CN112171697A

CN112171697A - Manipulator device and pallet assembly system

Info

Publication number: CN112171697A
Application number: CN202010916719.5A
Authority: CN
Inventors: 陈铁坚; 刘松良; 周艾飞; 郭且夫; 于国海
Original assignee: Zoomlion Heavy Industry Science and Technology Co Ltd
Current assignee: Zoomlion Heavy Industry Science and Technology Co Ltd
Priority date: 2020-09-03
Filing date: 2020-09-03
Publication date: 2021-01-05

Abstract

The invention relates to a manipulator, and discloses a manipulator device and a pallet assembly system. The manipulator device comprises a first horizontal adjusting mechanism movably arranged on the track, the lower part of the first horizontal adjusting mechanism is sequentially provided with a height adjusting mechanism and a second horizontal adjusting mechanism, the second horizontal adjusting mechanism comprises a rotating arm, the rotating arm is rotatably connected with the height adjusting mechanism through a first rotating shaft, and the second rotating shaft is arranged at one end of the rotating arm, far away from the height adjusting mechanism, and is connected with the clamping mechanism; first horizontal adjustment mechanism can drive fixture along track horizontal migration, and the swinging boom can be driven and rotate around the axis level of first rotation axis, and fixture can be driven for rotating around the axis level of second rotation axis to make the article that fixture got to adjust to the horizontal position of settlement. The device can adjust the clamped object to a required position and angle, and has high automation degree.

Description

Manipulator device and pallet assembly system

Technical Field

The present invention relates to a robot arm, and in particular to a robot arm device. In addition, still relate to a pallet assembly system.

Background

The existing walking platform of the engineering machinery comprises a plate body, and if the walking platform of the engineering machinery is longer and larger, the walking platform is formed by splicing a plurality of walking platform plates. When the production line to current engineering machine tool was investigated and researched, the discovery was walked the size of the board many, the material type is many (aluminium matter, iron), and the decorative pattern is various, because various engineering machine tool walk the mounting height difference, need carry and lift the height more than two people or even two people usually during the operation, just can transport to suitable height and position with walking the board.

Through human factor engineering analysis, the operation fatigue strength of personnel's transport and installation is big, leads to operating personnel easily to appear waist and shoulder damage, and the occupational disease easily appears in long-term operation. In addition, when placing the deck of walking, because the width of walking the deck and place the height and have the difference, if place and have the deviation, when the deck is put in place to the propelling movement, the easy potential safety hazards such as walking the deck and dropping appear, required assemble duration overlength reduces operating personnel's work efficiency simultaneously.

Disclosure of Invention

The technical problem to be solved by the first aspect of the present invention is to provide a manipulator device, which can adjust a gripped object to a desired position and angle, has a high degree of automation, and improves the operation safety and work efficiency of an operator.

The second aspect of the present invention is to provide a mounting system for a step board, which can automatically mount a step board of an engineering machine, and is convenient to operate and high in safety.

In order to achieve the above object, a first aspect of the present invention provides a manipulator apparatus, including a first horizontal adjustment mechanism movably mounted on a track, a lower portion of the first horizontal adjustment mechanism being connected to one end of a height adjustment mechanism, the other end of the height adjustment mechanism being connected to a second horizontal adjustment mechanism, the second horizontal adjustment mechanism including a rotating arm, the rotating arm being provided with a first rotating shaft and a second rotating shaft, the rotating arm being rotatably connected to the height adjustment mechanism via the first rotating shaft, the second rotating shaft being provided at one end of the rotating arm away from the height adjustment mechanism and being connected to a clamping mechanism; first horizontal adjustment mechanism can drive fixture follows track horizontal migration, the swinging boom can be driven for center on the axis level of first rotation axis rotates, fixture can be driven for center on the axis level of second rotation axis rotates to through the swinging boom is around the rotation of first rotation axis and fixture is around the rotation of second rotation axis is coordinated, so that can make the article that fixture pressed from both sides was got is adjusted to the horizontal position of settlement.

