CN112079115A - Flexible metering robot and transportation method - Google Patents
Flexible metering robot and transportation method Download PDFInfo
- Publication number
- CN112079115A CN112079115A CN202010947069.0A CN202010947069A CN112079115A CN 112079115 A CN112079115 A CN 112079115A CN 202010947069 A CN202010947069 A CN 202010947069A CN 112079115 A CN112079115 A CN 112079115A
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- Prior art keywords
- mechanical claw
- walking arm
- pipeline
- mechanical
- robot
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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
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
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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
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/025—Arms extensible telescopic
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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
Abstract
The invention discloses a flexible metering robot which comprises a main support, a first walking arm, a second walking arm, a sucker component, a control panel, a mechanical claw frame, a mechanical claw telescopic component, a mechanical claw fine-tuning component and a mechanical claw rotating component. The invention also discloses a flexible metering transportation method, which comprises the following steps: the method comprises the following steps: the robot is unfolded; step two: advancing to take objects; step three: carrying: the robot moves to a position required to be set by regularly contracting and expanding the first walking arm and the second walking arm; step four: placing a pipeline: the pipeline angle is adjusted through the mechanical claw rotating assembly, the pipeline position is adjusted through the mechanical claw fine adjustment assembly, and after the pipeline position is accurate, the mechanical claw telescopic assembly extends and then the mechanical claw is loosened to complete pipeline placement; step five: the robot counts and resets. The pipeline grabbing and placing after adjustment are completed through the regular action of the walking arm and the mechanical claws with multiple degrees of freedom; and (5) auxiliary pipeline laying.
Description
[ technical field ] A method for producing a semiconductor device
The invention relates to the technical field of pipeline transportation, in particular to the technical field of flexible metering robots and transportation methods.
[ background of the invention ]
After the pipeline is transported for a long distance, the pipeline still needs to be transported for a short distance in the area needing to be laid. At the same time, transportation at this time needs to assist in completing the pipe connections, and needs to be able to maintain a certain height and angle. In short distance transportation scenarios, there are also some possibilities of ramp transportation. Therefore, a transport robot is needed, which can have different postures and can be retracted when not needed; and a method of short-distance transportation and assisted installation is required.
[ summary of the invention ]
The invention aims to solve the problems in the prior art, and provides a flexible metering robot and a transportation method, which can realize pipeline transportation and assist in pipeline laying.
In order to achieve the purpose, the invention provides a flexible metering robot which comprises a main support, a first walking arm, a second walking arm, a sucker component, a control panel, a mechanical claw frame, a mechanical claw telescopic component, a mechanical claw fine-tuning component and a mechanical claw rotating component, wherein the first walking arm and the second walking arm are respectively arranged on the left front side and the right rear side of the main support, and the bottoms of the first walking arm and the second walking arm are respectively connected with the sucker component; the main support is provided with a control panel, and the control panel is electrically connected with the first walking arm, the second walking arm, the mechanical claw telescopic component, the mechanical claw fine-tuning component and the mechanical claw rotating component; the main bracket is connected with a mechanical claw frame through a mechanical claw fine-tuning assembly; and a mechanical claw telescopic component, a mechanical claw rotating component and a mechanical claw are sequentially installed below the mechanical claw frame, or the mechanical claw rotating component and the mechanical claw are sequentially installed above the mechanical claw frame, and the mechanical claw telescopic component and the mechanical claw are sequentially installed below the mechanical claw rotating component.
Preferably, the first walking arm and the second walking arm are hinged to the main support, each of the first walking arm and the second walking arm comprises a plurality of mechanical arms and a plurality of piston rods, the mechanical arms are sequentially hinged into a whole, the two ends of each piston rod are connected between the adjacent mechanical arms, and the two ends of each piston rod are connected between the mechanical arm at the top of the first walking arm and the mechanical arm at the top of the second walking arm and the main support.
Preferably, a camera is arranged on the main support and electrically connected with the control panel.
Preferably, the sucker assembly comprises a sucker, a spherical joint rod embedded above the sucker and a gland matched on the spherical joint rod, and the upper part of the spherical joint rod is connected to the lower end of the first walking arm or the lower end of the second walking arm.
Preferably, the gripper extension and retraction assembly comprises a plurality of mutually nested mechanical arms, and two ends of the piston rod are connected between the adjacent mechanical arms.
Preferably, the gripper fine-adjustment assembly comprises a roller and a sliding rail, the roller is coaxially connected with the gripper frame, the sliding rail is fixed above the main support, and the roller is a wheel with a motor.
