CN111993403A

CN111993403A - Control method of manipulator with material taking and stacking functions

Info

Publication number: CN111993403A
Application number: CN202010817920.8A
Authority: CN
Inventors: 秦天云
Original assignee: Fuyang Shengdong Intelligent Manufacturing Technology Development Co ltd
Current assignee: Fuyang Shengdong Intelligent Manufacturing Technology Development Co ltd
Priority date: 2018-04-26
Filing date: 2018-04-26
Publication date: 2020-11-27
Also published as: CN108584450B; CN108584450A

Abstract

The invention discloses a control method of a manipulator with material taking and stacking functions, the manipulator comprises a U-shaped base, two groups of support rods are vertically arranged on the upper side of the U-shaped base, a controller is arranged on one group of support rods, a cross rod is vertically arranged at one end, far away from the U-shaped base, of the two groups of support rods, a guide rail is vertically arranged in the center of one side of the cross rod, a laser ranging sensor is arranged at the lower side of one end, close to the cross rod, of the guide rail, and a movable sliding seat is connected to. The invention has stable transmission, can accurately control the descending height of the material sucking plate for each time of stacking the plates according to the matching of the transmission device, the laser ranging sensor and the turn number counter, avoids the stacked plates from being scratched by the clamping jaw, simultaneously avoids the condition that the plates fall and are not stacked neatly due to insufficient descending distance, ensures the safe and orderly stacking of the plates, does not need manual control and adjustment, reduces the workload of workers and improves the working efficiency.

Description

Control method of manipulator with material taking and stacking functions

The application is a divisional application of a patent with the application date of 2018, 4, 26 and the application number of 201810387290.8 and the name of 'a manipulator with the functions of taking materials and stacking'.

Technical Field

The invention relates to the field of manipulators, in particular to a control method of a manipulator with material taking and stacking functions.

Background

The manipulator can repeatedly do the same action and can never feel tired under the normal condition of the machine, and the manipulator is usually used as an additional device of a machine tool or other machines, such as loading, unloading and transferring workpieces on an automatic machine tool or an automatic production line, replacing tools in a processing center and the like, and generally has no independent control device. Some of the operating devices require direct manipulation by a person, such as a master-slave manipulator, also commonly referred to as a robot, for handling hazardous materials at the atomic energy division door. The application of the manipulator in the forging industry can further develop the production capacity of forging equipment and improve the working conditions of heat, fatigue and the like

At present, in the plate processing process, when the manipulator is used for taking and stacking, the height of stacked plates is increased, the descending stacking height of the manipulator is required to be manually adjusted by a worker when the plates are stacked again, the working efficiency is low, and therefore the manipulator with the material taking and stacking functions is designed to solve the problems.

Disclosure of Invention

The invention aims to solve the defects in the prior art, and provides a control method of a manipulator with material taking and stacking functions.

In order to achieve the purpose, the invention adopts the following technical scheme:

a control method of a manipulator with material taking and stacking functions comprises a U-shaped base, wherein two groups of supporting rods are vertically arranged on the upper side of the U-shaped base, a controller is arranged on one group of supporting rods, a cross rod is vertically arranged at one end, far away from the U-shaped base, of the two groups of supporting rods, a guide rail is vertically arranged in the center of one side of the cross rod, a laser ranging sensor is arranged at the lower side of one end, close to the cross rod, of the guide rail, a moving slide seat is connected onto the guide rail in a sliding mode, a guide chute matched with the moving slide seat is formed in the inner side of the guide rail, a lead screw is connected into the guide chute in a rotating mode, a threaded hole matched with the lead screw is formed in the moving slide seat, vertically arranged lifting rods are arranged on two sides of the guide rail, the top, inhale the flitch and keep away from one side of two sets of lifting rods and be equipped with equidistant distribution's sucking disc, and inhale the both ends of flitch and all be equipped with two sets of clamping jaws.

Preferably, one end of the screw rod penetrating through the cross rod is connected with a first motor, and the first motor is installed on the cross rod through a screw.

Preferably, the movable sliding seat is an I-shaped sliding block, connecting frame plates are arranged on two sides of the upper end of the movable sliding seat, and the connecting frame plates are sleeved on the outer side of the lifting rod.