Preferably, the first rotating shaft and the second rotating shaft are capable of being driven to rotate by respective corresponding driving mechanisms, the rotating arm is connected to the first rotating shaft so as to be capable of rotating along with the first rotating shaft, and the clamping mechanism is connected to the second rotating shaft so as to be capable of rotating along with the second rotating shaft.

As a preferred embodiment, the height adjusting mechanism includes a lifting driving structure, a height connecting piece and a lifting arm, wherein the upper ends of the lifting driving structure and the height connecting piece are respectively connected with the first horizontal adjusting mechanism, and the lower ends of the lifting driving structure and the height connecting piece are respectively hinged with the lifting arm, so that the lifting arm can perform up-and-down lever rotation around the hinged point of the lifting arm and the height connecting piece; one end, far away from the lifting driving structure, of the lifting arm is rotatably connected with the rotating arm through the first rotating shaft, so that the rotating arm can be driven to horizontally rotate around the axis of the first rotating shaft.

Preferably, the lifting arm is provided with a reinforcing arm hinged to the height connector.

Further preferably, the lifting arm is provided with a balance member at an end remote from the second leveling mechanism.

As another preferred embodiment, the clamping mechanism includes a male connector connected to the second rotating shaft, a clamp switching male connected to the male connector, a clamp switching female connected to the clamp switching male, and a clamp structure connected to the clamp switching female.

Preferably, the fixture switching male head is detachably connected with the fixture switching female head.

Further preferably, one of the fixture switching male head and the fixture switching female head is provided with a positioning hole and a fixing structure, and the other is provided with a positioning column matched with the positioning hole and a fixing hole matched with the fixing structure.

Specifically, the anchor clamps structure includes frame construction, is used for absorbing the main sucking disc of article and at least three tong that are used for pressing from both sides the article, one side of frame construction with anchor clamps switch female head and are connected, the opposite side is provided with main sucking disc with the tong.

The invention provides a walking board assembling system, which comprises a truss and the manipulator device, wherein the truss is provided with the track.

Through the technical scheme, when the manipulator device is applied to the walking board of the assembly engineering machinery, after the required walking board is clamped by the clamping mechanism, the first horizontal adjusting mechanism drives the walking board to horizontally move to the position close to the position required to be assembled along the track, the height adjusting mechanism lifts the walking board to a certain height to reach the upper part of the engineering machinery, finally the rotating arm is driven to horizontally rotate around the axis of the first rotating shaft, the walking board is finely adjusted to the upper part of the required assembly position, the clamping mechanism is driven to horizontally rotate around the axis of the second rotating shaft to finely adjust the angle of the walking board, so that the clamped walking board can be adjusted to the set assembly position and angle, the automatic assembly of the walking board of the engineering machinery is realized, the fatigue strength of operators is reduced, and the installation of the walking boards with different heights can be met, the working efficiency of the operating personnel can be improved, and the operation safety is improved. In the walking board assembling system provided by the invention, the manipulator device is matched with the truss, so that the walking board is more convenient and faster to assemble, and the automation degree is high.

In the preferred embodiment of the invention, the clamp structure in the clamping mechanism is detachably connected with the clamp switching male head through the clamp switching female head, so that the required clamp structure can be quickly replaced according to the use requirement and the size of the object, the objects with different sizes can be clamped, transported and assembled, and the clamp structure is more convenient and faster to apply and wider in range.

Further advantages of the invention, as well as advantages of preferred embodiments, are further described in the detailed description which follows.

Drawings

FIG. 1 is a schematic diagram of a robot apparatus according to an embodiment of the present invention;

FIG. 2 is a schematic structural view of another embodiment of the robot apparatus of the present invention;

FIG. 3 is a schematic structural view of one embodiment of the male clamp-switching head of FIG. 2;

FIG. 4 is a schematic structural view of another embodiment of the male gripper switching head of FIG. 2;

FIG. 5 is a schematic structural view of an embodiment of a female gripper switching head according to the present invention;

FIG. 6 is a schematic structural diagram of a first embodiment of a clamp switching female head and clamp configuration of the present invention;

FIG. 7 is a schematic structural diagram of a second embodiment of a clamp switching female head and clamp configuration of the present invention;

FIG. 8 is a schematic structural view of a third embodiment of a gripper switching female head and gripper configuration of the present invention;

FIG. 9 is a schematic structural view of a fourth embodiment of a gripper switching female head and gripper configuration of the present invention;

FIG. 10 is a schematic structural diagram of a fifth embodiment of a gripper switching female head and gripper configuration of the present invention;

FIG. 11 is a schematic structural view of a sixth embodiment of a clamp switching female head and clamp configuration of the present invention;

fig. 12 is a schematic view of the clamp arrangement of the present invention with the platens removed.