The invention also provides a flexible metering transportation method, which comprises the following steps:
the method comprises the following steps: robot stretching: the first walking arm and the second walking arm act, and the robot is unfolded;
step two: advancing to take objects: the robot moves to the position above the pipeline to be taken by regularly contracting and expanding the first walking arm and the second walking arm; after the mechanical claw is opened, the mechanical claw is lowered onto the pipeline through the mechanical claw telescopic assembly, then the mechanical claw is contracted to grab the pipeline, and finally the mechanical claw telescopic assembly is contracted to lift the pipeline;
step three: carrying: the robot moves to a position required to be set by regularly contracting and expanding the first walking arm and the second walking arm;
step four: placing a pipeline: the pipeline angle is adjusted through the mechanical claw rotating assembly, the pipeline position is adjusted through the mechanical claw fine adjustment assembly, and after the pipeline position is accurate, the mechanical claw telescopic assembly extends and then the mechanical claw is loosened to complete pipeline placement;
step five: the robot counts and resets: after the mechanical claw finishes one-time grabbing and placing, one-time counting is finished; and the robot returns to the original position through regular contraction and expansion of the first walking arm and the second walking arm.
The invention has the beneficial effects that: the invention completes the movement through the regular action of the walking arm; the pipeline is grabbed and placed after adjustment through the mechanical claws with multiple degrees of freedom; finishing fine adjustment of the pipeline and assisting installation of the pipeline connecting robot.
The features and advantages of the present invention will be described in detail by embodiments in conjunction with the accompanying drawings.
[ description of the drawings ]
FIG. 1 is a schematic diagram of a robot in a three-dimensional structure of a flexible metering robot and a transportation method according to the invention;
FIG. 2 is a schematic perspective view of a gripper and other components of a flexible metering robot and a transportation method according to the present invention;
FIG. 3 is a schematic diagram of a robot three-dimensional structure of a flexible metering robot and a transportation method according to the present invention;
FIG. 4 is a schematic perspective view of a gripper and other components of a flexible metering robot and a transportation method according to the present invention;
FIG. 5 is a schematic perspective view of a main support of the flexible metering robot and the transportation method of the present invention;
FIG. 6 is a schematic perspective view of a first walking arm of the flexible metering robot and the transportation method of the present invention;
FIG. 7 is a schematic perspective view of a second walking arm of the flexible metering robot and the transportation method of the present invention;
FIG. 8 is a schematic perspective view of a gripper of a flexible metering robot and a transportation method according to the present invention;
fig. 9 is a schematic perspective view of a gripper frame of a flexible metering robot and a transportation method according to the present invention.
In the figure: 1-main support, 2-first walking arm, 3-second walking arm, 4-sucker component, 5-control panel, 6-gripper, 7-gripper frame, 8-gripper telescopic component, 9-gripper fine-tuning component, 10-gripper rotating component and 11-pipeline.
[ detailed description ] embodiments
Referring to fig. 1-9, the robot comprises a main support 1, a first walking arm 2, a second walking arm 3, a sucker assembly 4, a control panel 5, a gripper 6, a gripper frame 7, a gripper telescopic assembly 8, a gripper fine-tuning assembly 9 and a gripper rotating assembly 10, wherein the first walking arm 2 and the second walking arm 3 are respectively arranged at the left front side and the right rear side of the main support 1, and the bottoms of the first walking arm 2 and the second walking arm 3 are respectively connected with the sucker assembly 4; the main support 1 is provided with a control panel 5, and the control panel 5 is electrically connected with the first walking arm 2, the second walking arm 3, the mechanical claw 6, the mechanical claw telescopic component 8, the mechanical claw fine-tuning component 9 and the mechanical claw rotating component 10; the main bracket 1 is connected with a mechanical claw frame 7 through a mechanical claw fine-tuning assembly 9; and a gripper telescopic component 8, a gripper rotating component 10 and a gripper 6 are sequentially installed below the gripper frame 7, or the gripper rotating component 10 is installed above the gripper frame 7, and the gripper telescopic component 8 and the gripper 6 are sequentially installed below the gripper rotating component 10.
Specifically, first walking arm 2, second walking arm 3 all articulate on main support 1, and first walking arm 2, second walking arm 3 all include a plurality of robotic arm, a plurality of piston rod, and robotic arm articulates as an organic whole in proper order, and is adjacent connect the both ends of piston rod between the robotic arm, connect the both ends of piston rod between the robotic arm of first walking arm 2, second walking arm 3 the top and the main support 1.
Specifically, a camera is arranged on the main support 1 and electrically connected with the control panel 5.
Specifically, the sucker component 4 comprises a sucker, a spherical joint rod embedded above the sucker and a gland matched on the spherical joint rod, and the upper part of the spherical joint rod is connected to the lower end of the first walking arm 2 or the lower end of the second walking arm 3.
Specifically, the gripper extension assembly 8 includes a plurality of nested robotic arms, and two ends of a piston rod are connected between adjacent robotic arms.