Preferably, transmission includes the second motor, first conical gear, second conical gear, the dead lever, transfer line and transmission spur gear, the second motor is installed on removing the slide, the output of second motor is equipped with first conical gear, one side meshing rotation that second motor was kept away from to first conical gear has two sets of second conical gear, and two sets of second conical gear are symmetrical about first conical gear, the both sides of second motor all are equipped with the dead lever of installing on removing the slide, the central authorities of two sets of second conical gear all are equipped with the transfer line, the transfer line passes through the bearing and rotates with the dead lever and link to each other, the one end that the transfer line passed the dead lever is equipped with transmission spur gear.

Preferably, tooth grooves matched with the transmission straight gears are formed in one sides, close to the guide rails, of the two groups of lifting rods in the length direction.

Preferably, a turn number counter is installed at an upper side of the first bevel gear.

Preferably, the output end of the controller is electrically connected with the first motor, the second motor and the clamping jaw, and the output ends of the circle number counter and the laser distance measuring sensor are electrically connected with the input end of the controller.

Preferably, the number of turns counter is: JLT011, the laser ranging sensor model is: GP2Y0D02YK 0.

Compared with the prior art, the invention has the beneficial effects that:

1. the movable sliding seat is conveyed by the rotation of the lead screw to horizontally move, the lifting plate is lifted up and down through the gear transmission of the transmission device, the connecting frame plate can avoid the lifting direction deviation of the lifting plate, the numerical lifting of the lifting plate is ensured, the transmission between the thread transmission and the gear is stable, and meanwhile, the clamping jaws at the two ends of the material suction plate are matched with the suckers to tightly grasp and adsorb the plate, so that the stability of the plate in the moving process is ensured;

2. the number-of-turns counter transmits the number of turns of the first conical gear to the controller, and the controller controls the descending distance of the lifting rod by controlling the number of turns of the first conical gear;

3. when panel is adsorbed and moves and pile up panel directly over, laser rangefinder sensor piles up the distance of panel through the detection distance, and give the controller with information transfer, the controller is according to the distance that detects, control second motor pivoted number of turns, thereby the descending height of flitch is inhaled in control, can avoid the panel that piles up by the clamping jaw fish tail, also avoid simultaneously falling because of the descending distance is not enough to cause panel to pile up uneven condition, the safe and orderly pile up of panel has been guaranteed, do not need the descending height of manual regulation to inhale the flitch, staff's work load has been reduced, and the work efficiency is improved.

Drawings

Fig. 1 is a schematic structural diagram of a robot with material taking and stacking functions according to the present invention;

fig. 2 is a side view of a robot with material taking and stacking functions according to the present invention;

fig. 3 is a top view of a robot with material taking and stacking functions according to the present invention.

In the figure: the device comprises a 1U-shaped base, a 2 supporting rod, a 3 cross rod, a 4 guide rail, a 5 moving sliding seat, a 6 screw rod, a 7 lifting rod, an 8 transmission device, an 81 second motor, a 82 first bevel gear, a 83 second bevel gear, a 84 fixed rod, an 85 transmission rod, a 86 transmission straight gear, a 9 material suction plate, a 10 suction cup, 11 clamping jaws, a 12 controller, a 13 first motor, a 14 laser ranging sensor, a 15 connecting frame plate and a 16-turn counter.

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.