Description of the reference numerals

1 first horizontal adjusting mechanism 2 height adjusting mechanism

21 lifting driving structure 22 height connecting piece

23 lift arm 24 stiffening arm

25 second horizontal adjusting mechanism of balancing piece 3

31 rotating arm 32 first rotation axis

33 second rotating shaft 4 clamping mechanism

41 female head 42 anchor clamps structure is switched to anchor clamps

421 frame structure 422 tong

43 male connector 44 clamp switching male

45 positioning hole 46 fixing structure

47 positioning post 48 fixing hole

5 truss 6 walking board

Detailed Description

The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.

In the description of the present invention, it should be noted that, unless otherwise explicitly stated or limited, the terms "mounted," "provided," and "connected" are to be construed broadly, and for example, the term "connected" may be a fixed connection, a detachable connection, or an integral connection; either directly or indirectly through intervening media, either internally or in any combination thereof. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

It is to be understood that for the purposes of describing the invention and simplifying the description, the terms "upper," "lower," "top," "bottom," and the like are used in the positional or orientational relationship illustrated in the drawings and are not intended to indicate or imply that the referenced devices or elements must be in a particular orientation, constructed and operative in a particular orientation and are not to be construed as limiting the invention. Furthermore, the terms "first", "second" are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated, and therefore the features defined "first", "second" may explicitly or implicitly include one or more of the features described.

A manipulator device provided by a first aspect of the present invention, referring to fig. 1 to 5, includes a first horizontal adjustment mechanism 1 movably mounted on a track, a lower portion of the first horizontal adjustment mechanism 1 is connected to one end of a height adjustment mechanism 2, the other end of the height adjustment mechanism 2 is connected to a second horizontal adjustment mechanism 3, the second horizontal adjustment mechanism 3 includes a rotating arm 31, the rotating arm 31 is provided with a first rotating shaft 32 and a second rotating shaft 33, the rotating arm 31 is rotatably connected to the height adjustment mechanism 2 through the first rotating shaft 32, the second rotating shaft 33 is disposed at one end of the rotating arm 31 away from the height adjustment mechanism 2 and is connected to a clamping mechanism 4; the first horizontal adjusting mechanism 1 can drive the clamping mechanism 4 to move horizontally along the track, the rotating arm 31 can be driven to rotate horizontally around the axis of the first rotating shaft 32, and the clamping mechanism 4 can be driven to rotate horizontally around the axis of the second rotating shaft 33, so that the objects clamped by the clamping mechanism 4 can be adjusted to a set horizontal orientation by matching the rotation of the rotating arm 31 around the axis of the first rotating shaft 32 and the rotation of the clamping mechanism 4 around the axis of the second rotating shaft 33.

The manipulator device can be applied to the assembly of the walking board 6 of various engineering machines, and also can be applied to the assembly, transportation and stacking processes of other objects. Specifically, when being applied to the assembly of the walking board 6 of the engineering machinery, the manipulator device can be matched with a truss of an engineering machinery production workshop for use, namely, a track of the first horizontal adjusting mechanism 1 is arranged on the truss, and an independent track can also be arranged according to the first horizontal adjusting mechanism 1.