Specifically, gripper fine setting subassembly 9 includes gyro wheel and slide rail, gyro wheel and gripper frame 7 coaxial coupling, and the slide rail is fixed in main support 1 top, and the gyro wheel is the wheel of taking the motor.
The invention also comprises the following steps:
the method comprises the following steps: robot stretching: the first walking arm 2 and the second walking arm 3 act, and the robot is unfolded;
step two: advancing to take objects: the robot moves to the position above the pipeline 11 to be taken by regularly contracting and expanding the first walking arm 2 and the second walking arm 3; after the mechanical claw 6 is opened, the mechanical claw 6 is lowered onto the pipeline 11 through the mechanical claw telescopic assembly 8, then the mechanical claw 6 is contracted to grab the pipeline 11, and finally the mechanical claw telescopic assembly 8 is contracted to lift the pipeline 11;
step three: carrying: the robot moves to a position required to be arranged by regularly contracting and expanding the first walking arm 2 and the second walking arm 3;
step four: placing a pipeline: the angle of the pipeline 11 is adjusted through the mechanical claw rotating assembly 10, the position of the pipeline is adjusted through the mechanical claw fine adjustment assembly 9, after the position of the pipeline 11 is accurate, the mechanical claw telescopic assembly 8 extends and then loosens the mechanical claw 6, and the pipeline 11 is placed;
step five: the robot counts and resets: after the mechanical claw 6 finishes one-time grabbing and placing, one-time counting is finished; the robot returns to the original position through regular contraction and expansion of the first walking arm 2 and the second walking arm 3.
The working process of the invention is as follows:
the flexible metering robot and the transportation method are explained in the working process by combining the attached drawings.
The first traveling arm 2 is different from the second traveling arm 3 in the position of a projection on the robot arm connected to the main stand 2; the first walking arm 2 and the second walking arm 3 are driven by the piston rod to complete contraction and straightening, and in the process, the piston rod is controlled to complete walking; in order to adapt to different terrains, the problem is solved by the design of the spherical joint rod in the sucker component 4, and the universal ball head can be adsorbed on an inclined road surface; when the mechanical claw 6 is in the determined position, the mutual distance lengthening of the nested mechanical arms can be completed by the action of a piston rod of the mechanical claw telescopic assembly 8, so that the mechanical claw 6 is lifted; the mechanical claw 6 finishes grabbing through the action of the piston rod; gripper rotating assembly 10 can realize rotatoryly through mechanisms such as gear to can drive gripper 6 rotatory, gripper fine setting subassembly 9 then is the motion through the gyro wheel, drives gripper 6 motion, under gripper fine setting subassembly 9, gripper rotating assembly 10's linkage, takes pipeline 11 to specific position, for example two pipeline 11's joint department, thereby supplementary pipeline connection robot, accomplishes pipeline 11 and installs. The robot and the transportation method can play a great role in pipeline laying.
According to the invention, the movement is completed through the regular action of the walking arm; the pipeline is grabbed and placed after adjustment through the mechanical claws with multiple degrees of freedom; finishing fine adjustment of the pipeline and assisting installation of the pipeline connecting robot.
The above embodiments are illustrative of the present invention, and are not intended to limit the present invention, and any simple modifications of the present invention are within the scope of the present invention.
Claims (7)
1. A flexible metering robot, characterized in that: the mechanical gripper comprises a main support (1), a first walking arm (2), a second walking arm (3), a sucker component (4), a control panel (5), a mechanical gripper (6), a mechanical gripper frame (7), a mechanical gripper telescopic component (8), a mechanical gripper fine-tuning component (9) and a mechanical gripper rotating component (10), wherein the first walking arm (2) and the second walking arm (3) are respectively arranged at the front left side and the rear right side and the rear left side and the front right side of the main support (1), and the sucker component (4) is respectively connected to the bottoms of the first walking arm (2) and the second walking arm (3); the main support (1) is provided with a control panel (5), and the control panel (5) is electrically connected with the first walking arm (2), the second walking arm (3), the mechanical claw (6), the mechanical claw telescopic component (8), the mechanical claw fine-tuning component (9) and the mechanical claw rotating component (10); the main bracket (1) is connected with a mechanical claw frame (7) through a mechanical claw fine-tuning assembly (9); mechanical claw telescopic component (8), mechanical claw rotating component (10), mechanical claw (6) or mechanical claw rotating component (10) are installed to mechanical claw frame (7) below in proper order mechanical claw telescopic component (8), mechanical claw (6) are installed to mechanical claw frame (7) top just mechanical claw rotating component (10) below in proper order.