Referring to fig. 1-3, a manipulator with get material and pile up function, including U-shaped base 1, two sets of bracing pieces 2 are installed perpendicularly to the upside of U-shaped base 1, install controller 12 on one of them set of bracing piece 2, horizontal pole 3 is installed perpendicularly to the one end that U-shaped base 1 was kept away from to two sets of bracing pieces 2, guide rail 4 is installed perpendicularly to one side central authorities of horizontal pole 3, laser range sensor 14 is installed to the one end downside that guide rail 4 is close to horizontal pole 3, laser range sensor 14's model is: GP2Y0D02YK0, sliding connection has a movable slide carriage 5 on a guide rail 4, and the inboard of the guide rail 4 is provided with a guide chute matched with the movable slide carriage 5, the guide chute is connected with a lead screw 6 in a rotating manner, one end of the lead screw 6 passing through a cross rod 3 is connected with a first motor 13, and the first motor 13 is installed on the cross rod 3 through a screw, a threaded hole matched with the lead screw 6 is arranged on the movable slide carriage 5, two sides of the guide rail 4 are both provided with vertically arranged lifting rods 7, the top ends of the two groups of lifting rods 7 are connected through a horizontal rod, the movable slide carriage 5 is an I-shaped slide block, and both sides of the upper end of the movable slide carriage 5 are both provided with connecting frame plates 15, the connecting frame plates 15 are sleeved on the outer sides of the lifting rods 7, a transmission device 8 installed on the movable slide carriage 5 is arranged between the two groups of lifting rods 7, the transmission pole 85 and transmission spur gear 86, second motor 81 are installed on moving slide 5, and the output of second motor 81 is equipped with first conical gear 82, and number of turns counter 16 is installed to the upside of first conical gear 82, and the model of number of turns counter 16 is: JLT011, wherein two groups of second bevel gears 83 are meshed and rotated on one side of a first bevel gear 82 far away from a second motor 81, the two groups of second bevel gears 83 are symmetrical about the first bevel gear 82, fixing rods 84 mounted on a movable sliding seat 5 are respectively arranged on two sides of the second motor 81, transmission rods 85 are respectively arranged in the centers of the two groups of second bevel gears 83, the transmission rods 85 are rotatably connected with the fixing rods 84 through bearings, transmission straight gears 86 are arranged at one ends of the transmission rods 85 penetrating through the fixing rods 84, tooth grooves matched with the transmission straight gears 86 are arranged on one sides of two groups of lifting rods 7 close to a guide rail 4 along the length direction, suction plates 9 are vertically connected to the bottom ends of the two groups of lifting rods 7, suction cups 10 distributed at equal intervals are arranged on one sides of the suction plates 9 far away from the two groups of lifting rods 7, two groups of clamping jaws 11 are respectively arranged at two ends of the suction plates 9, and the output ends of, the output terminals of the turn number counter 16 and the laser distance measuring sensor 14 are electrically connected to the input terminal of the controller 12.

The working principle is as follows: when the device works, the supporting plate is placed on the U-shaped base 1, the device works according to a program in the controller 12, the first motor 13 drives the screw rod 6 to rotate clockwise firstly, the movable sliding seat 5 moves towards the direction of a product, when the device moves to the position right above a product conveying platform, the second motor 81 drives the first bevel gear 82 to rotate anticlockwise, the transmission straight gears 86 on two sides rotate through transmission with the two groups of second bevel gears 83, the transmission straight gears 86 are matched with tooth grooves on the lifting rod 7 to enable the lifting rod 7 to descend, the turn number counter 16 transmits the rotation turn number of the first bevel gear 82 to the controller 12, the controller 12 controls the descending distance of the lifting rod 7 through controlling the rotation turn number of the first bevel gear 82 until the sucking disc 10 adsorbs the plate, the clamping jaws 11 on two sides clamp the plate to prevent the plate from falling, and then the second motor 81 and the first motor 13 rotate reversely, the lifting plate 7 is driven by a transmission device 8 to lift the material sucking plate 9 and the plates, the movable slide 5 moves on the guide rail 4 towards the support rod 2 until the plates move right above the support plate, the laser ranging sensor 16 detects the distance of stacked plates and transmits information to the controller 12, the controller 12 controls the number of turns of the second motor 81 according to the detected distance, so as to control the descending height of the material sucking plate 9, the device has simple structure, reasonable design and stable transmission, and can accurately control the descending height of the material sucking plate stacked each time according to the cooperation of the transmission device, the laser ranging sensor and the turn counter, thereby avoiding the stacked plates from being scratched by a clamping jaw, simultaneously avoiding the condition that the plates fall and are not stacked neatly due to insufficient descending distance, ensuring the safe and neat stacking of the plates without manual control and adjustment, the workload of workers is reduced, and the working efficiency is improved.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.