The operation of the manipulator apparatus of the present invention will be described below in conjunction with the case where the manipulator apparatus of the present invention described above is applied to the mounting of the deck plate 6 of the construction machine. Firstly, the clamping mechanism 4 is moved to the upper part of the stacking position of the platform board 6 by the movement of the first horizontal adjusting mechanism 1 along the track, the height adjusting mechanism 2 is lowered to enable the clamping mechanism 4 to clamp the required platform board 6, then the first horizontal adjusting mechanism 1 moves along the track to drive the platform board 6 to move to the position near the position where the platform board 6 is required to be assembled along the fixed horizontal track (namely the extending direction of the track), then the platform board 6 is lifted to a certain height to reach the upper part of the engineering machinery by the height adjusting mechanism 2, finally the rotating arm 31 is driven to horizontally rotate around the axis of the first rotating shaft 32 to finely adjust the platform board 6 to the upper part of the required assembling position, then the rotating clamping mechanism 4 horizontally rotates around the axis of the second rotating shaft 33 to finely adjust the angle of the platform board 6, so that the clamped platform board 6 can be adjusted to the set assembling position and angle, and then the clamping mechanism 4 is released to directly mount the walking board 6 on the engineering machinery at the position where the assembly is needed. Due to the fact that the sizes of the walking boards 6 required to be configured are different due to different machine types of the engineering machinery, and the installation positions and the angles of the walking boards 6 are different, the manipulator device provided by the invention can be used for automatically assembling various walking boards 6 of the engineering machinery, the fatigue strength of operators is reduced, the requirements for installation of the walking boards 6 with different heights and different angles can be met, and the working efficiency of the operators can be improved.

Specifically, the first rotation shaft 32 and the second rotation shaft 33 can be driven to rotate by the respective corresponding drive mechanisms, the rotation arm 31 is connected to the first rotation shaft 32 so as to be able to rotate along with the first rotation shaft 32, and the chucking mechanism 4 is connected to the second rotation shaft 33 so as to be able to rotate along with the second rotation shaft 33.

Note that, the drive method in which the rotary arm 31 is driven to horizontally rotate around the axis of the first rotary shaft 32 and the gripping mechanism 4 is driven to horizontally rotate around the axis of the second rotary shaft 33 may be such that the rotary arm 31 can be driven to horizontally rotate around the axis of the first rotary shaft 32 by a corresponding drive mechanism and the gripping mechanism 4 can be driven to horizontally rotate around the axis of the second rotary shaft 33 by a corresponding drive mechanism.

In the invention, the height adjusting mechanism 2 directly drives or indirectly drives the second horizontal adjusting mechanism 3 and the clamping mechanism 4 to move up and down through the self extension or contraction. In some embodiments of the manipulator device, the height adjusting mechanism 2 includes a lifting driving mechanism 21, a height connector 22 and a lifting arm 23, wherein the upper ends of the lifting driving mechanism 21 and the height connector 22 are respectively connected with the first horizontal adjusting mechanism 1, and the lower ends of the lifting driving mechanism and the height connector 22 are respectively hinged with the lifting arm 23; one end of the lifting arm 23 away from the lifting driving structure 21 is rotatably connected with the rotating arm 31 through a first rotating shaft 32, so that the rotating arm 31 can be driven to horizontally rotate around the axis of the first rotating shaft 32. At this time, the lifting arm 23 forms a lever structure relative to the hinge point of the lifting arm and the height connecting piece 22, when the lifting driving structure 21 extends, the lifting arm 23 can be driven to move down at the end far away from the rotating arm 31, the end connected with the rotating arm 31 can move up through the lever effect, when the lifting driving structure 21 shortens, the lifting arm 23 can be driven to move up at the end far away from the rotating arm 31, the end connected with the rotating arm 31 can move down through the lever effect, thereby the lifting arm 23 can rotate up and down around the hinge point of the height connecting piece 22, and the heights of the rotating arm 31 and the clamping mechanism 4 can be improved or reduced.

In order to enhance the connection strength between the lifting arm 23 and the height adjusting mechanism 2 and ensure the safety of the clamping mechanism 4 in clamping the object, it is preferable that the lifting arm 23 is provided with a reinforcing arm 24 hinged with the height connecting member 22 to enhance the overall load-bearing capacity of the lifting arm 23.

Further preferably, the lifting arm 23 is provided with a balance member 25 at an end far from the second horizontal adjustment mechanism 3, so as to improve the balance of the lever structure formed at the two ends of the lifting arm 23, reduce the damage to the lifting arm 23, and prevent the breakage.

