CN112454405B - Intelligent material carrying manipulator - Google Patents
Intelligent material carrying manipulator Download PDFInfo
- Publication number
- CN112454405B CN112454405B CN202110100188.7A CN202110100188A CN112454405B CN 112454405 B CN112454405 B CN 112454405B CN 202110100188 A CN202110100188 A CN 202110100188A CN 112454405 B CN112454405 B CN 112454405B
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- CN
- China
- Prior art keywords
- driving device
- clamping
- screw rod
- assembly
- sliding
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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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
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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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
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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
Abstract
The invention discloses an intelligent material carrying manipulator, which comprises a first driving device, a second driving device, a left supporting plate, a right supporting plate, a first clamping device, a second clamping device, a first clamping device and a second clamping device, wherein the first driving device works to drive a screw rod to rotate, and the left section and the right section of the screw rod are provided with opposite spiral grains, so that the left supporting plate and the right supporting plate are driven to move; when two sides of the goods abut against the proximity switches on the left side and the right side, the clamping assembly is in place, then the goods size detection device works to detect the size of the goods, if the goods are judged to be small goods, the second driving device works, the third driving device does not work, and the goods are clamped by the first clamping piece and the fourth clamping piece; if the large goods are judged, the second driving device and the third driving device work, and the goods are clamped by the second clamping piece and the fifth clamping piece. The invention has the following beneficial effects: the clamping device can automatically adjust the position with the maximum clamping force according to the size of the goods, so that the position with the maximum clamping force is close to the center position of the goods as far as possible, clamping of a plurality of positions is realized, and the clamping force is larger and more stable.
Description
Technical Field
The invention relates to the technical field of manipulators, in particular to an intelligent material handling manipulator.
Background
The current manipulator when being used for carrying the goods, mostly adopts two splint to press from both sides tightly from both sides, then adopts this kind of structure to press from both sides tightly the time, the clamp force of two splint free ends is less, and the clamp force of the stiff end of two splint is great, therefore when goods weight is very big, easy centre gripping unstability, the easy gliding of goods adopts this kind of structure, when the anomalous goods of centre gripping, often point contact or line contact centre gripping, the goods also shifts more easily when pressing from both sides.
Disclosure of Invention
The present invention is directed to an intelligent material handling robot, so as to solve the problems in the background art.
In order to solve the technical problems, the invention provides the following technical scheme:
the utility model provides an intelligent material carrying manipulator, including first drive arrangement, the lead screw supporting seat, screw-nut, sliding assembly, backup pad and centre gripping subassembly, first drive arrangement, the lead screw supporting seat, sliding assembly fixes on the support frame, a drive arrangement is connected to lead screw one end, the lead screw other end and lead screw supporting seat swing joint, the lead screw includes fixed continuous left spiral section and right spiral section, left spiral section and right spiral section are equipped with the spiral line of turning to the contrary, screw-nut includes left screw-nut and right screw-nut, left screw-nut links to each other with left spiral section spiral, right screw-nut links to each other with right spiral section spiral, sliding assembly includes left slip subassembly and right slip subassembly, left slip subassembly is located left spiral section side, right slip subassembly is located right spiral section side, the backup pad includes left support board and right support board, left support board and left slip subassembly, The left screw rod nut is fixed, the right support plate is fixed with the right sliding assembly, the right screw rod nut is fixed, the clamping assembly comprises a left clamping assembly and a right clamping assembly, the left clamping assembly and the right clamping assembly are identical in structure and are arranged oppositely, the left clamping assembly comprises a left movable plate, a first clamping piece, a second clamping piece, a proximity switch, a third connecting piece, a second driving device, a third driving device, a left slide rail and a left slide block, the left movable plate is fixed on the left support plate, one end, close to the left support plate, of the left movable plate is hinged to one end of the first clamping piece, the other end of the first clamping piece is hinged to one end of the second clamping piece, one end of the third connecting piece is hinged to the other end of the second clamping piece, the other end of the third connecting piece is hinged to the left slide block, the second driving device and the third driving device are fixedly arranged on the left movable plate, output ends of the second driving device and the third driving device face towards the right clamping assembly The device comprises a piece side face, a proximity switch is fixedly arranged on the inner side of a left movable plate and located on the side face of a first clamping piece, a cargo size detection device is fixedly arranged on the inner side of the left movable plate and located on the side face of a second clamping piece, and the proximity switch, the cargo size detection device, a first driving device, a second driving device and a third driving device are connected with a control device.
The invention is preferably as follows: the left sliding assembly and the right sliding assembly are identical in structure.
