 河南师范大学 | A kind of airport cargo carrying humanoid robot |
| CN109648555A (en) * | 2018-12-18 | 2019-04-19 | 湖北航天技术研究院总体设计所 | A kind of automatic transferring tool arm control method based on Multi-sensor Fusion |
| CN209322039U (en) * | 2018-12-27 | 2019-08-30 | 山东利和饲料科技有限公司 | A kind of manipulator for the folded packet of feed |
| CN209554079U (en) * | 2019-02-25 | 2019-10-29 | 昆山紫东智能科技有限公司 | A kind of transfer robot |
| CN209919883U (en) * | 2019-05-21 | 2020-01-10 | 安徽蓝瑟智能科技有限公司 | Multifunctional vision carrying manipulator |
| CN110722534A (en) * | 2019-10-29 | 2020-01-24 | 南昌新芯科技有限公司 | Education is with intelligent commodity circulation transfer robot |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200605 |