As another preferred embodiment of the present invention, the chucking mechanism 4 includes a male connector 43 connected to the second rotation shaft 33, a jig switching male connector 44 connected to the male connector 43, a jig switching female connector 41 connected to the jig switching male connector 44, and a jig structure 42 connected to the jig switching female connector 41. The clamping mechanism 4 is connected to the second rotating shaft 33 through a male connector 43, so that the clamping mechanism 4 can be interlocked with the second rotating shaft 33 to drive the whole clamping mechanism 4 to horizontally rotate around the axis of the second rotating shaft 33.

In order to realize the versatility of the manipulator device and improve the flexibility of the device, the fixture switching male head 44 is detachably connected to the fixture switching female head 41 in the clamping mechanism 4 of the present invention. At this moment, switch female head 41 through anchor clamps and switch public first 44 and can dismantle the connection with anchor clamps, can realize anchor clamps structure 42's quick dismantlement and installation, can design multiple anchor clamps structure 42 according to the demand of using and be furnished with and switch public first 44 assorted anchor clamps with anchor clamps and switch female head 41, can carry out quick replacement to anchor clamps structure 42 to can press from both sides the article of equidimension not and get, transport and assembly, it is more convenient, the scope is wider to use.

By combining the sizes and installation heights of the walking boards 6 of the two engineering machine models provided in tables 1 and 2, it can be known that the walking boards 6 of different engineering machines have different sizes and installation heights, and the installation angles of the walking boards 6 in different directions in the same model are also different, so that when the manipulator device of the present invention is applied to the assembly of the walking boards of the engineering machines, the sizes of the clamp structures 42 can be respectively changed according to the sizes of the walking boards 6.

TABLE 1 dimension of running board and height of installation position of engineering machinery type A

TABLE 2 size of running board and height of installation site for engineering machinery model B

As a specific connection manner of the male jig switching head 44 and the female jig switching head 41 in the present invention, one of the male jig switching head 44 and the female jig switching head 41 is provided with a positioning hole 45 and a fixing structure 46, and the other is provided with a positioning post 47 matching with the positioning hole 45 and a fixing hole 48 matching with the fixing structure 46. Referring to fig. 4 and 5, the fixture switching male head 44 is provided with a positioning hole 45 and a fixing structure 46, the fixture switching female head 41 is provided with a positioning column 47 matched with the positioning hole 45 and a fixing hole 48 matched with the fixing structure 46, at this time, the fixture switching male head 44 and the fixture switching female head 41 are matched with the positioning hole 45 and the positioning column 47 through the positioning hole 45, so that quick-change guide installation is realized, contraction and expansion of the fixing structure 46 are controlled through a button, the fixing structure 46 can be installed inside the fixing hole 48 when contracted, and then the fixing structure 46 can be matched with the fixing hole 48 after being expanded, so that the fixture switching female head 41 is fixed, correspondingly, the fixing structure 46 is contracted to perform a reverse flow, so that loosening and loosening of the fixture switching female head 41 can be realized, and the installation and replacement of the fixture structure 42 are more convenient and rapid.

In order to improve the safety of the manipulator apparatus of the present invention in gripping and transporting an object and prevent the object from falling, it is preferable that, referring to fig. 6 to 12, the gripper structure 42 includes a frame structure 421, a main suction cup for sucking the object, and at least three grippers 422 for gripping the object, one side of the frame structure 421 is connected to the gripper switching female head 41, and the other side is provided with the main suction cup and the grippers 422. The main sucker and the clamping hand 422 clamp the walking board 6, the schematic diagram is shown in fig. 12, the clamping hand 422 can bear the clamped object under the accident condition that the air is cut off in the main sucker, the clamping hand 422 can provide double insurance for clamping the object, the object is prevented from falling under the abnormal condition, and the operation safety protection is realized. When three grippers 422 are provided, the three grippers 422 are distributed on the frame structure 421, so that a stable three-point gripping structure is formed when gripping an object. More preferably, the number of the grippers 422 is at least four, and the two long sides of the frame structure 421 are respectively provided with at least 2 grippers 422, at this time, if the main suction cup is suddenly turned off, the grippers 422 can more stably support the gripped object, so as to prevent the object from falling off. The structure of the main suction cup and the clamping arm 422 in the present invention can adopt the prior art, for example, refer to the specific structure of the sponge suction cup and the fastening device disclosed in CN 209954683U. The frame structure 421 makes the clamp structure 42 easier to adapt to objects of different sizes and shapes to be clamped, and can reduce the weight of the clamp structure 42 itself and improve the working stability of the manipulator device.