The invention is preferably as follows: the left sliding assembly and the right sliding assembly are two groups and are correspondingly arranged on two sides of the left spiral section and the right spiral section respectively.
The invention is preferably as follows: the left sliding assembly comprises a sliding rail and a sliding block, the sliding block is arranged on the sliding rail in a sliding mode, and the left supporting plate is fixed with the sliding block.
The invention is preferably as follows: the left supporting plate is fixed below the left screw rod nut.
The invention is preferably as follows: the first clamping piece, the second clamping piece and the third connecting piece are connecting rods or connecting plates.
The invention is preferably as follows: the first driving device, the second driving device and the third driving device are rotary air cylinders or motors.
Compared with the prior art, the invention has the following beneficial effects: the clamping device can automatically adjust the position with the largest clamping force according to the size of the goods, so that the position with the largest clamping force is close to the central position of the goods as far as possible, the clamping of a plurality of positions is realized, the clamping force is larger and more stable, and the clamping of irregular goods can be realized.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a front view of an intelligent material handling robot of the present invention;
FIG. 2 is a bottom view of the first drive arrangement, lead screw nut and support plate transmission of the present invention;
FIG. 3 is a right side view of the left clamp assembly of the present invention;
fig. 4 is a front view of another intelligent material handling robot of the present invention.
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.
Referring to fig. 1-3, the present invention provides a technical solution: an intelligent material carrying manipulator comprises a first driving device 100, a screw rod 200, a screw rod supporting seat 300, a screw rod nut 400, a sliding assembly 500, a supporting plate 600 and a clamping assembly 700, wherein the first driving device 100, the screw rod supporting seat 300 and the sliding assembly 500 are fixed on a supporting frame, one end of the screw rod 200 is connected with the first driving device 100, the other end of the screw rod 200 is movably connected with the screw rod supporting seat 300, the screw rod 200 comprises a left spiral section 210 and a right spiral section 220 which are fixedly connected, the left spiral section 210 and the right spiral section 220 are provided with spiral grains with opposite spiral directions, the screw rod nut 400 comprises a left screw rod nut 410 and a right screw rod nut 420, the left screw rod nut 410 is spirally connected with the left spiral section 210, the right screw rod nut 420 is spirally connected with the right spiral section 220, the sliding assembly 500 comprises a left sliding assembly 510 and a right sliding assembly 520, the left sliding assembly 510 is positioned on the side of the left spiral section 210, the supporting plate 600 comprises a left supporting plate 610 and a right supporting plate 620, the left supporting plate 610 is fixed with the left sliding assembly 510 and the left screw nut 410, the right supporting plate 620 is fixed with the right sliding assembly 520 and the right screw nut 420, the clamping assembly 700 comprises a left clamping assembly 710 and a right clamping assembly 720, the left clamping assembly 710 and the right clamping assembly 720 are identical in structure and are oppositely arranged, the left clamping assembly 710 comprises a left movable plate 711, a first clamping member 712, a second clamping member 713, a proximity switch 714, a third connecting member 715, a second driving device 716, a third driving device 717, a left sliding rail 718 and a left sliding block 719, the left movable plate 711 is fixed on the left supporting plate 610, one end of the left movable plate 711 close to the left supporting plate 610 is hinged with one end of the first clamping member 712, the other end of the first clamping member 712 is hinged with one end of the second clamping member 713, one end of the third connecting member 715 is hinged, the other end of the third connecting member 715 is hinged to the left sliding block 719, the left sliding block 719 is slidably disposed on the left sliding rail 718, the second driving device 716 and the third driving device 717 are fixedly disposed on the left movable plate 711, output ends of the second driving device 716 and the third driving device 717 face the right clamping assembly 720 and respectively abut against side surfaces of the first clamping member 712 and the second clamping member 713, the proximity switch 714 is fixedly disposed on an inner side of the left movable plate 711 and located on a side surface of the first clamping member 712, the cargo size detecting device 800 is fixedly disposed on an inner side of the left movable plate 711 and located on a side surface of the second clamping member 713, and the proximity switch 714, the cargo size detecting device 800, the first driving device 100, the second driving device 716, and the third driving device 717 are connected to the control device.
The working principle of the invention is as follows: firstly, the first driving device 100 works to drive the screw rod 200 to rotate, and the left spiral section 210 and the right spiral section 220 of the screw rod 200 have opposite spiral grains, so that the left screw rod nut 410 and the right screw rod nut 420 are driven to move oppositely and approach, and then the left support plate 610 and the right support plate 620 which are respectively fixed with the left screw rod nut and the right screw rod nut are driven to move oppositely and approach, and the left support plate 610 and the right support plate 620 move synchronously, so that the left clamping assembly 710 and the right clamping assembly 720 can clamp goods in a centering manner; when the proximity switch 714 on the side of the first clamping member 712 and the proximity switch 714 on the side of the fourth clamping member 722 sense the cargo at the same time, it indicates that the left clamping assembly 710 and the right clamping assembly 720 are in place, a signal is fed back to the control device, the control device controls the first driving device 100 to stop working, and then the cargo size detection device 800 works to detect the size of the cargo.