Claims

1. A control method of a mechanical arm with material taking and stacking functions comprises a U-shaped base (1), and is characterized in that two groups of supporting rods (2) are vertically arranged on the upper side of the U-shaped base (1), a controller (12) is arranged on one group of supporting rods (2), a cross rod (3) is vertically arranged at one end, far away from the U-shaped base (1), of the two groups of supporting rods (2), a guide rail (4) is vertically arranged in the center of one side of the cross rod (3), a laser ranging sensor (14) is arranged at the lower side of one end, close to the cross rod (3), of the guide rail (4), a movable sliding seat (5) is connected on the guide rail (4) in a sliding manner, a guide sliding chute matched with the movable sliding seat (5) is arranged on the inner side of the guide rail (4), a lead screw (6) is rotatably connected in, the two sides of the guide rail (4) are respectively provided with a lifting rod (7) which is vertically arranged, the top ends of the two groups of lifting rods (7) are connected through a horizontal rod, a transmission device (8) which is arranged on the movable sliding seat (5) is arranged between the two groups of lifting rods (7), the bottom ends of the two groups of lifting rods (7) are vertically connected with a material suction plate (9), one side, away from the two groups of lifting rods (7), of the material suction plate (9) is provided with suckers (10) which are distributed at equal intervals, and two ends of the material suction plate (9) are respectively provided with two groups of clamping jaws; the transmission device (8) comprises a second motor (81), a first bevel gear (82), second bevel gears (83), a fixing rod (84), a transmission rod (85) and a transmission straight gear (86), the second motor (81) is installed on the movable sliding seat (5), the output end of the second motor (81) is provided with the first bevel gear (82), one side of the first bevel gear (82) far away from the second motor (81) is meshed with two groups of second bevel gears (83) in a rotating mode, two groups of second bevel gears (83) are symmetrical about the first bevel gear (82), fixing rods (84) arranged on the movable sliding seat (5) are arranged on two sides of the second motor (81), a transmission rod (85) is arranged in the center of each of the two groups of second bevel gears (83), the transmission rod (85) is rotatably connected with the fixing rods (84) through bearings, and a transmission straight gear (86) is arranged at one end, penetrating through the fixing rods (84), of the transmission rod (85); a turn number counter (16) is arranged on the upper side of the first conical gear (82); the output end of the controller (12) is electrically connected with the first motor (13), the second motor (81) and the clamping jaw (11), and the output ends of the circle number counter (16) and the laser ranging sensor (14) are electrically connected with the input end of the controller (12);

when the device works, the supporting plate is placed on the U-shaped base (1), the device works according to a program in the controller (12), the first motor (13) drives the screw rod 6 to rotate clockwise firstly, the movable sliding seat (5) moves towards the direction of a product, when the device moves right above the product conveying platform, the second motor (81) drives the first bevel gear (82) to rotate anticlockwise, the transmission straight gears (86) on two sides rotate through transmission with the two groups of second bevel gears (83), the transmission straight gears (86) are matched with tooth grooves on the lifting rod (7) to enable the lifting rod (7) to descend, the number of rotating turns of the first bevel gear (82) is transmitted to the controller (12) by the turn counter (16), the controller (12) controls the descending distance of the lifting rod (7) through controlling the number of turns of the first bevel gear (82) to control the sucking disc (10) to suck the plate, clamping jaws (11) on two sides clamp a plate to prevent the plate from falling, then a second motor (81) and a first motor (13) rotate reversely, a lifting plate (7) drives the plate sucking plate (9) and the plate to ascend through a driving belt of a transmission device (8), a moving slide seat (5) moves towards the direction of a supporting rod (2) on a guide rail (4) until the plate moves right above the supporting plate, a laser ranging sensor (16) detects the distance of the stacked plate and transmits information to a controller (12), and the controller (12) controls the number of rotating turns of the second motor (81) according to the detected distance, so that the descending height of the plate sucking plate (9) is controlled.

2. The control method of the manipulator with the material taking and stacking functions as claimed in claim 1, wherein one end of the screw rod (6) penetrating through the cross rod (3) is connected with a first motor (13), and the first motor (13) is installed on the cross rod (3) through a screw.

3. The method for controlling the manipulator with the material taking and stacking functions as claimed in claim 1, wherein the moving slide (5) is an i-shaped slide, and the two sides of the upper end of the moving slide (5) are provided with connecting frame plates (15), and the connecting frame plates (15) are sleeved on the outer sides of the lifting rods (7).

4. The method for controlling a manipulator with material taking and stacking functions as claimed in claim 1, wherein one side of the two groups of lifting rods (7) close to the guide rail (4) is provided with tooth grooves matched with the transmission spur gear (86) along the length direction.

5. The method for controlling a manipulator with pick-up and stacking functions as claimed in claim 1, wherein the laser ranging sensor (14) is of the type: GP2Y0D02YK 0.