Typically, referring to fig. 6 to 11, the jig structure 42 may be designed according to different sizes and assembled positions of the deck plate 6 of the construction machine shown in the above tables 1 and 2, respectively. The clamp switching female head 41 and the clamp structure 42 shown in fig. 6 can be used for clamping the walking board 6 corresponding to the left middle front, left middle, left middle back, left back and middle cover board in the machine type a; the clamp switching female head 41 and the clamp structure 42 shown in fig. 7 can be used for clamping the walking boards 6 corresponding to the middle front right, middle rear right and rear right of the model a; the jig switching female head 41 and the jig structure 42 shown in fig. 8 can be used for gripping the deck boards 6 corresponding to the front right and the middle right in the model B, and the jig switching female head 41 and the jig structure 42 shown in fig. 9 can be used for gripping the deck boards 6 corresponding to the middle rear and the middle rear in the model B; the jig switching female head 41 and the jig structure 42 shown in fig. 10 can be used for the middle cover plate, the left front, and the left middle of the pallet 6 of the clamp type B; the jig switching female 41 and the jig structure 42 shown in fig. 11 can be used for the pallet 6 corresponding to the right rear and rear of the gripper type B. The position of the gripping arms 422 and the main suction cups on the frame structure 421 in different types of gripper structures 42 can be designed according to the size and shape of the walking board 6.

In a preferred embodiment of the manipulator apparatus of the invention, the manipulator apparatus comprises a first level adjustment mechanism 1 movably mounted on a rail, wherein the lower part of the first horizontal adjusting mechanism 1 is connected with a height adjusting mechanism 2, the height adjusting mechanism 2 comprises a lifting driving structure 21, a height connecting piece 22 and a lifting arm 23, the upper ends of the lifting driving structure 21 and the height connecting piece 22 are respectively connected with the first horizontal adjusting mechanism 1, the lower ends of the lifting driving structure 21 and the height connecting piece 22 are respectively hinged with the lifting arm 23, one end of the lifting arm 23 far away from the lifting driving structure 21 is rotatably connected with a rotating arm 31 through a first rotating shaft 32, the first rotating shaft 32 can be driven by the corresponding driving mechanism to rotate, so as to drive the rotating arm 31 to horizontally rotate around the axis of the first rotating shaft 32, the lifting arm 23 is provided with a reinforcing arm 24 hinged with the height connecting piece 22, and one end of the lifting arm 23 far away from the rotating arm 31 is provided with a balancing piece 25; a second rotating shaft 33 is arranged at one end of the rotating arm 31 far away from the height adjusting mechanism 2, the clamping mechanism 4 is connected with the second rotating shaft 33, and the second rotating shaft 33 can be driven to rotate by a corresponding driving mechanism so as to drive the clamping mechanism 4 to horizontally rotate around the axis of the second rotating shaft 33; the clamping mechanism 4 comprises a male connector 43 connected with the second rotating shaft 33, a clamp switching male connector 44 connected with the male connector 43, a clamp switching female connector 41 detachably connected with the clamp switching male connector 44, and clamp structures 42 connected with the clamp switching female connector 41, wherein the clamp structures 42 are arranged in plurality according to the size and shape of the object, positioning holes 45 and fixing structures 46 are arranged on the clamp switching male connector 44, positioning columns 47 matched with the positioning holes 45 and fixing holes 48 matched with the fixing structures 46 are arranged on the clamp switching female connector 41 connected with each clamp structure 42, each clamp structure 42 comprises a frame structure 421, a main suction cup 421 for sucking the object and at least two clamping hands 422 for clamping the object, one side of the frame structure 421 is connected with the clamp switching female connector 41, and the other side is provided with the main suction cup and the clamping hands 422.