The working principle of the cargo size detection device 800 is as follows: the cargo size detection device 800 may be a laser detector, wherein the left movable plate 711 is provided with a laser transmitter, and the right movable plate is provided with a laser receiver at a position opposite to the laser transmitter. After the laser transmitter emits laser, if the laser receiver receives a signal, it is determined that the cargo is small, the third driving device 717 does not operate, and if the laser receiver receives no signal, which indicates that the cargo blocks the laser light, it is determined that the cargo is large, and the third driving device 717 operates.
In the present invention, for the purpose of describing a specific structure, the clamping direction of the clamping assembly 700 is downward, but it is also possible to perform clamping from the side. When gripping from the side, for small goods gripping, as long as the second driving means 716 is operated, the third driving means 717 is not operated, and the goods is gripped by the first gripping member 712 pushed by the second driving means 716 and the fourth gripping member 722 opposite to the first gripping member 712 at the right side, and the position where the gripping force is the largest is at the position opposite to the second driving means 716 on the first gripping member 712; when large goods are picked up, as long as the second driving device 716 and the third driving device 717 are both operated, the goods are clamped by the second clamping member 713 and the right fifth clamping member 723 opposite to the second clamping member 713, and the position with the largest clamping force is at the hinged position of the first clamping member 712 and the second clamping member 713 and the hinged position of the second clamping member 713 and the third connecting member 714 on the second clamping member 713, so that the clamping maximum force position of the goods with different sizes can be adjusted, the maximum clamping force of the goods regardless of the large goods and the small goods can be at the middle position of the goods as much as possible, and similarly when the goods are manually held up, the goods are generally at the middle position of the goods, and the goods can be more stably transported.
In the present invention, the sliding assembly 500 is used for guiding.
In the invention, the left sliding component 510 and the right sliding component 520 have the same structure, the left sliding component 510 and the right sliding component 520 are respectively arranged on two sides of the left spiral section 210 and the right spiral section 220, the left sliding component 510 comprises a sliding rail and a sliding block, the sliding block is arranged on the sliding rail in a sliding way, and the left support plate 610 is fixed with the sliding block.
In the present invention, the left support plate 610 is fixed below the left lead screw nut 410.
In the present invention, the first clamping member 712, the second clamping member 713, and the third connecting member 715 are connecting rods or plates.
In the invention, the first driving device, the second driving device and the third driving device are rotary cylinders or motors.
In the invention, as shown in fig. 4, in order to clamp irregular goods, a clamping member may be further hinged between the second clamping member 713 and the third connecting member 715, and a driving device and a goods size detecting device are correspondingly arranged, and when in operation, the third driving device 717 and the newly added driving device work to drive the second clamping member 713 and the newly added clamping member to be attached to the irregular goods, so as to clamp the goods more stably.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. The utility model provides an intelligent material transport manipulator which characterized in that: comprises a first driving device, a screw rod supporting seat, a screw rod nut, a sliding assembly, a supporting plate and a clamping assembly, wherein the first driving device, the screw rod supporting seat and the sliding assembly are fixed on a supporting frame, one end of the screw rod is connected with the first driving device, the other end of the screw rod is movably connected with the screw rod supporting seat, the screw rod comprises a left spiral section and a right spiral section which are fixedly connected, the left spiral section and the right spiral section are provided with spiral grains with opposite spiral directions, the screw rod nut comprises a left screw rod nut and a right screw rod nut, the left screw rod nut is spirally connected with the left spiral section, the right screw rod nut is spirally connected with the right spiral section, the sliding assembly comprises a left sliding assembly and a right sliding assembly, the left sliding assembly is positioned on the side surface of the left spiral section, the right sliding assembly is positioned on the side surface of the right, the right support plate is fixed with the right sliding assembly and the right screw nut, the clamping assembly comprises a left clamping assembly and a right clamping assembly, the left clamping assembly and the right clamping assembly are identical in structure and are oppositely arranged, the left clamping assembly comprises a left movable plate, a first clamping piece, a second clamping piece, a proximity switch, a third connecting piece, a second driving device, a third driving device, a left sliding rail and a left sliding block, the left movable plate is fixed on the left support plate, one end, close to the left support plate, of the left movable plate is hinged with one end of the first clamping piece, the other end of the first clamping piece is hinged with one end of the second clamping piece, one end of the third connecting piece is hinged with the other end of the second clamping piece, the other end of the third connecting piece is hinged with the left sliding block, the left sliding block is arranged on the left sliding rail in a sliding manner, the second driving device and the third driving device are fixedly arranged on the left movable plate, output ends of the second driving device and the third driving, the proximity switch is fixedly arranged on the inner side of the left movable plate and located on the side face of the first clamping piece, the inner side of the left movable plate and located on the side face of the second clamping piece are fixedly provided with a cargo size detection device, and the proximity switch, the cargo size detection device, the first driving device, the second driving device and the third driving device are connected with the control device.