2. The flexible metering robot and the transportation method according to claim 1, wherein: first walking arm (2), second walking arm (3) all articulate on main support (1), and first walking arm (2), second walking arm (3) all include a plurality of robotic arm, a plurality of piston rod, and robotic arm articulates as an organic whole in proper order, and is adjacent connect the both ends of piston rod between the robotic arm, connect the both ends of piston rod between the robotic arm of first walking arm (2), second walking arm (3) the top and main support (1).
3. The flexible metering robot and the transportation method according to claim 1, wherein: the main support (1) is provided with a camera which is electrically connected with the control panel (5).
4. The flexible metering robot and the transportation method according to claim 1, wherein: the sucker component (4) comprises a sucker, a spherical joint rod embedded above the sucker and a gland matched on the spherical joint rod, and the upper part of the spherical joint rod is connected to the lower end of the first walking arm (2) or the second walking arm (3).
5. The flexible metering robot and the transportation method according to claim 1, wherein: the mechanical claw telescopic component (8) comprises a plurality of mechanical arms which are nested with each other, and two ends of a piston rod are connected between the adjacent mechanical arms.
6. The flexible metering robot and the transportation method according to claim 1, wherein: the gripper fine-adjustment assembly (9) comprises a roller and a sliding rail, the roller is coaxially connected with the gripper frame (7), the sliding rail is fixed above the main support (1), and the roller is a wheel with a motor.
7. A flexible metering transportation method is characterized in that: the method comprises the following steps:
the method comprises the following steps: robot stretching: the first walking arm (2) and the second walking arm (3) act, and the robot is unfolded;
step two: advancing to take objects: the robot moves to the position above a pipeline (11) to be taken through regular contraction and expansion of the first walking arm (2) and the second walking arm (3); after the mechanical claw (6) is opened, the mechanical claw (6) is descended onto the pipeline (11) through the mechanical claw telescopic assembly (8), then the mechanical claw (6) is contracted to grab the pipeline (11), and finally the mechanical claw telescopic assembly (8) is contracted to lift the pipeline (11);
step three: carrying: the robot moves to a position required to be arranged by regularly contracting and expanding the first walking arm (2) and the second walking arm (3);
step four: placing a pipeline: the angle of the pipeline (11) is adjusted through the mechanical claw rotating assembly (10), the position of the pipeline is adjusted through the mechanical claw fine-adjusting assembly (9), and after the position of the pipeline (11) is accurate, the mechanical claw telescopic assembly (8) extends and then loosens the mechanical claw (6), so that the pipeline (11) is placed;
step five: the robot counts and resets: the mechanical claw (6) finishes one-time grabbing and placing and then finishes one-time counting; the robot returns to the original position through regular contraction and expansion of the first walking arm (2) and the second walking arm (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010947069.0A CN112079115B (en) | 2020-09-10 | 2020-09-10 | Flexible metering robot and transportation method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010947069.0A CN112079115B (en) | 2020-09-10 | 2020-09-10 | Flexible metering robot and transportation method |
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| Publication Number | Publication Date |
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| CN112079115A true CN112079115A (en) | 2020-12-15 |
| CN112079115B CN112079115B (en) | 2021-11-23 |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101477068B1 (en) * | 2013-06-21 | 2014-12-30 | 성균관대학교산학협력단 | Device for absorbing landing shock for legged walking robot |
| CN105800306A (en) * | 2016-05-24 | 2016-07-27 | 陈薇 | Automatic equipment operating on water conservancy engineering construction site |
| CN108705517A (en) * | 2018-06-16 | 2018-10-26 | 上海晓奥享荣汽车工业装备有限公司 | Integrated flexible captures plateform system |
| CN208086772U (en) * | 2018-03-30 | 2018-11-13 | 新昌县南明街道景星机械厂 | A kind of solid mechanical hand of tubing transport |
| CN208544823U (en) * | 2018-07-12 | 2019-02-26 | 天津中网基业智能系统工程有限公司 | A kind of adjustable pipeline elevator of level |
-
2020
- 2020-09-10 CN CN202010947069.0A patent/CN112079115B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101477068B1 (en) * | 2013-06-21 | 2014-12-30 | 성균관대학교산학협력단 | Device for absorbing landing shock for legged walking robot |
| CN105800306A (en) * | 2016-05-24 | 2016-07-27 | 陈薇 | Automatic equipment operating on water conservancy engineering construction site |
| CN208086772U (en) * | 2018-03-30 | 2018-11-13 | 新昌县南明街道景星机械厂 | A kind of solid mechanical hand of tubing transport |
| CN108705517A (en) * | 2018-06-16 | 2018-10-26 | 上海晓奥享荣汽车工业装备有限公司 | Integrated flexible captures plateform system |
| CN208544823U (en) * | 2018-07-12 | 2019-02-26 | 天津中网基业智能系统工程有限公司 | A kind of adjustable pipeline elevator of level |
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| Publication number | Publication date |
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| CN112079115B (en) | 2021-11-23 |
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