In the above embodiment of the manipulator device, when the manipulator device is applied to an engineering machine for assembling the walking board 6, firstly, a suitable clamp structure 42 is selected according to the size and shape of the walking board 6 to be assembled, the positioning column 47 of the clamp switching female head 41 connected with the clamp structure 42 and the positioning hole 45 of the clamp switching male head 44 are installed in a guiding manner, then the fixing structure 46 is shrunk and installed in the fixing hole 48 and expanded and fixed, then the clamping mechanism 4 is moved to the upper side of the stacking position of the walking board 6 by the first horizontal adjusting mechanism 1 along the track, the lifting driving mechanism 21 is shrunk to lower the rotating arm 31 by the lever movement of the lifting arm 23, so that the main suction cup sucks the required walking board 6, the walking board 6 is sucked and lifted by a certain height, the walking board 6 is clamped by the clamp 422, then the first horizontal adjusting mechanism 1 moves along the track to drive the walking board 6 to move to the vicinity of the position of the walking board 6 required to be assembled along the track along the extending direction of the track, the walking board 6 is lifted to a certain height to reach the upper part of the engineering machinery by extending the lifting driving structure 21, finally the rotating arm 31 is driven by the first rotating shaft 32 to horizontally rotate around the axis of the first rotating shaft 32, the walking board 6 is finely adjusted to the upper part of the required assembly position, the clamping mechanism 4 and the clamped walking board 6 are driven by the rotation of the second rotating shaft 33 to rotate around the axis of the second rotating shaft 33, so as to finely adjust the angle of the walking board 6, so that the clamped walking board 6 can be adjusted to the set assembling position and angle, when the walking board 6 is adjusted to be close to the assembling position (the walking board 6 can be placed on the corresponding mounting beam on the engineering machinery by loosening the walking board 6), the walking board 6 is placed in place by loosening the clamp 422, and then the main suction cup is loosened to directly mount the walking board 6 on the corresponding mounting beam on the engineering machinery.

On the basis of the manipulator device, the second aspect of the invention provides a walking board assembling system, which comprises a truss 5 and the manipulator device, wherein the truss 5 is provided with a track for installing the first horizontal adjusting mechanism 1.

Through the technical scheme of the invention, when the manipulator device is applied to the walking board 6 of the assembly engineering machinery, after the required walking board 6 is clamped by the clamping mechanism 4, the walking board 6 can be driven by the first horizontal adjusting mechanism 1 to move to the position near the position required to be assembled along the horizontal track, the walking board 6 is lifted to a certain height by the height adjusting mechanism 2 to reach the upper part of the engineering machinery, finally, the walking board 6 is finely adjusted to the position above the required assembly position through the horizontal rotation of the driving rotating arm 31 around the axis of the first rotating shaft 32, the angle of the walking board 6 is finely adjusted through the horizontal rotation of the driving clamping mechanism 4 around the axis of the second rotating shaft 33, so that the clamped walking board 6 can be adjusted to the set assembly position and angle to realize the automatic assembly of the walking board 6 of the engineering machinery, the fatigue strength of the operating personnel is reduced, the installation of the walking board 6 with different heights can be met, the working efficiency of the operating personnel can be improved, and the operation safety is improved. In the walking board assembling system provided by the invention, the manipulator device is matched with the truss 5, so that the walking board 6 is more convenient and faster to assemble and has high automation degree.

In the preferred embodiment of the present invention, the clamp structure 42 in the clamping mechanism 4 is detachably connected to the clamp switching male head 44 through the clamp switching female head 41, so that the required clamp structure 42 can be quickly replaced according to the use requirement and the size of the object, so as to clamp, transport and assemble the objects with different sizes, and the application is more convenient and wider.

The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the present invention is not limited thereto. Within the scope of the technical idea of the invention, numerous simple modifications can be made to the technical solution of the invention, including combinations of the specific features in any suitable way, and the invention will not be further described in relation to the various possible combinations in order to avoid unnecessary repetition. Such simple modifications and combinations should be considered within the scope of the present disclosure as well.