2. The intelligent material handling robot of claim 1, wherein: the left sliding assembly and the right sliding assembly are identical in structure.
3. The intelligent material handling robot of claim 2, wherein: the left sliding assembly and the right sliding assembly are two groups and are correspondingly arranged on two sides of the left spiral section and the right spiral section respectively.
4. The intelligent material handling robot of claim 2, wherein: the left sliding assembly comprises a sliding rail and a sliding block, the sliding block is arranged on the sliding rail in a sliding mode, and the left supporting plate is fixed with the sliding block.
5. The intelligent material handling robot of claim 1, wherein: the left supporting plate is fixed below the left screw rod nut.
6. The intelligent material handling robot of claim 1, wherein: the first clamping piece, the second clamping piece and the third connecting piece are connecting rods or connecting plates.
7. The intelligent material handling robot of claim 1, wherein: the first driving device, the second driving device and the third driving device are rotary air cylinders or motors.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110100188.7A CN112454405B (en) | 2021-01-26 | 2021-01-26 | Intelligent material carrying manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110100188.7A CN112454405B (en) | 2021-01-26 | 2021-01-26 | Intelligent material carrying manipulator |
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| Publication Number | Publication Date |
|---|---|
| CN112454405A CN112454405A (en) | 2021-03-09 |
| CN112454405B true CN112454405B (en) | 2021-04-13 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110100188.7A Active CN112454405B (en) | 2021-01-26 | 2021-01-26 | Intelligent material carrying manipulator |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2012176461A (en) * | 2011-02-25 | 2012-09-13 | Yaskawa Electric Corp | Hand and robot |
| CN102858502A (en) * | 2010-04-28 | 2013-01-02 | 丰田自动车株式会社 | Grasping apparatus having bag members filled by a granular substance |
| CN110181545A (en) * | 2019-05-06 | 2019-08-30 | 江苏大学 | A kind of Multi Role Aircraft machinery claw |
| CN110626808A (en) * | 2018-06-25 | 2019-12-31 | 钟祥三和建材有限公司 | Setting device for autoclaved sand-lime bricks |
| US10836047B1 (en) * | 2017-10-31 | 2020-11-17 | Amazon Technologies, Inc. | Finger assembly having a talon and spin paddle actuation |
| CN212193210U (en) * | 2020-05-21 | 2020-12-22 | 江苏宇光精工科技有限公司 | Manipulator structure of pneumatic centre gripping |
| CN112192593A (en) * | 2020-10-20 | 2021-01-08 | 广东顺力智能物流装备股份有限公司 | Intelligent material carrying manipulator |
-
2021
- 2021-01-26 CN CN202110100188.7A patent/CN112454405B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102858502A (en) * | 2010-04-28 | 2013-01-02 | 丰田自动车株式会社 | Grasping apparatus having bag members filled by a granular substance |
| JP2012176461A (en) * | 2011-02-25 | 2012-09-13 | Yaskawa Electric Corp | Hand and robot |
| US10836047B1 (en) * | 2017-10-31 | 2020-11-17 | Amazon Technologies, Inc. | Finger assembly having a talon and spin paddle actuation |
| CN110626808A (en) * | 2018-06-25 | 2019-12-31 | 钟祥三和建材有限公司 | Setting device for autoclaved sand-lime bricks |
| CN110181545A (en) * | 2019-05-06 | 2019-08-30 | 江苏大学 | A kind of Multi Role Aircraft machinery claw |
| CN212193210U (en) * | 2020-05-21 | 2020-12-22 | 江苏宇光精工科技有限公司 | Manipulator structure of pneumatic centre gripping |
| CN112192593A (en) * | 2020-10-20 | 2021-01-08 | 广东顺力智能物流装备股份有限公司 | Intelligent material carrying manipulator |
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| CN112454405A (en) | 2021-03-09 |
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