Claims

1. The manipulator device is characterized by comprising a first horizontal adjusting mechanism (1) movably mounted on a track, wherein the lower part of the first horizontal adjusting mechanism (1) is connected with one end of a height adjusting mechanism (2), the other end of the height adjusting mechanism (2) is connected with a second horizontal adjusting mechanism (3), the second horizontal adjusting mechanism (3) comprises a rotating arm (31), a first rotating shaft (32) and a second rotating shaft (33) are arranged on the rotating arm (31), the rotating arm (31) is rotatably connected with the height adjusting mechanism (2) through the first rotating shaft (32), and the second rotating shaft (33) is arranged at one end, far away from the height adjusting mechanism (2), of the rotating arm (31) and is connected with a clamping mechanism (4);

the first horizontal adjusting mechanism (1) can drive the clamping mechanism (4) to move horizontally along the track, the rotating arm (31) can be driven to rotate horizontally around the axis of the first rotating shaft (32), the clamping mechanism (4) can be driven to rotate horizontally around the axis of the second rotating shaft (33), and therefore an object clamped by the clamping mechanism (4) can be adjusted to a set horizontal position through cooperation of rotation of the rotating arm (31) around the axis of the first rotating shaft (32) and rotation of the clamping mechanism (4) around the axis of the second rotating shaft (33).

2. The manipulator device according to claim 1, characterized in that the first rotation axis (32) and the second rotation axis (33) are capable of being driven in rotation by respective drive mechanisms, the swivel arm (31) is connected to the first rotation axis (32) so as to be capable of following the first rotation axis (32), and the gripping mechanism (4) is connected to the second rotation axis (33) so as to be capable of following the second rotation axis (33).

3. The manipulator device according to claim 1, wherein the height adjusting mechanism (2) comprises a lifting driving structure (21), a height connecting piece (22) and a lifting arm (23), wherein the upper ends of the lifting driving structure (21) and the height connecting piece (22) are respectively connected with the first horizontal adjusting mechanism (1), and the lower ends of the lifting driving structure (21) and the height connecting piece (22) are respectively hinged with the lifting arm (23), so that the lifting arm (23) can perform up-and-down lever rotation around the hinged point of the lifting arm (23) and the height connecting piece (22); one end, far away from the lifting driving structure (21), of the lifting arm (23) is rotatably connected with the rotating arm (31) through the first rotating shaft (32), so that the rotating arm (31) can be driven to horizontally rotate around the axis of the first rotating shaft (32).

4. Robot device according to claim 3, characterized in that the lifting arm (23) is provided with a stiffening arm (24) articulated to the height connection (22).

5. A manipulator device according to claim 3, characterized in that the lifting arm (23) is provided with a counterweight (25) at the end remote from the second level adjustment mechanism (3).

6. The manipulator device according to any one of claims 1 to 5, wherein the gripping mechanism (4) comprises a male connector (43) connected to the second rotation axis (33), a gripper switching male (44) connected to the male connector (43), a gripper switching female (41) connected to the gripper switching male (44), and a gripper structure (42) connected to the gripper switching female (41).

7. The manipulator device according to claim 6, wherein the jig switching male head (44) is detachably connected to the jig switching female head (41).

8. The manipulator device according to claim 7, wherein one of the jig switching male head (44) and the jig switching female head (41) is provided with a positioning hole (45) and a fixing structure (46), and the other is provided with a positioning post (47) matching the positioning hole (45) and a fixing hole (48) matching the fixing structure (46).

9. The manipulator device according to claim 6, characterized in that the gripper structure (42) comprises a frame structure (421), a main suction cup for sucking the object, and at least three grippers (422) for gripping the object, wherein one side of the frame structure (421) is connected with the gripper switching female head (41), and the other side is provided with the main suction cup and the grippers (422).

10. A pallet assembly system, characterized by comprising a truss (5) and a manipulator device according to any of claims 1-9, said truss (5) being provided with said rails.