CN112894793A - Modular combined hybrid joint manipulator for cargo handling - Google Patents
Modular combined hybrid joint manipulator for cargo handling Download PDFInfo
- Publication number
- CN112894793A CN112894793A CN202110327199.9A CN202110327199A CN112894793A CN 112894793 A CN112894793 A CN 112894793A CN 202110327199 A CN202110327199 A CN 202110327199A CN 112894793 A CN112894793 A CN 112894793A
- Authority
- CN
- China
- Prior art keywords
- motion mechanism
- shaft
- driving device
- mechanical arm
- arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000007246 mechanism Effects 0.000 claims abstract description 82
- 238000012546 transfer Methods 0.000 claims description 24
- 238000006073 displacement reaction Methods 0.000 claims description 13
- 230000001360 synchronised effect Effects 0.000 claims description 6
- 229910000838 Al alloy Inorganic materials 0.000 claims description 4
- 229920000049 Carbon (fiber) Polymers 0.000 claims description 4
- 239000004917 carbon fiber Substances 0.000 claims description 4
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 4
- 210000000078 claw Anatomy 0.000 claims description 3
- 230000005945 translocation Effects 0.000 claims description 2
- 239000000463 material Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
-
- 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
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a modular combined type mixed joint manipulator for loading and unloading goods, which is used for transferring the goods at the position to be transferred on a conveying line and comprises a mechanical arm and a paw mechanism, wherein the mechanical arm is arranged on a mechanical arm moving trolley; the mechanical arm moving trolley is provided with running power by a pair of steering wheels; the mechanical arm comprises a first shaft linear motion mechanism, a second shaft rotary motion mechanism, a third shaft rotary motion mechanism, a fourth shaft rotary motion mechanism and a fifth shaft linear motion mechanism which are sequentially connected from the top end of the mechanical arm moving trolley, wherein the first shaft linear motion mechanism is an electric cylinder, and a guide rail of the fifth shaft linear motion mechanism is provided with a slide block capable of vertically reciprocating; the gripper mechanism is hoisted on the sliding block through an external frame, and a vacuum suction tool for sucking the goods is arranged in the external frame. The invention is suitable for container cargo loading and unloading scenes such as containers, trucks and the like, can be quickly combined with various conveying lines, and is suitable for quick deployment in various scenes.
Description
Technical Field
The invention relates to a manipulator, in particular to a modular combined type hybrid joint manipulator for loading and unloading goods.
Background
At present, the containerized goods are mainly loaded and unloaded manually, but the manual loading and unloading efficiency is low, the cost is high, the large-scale containerized goods loading and unloading are not facilitated, the robot loading and unloading is a development trend of loading operation technology, and at present, fewer robots are suitable for loading and unloading goods such as containers and trucks.
Disclosure of Invention
The present invention aims to solve the above technical problem at least to some extent. Therefore, the invention provides a modularized combined type hybrid joint manipulator for cargo handling, which is suitable for containerized cargo handling scenes such as containers and trucks.
In order to achieve the purpose, the invention adopts the following technical scheme:
the utility model provides a combined mixed joint manipulator of modularization for goods handling, goods are carried to treating the transfer position on the transfer chain after the transfer chain plastic that has the plastic function after unstacking by the mechanism of unstacking, the transfer chain is installed on the transfer chain travelling car, through the transfer chain travelling car drives and can the displacement, and its structural feature is:
the modular combined type mixed joint manipulator is used for transferring goods at a position to be transferred on a conveying line and comprises a mechanical arm and a paw mechanism, wherein the mechanical arm is arranged on a mechanical arm moving trolley, and the paw mechanism is arranged at the tail end of the mechanical arm;
the mechanical arm moving trolley is provided with running power by a pair of steering wheels which are driven independently at the bottom and adopt a differential driving mode, four universal wheels which are arranged at four corners are configured to jointly form a six-point support, and a mechanical arm is mounted at the top end;
the mechanical arm comprises a first shaft linear motion mechanism, a second shaft rotary motion mechanism, a third shaft rotary motion mechanism, a fourth shaft rotary motion mechanism and a fifth shaft linear motion mechanism which are sequentially connected from the top end of the mechanical arm moving trolley, wherein the first shaft linear motion mechanism is an electric cylinder and is arranged at the top end of the mechanical arm moving trolley, a screw rod is upward, the second shaft rotary motion mechanism is arranged at the rod end and forms a synchronous vertical displacement component, a second horizontal swing arm which is driven by a second driving device and can do 360-degree rotary motion on the horizontal plane is arranged on the second shaft rotary motion mechanism, the third shaft rotary motion mechanism is arranged at the arm end of the second horizontal swing arm and is provided with a third horizontal swing arm which is driven by a third driving device and can do rotary motion on the horizontal plane, and the fourth shaft rotary motion mechanism is arranged at the arm end of the third horizontal swing, the five-axis linear motion mechanism is suspended at the arm end of the fourth horizontal swing arm through a guide rail mounting frame and comprises a fifth driving device and a slide block which is driven by the fifth driving device and can vertically reciprocate along a guide rail on the guide rail mounting frame;
the hand claw mechanism is in through the hoist and mount of external frame on the slider, with the arm constitutes the synchronous motion component, on the external frame, with the more distal end that the slider is relative is uncovered, and open end bottom is provided with the bottom plate board that outside level extended for the bearing goods be equipped with in the external frame and be used for absorbing the vacuum suction tool of waiting the goods of translocation position on the conveying line, vacuum suction tool embeds vacuum generator, still be equipped with sixth drive arrangement on the external frame, can drive vacuum suction tool or towards outside the open end linear displacement of external frame to stretching out external frame outside, or the open end linear displacement of external frame dorsad to in retracting external frame, the linear displacement of vacuum suction tool relies on the linear bearing who sets up on the external frame to form the direction with the guide bar.
The invention also has the structural characteristics that:
in the arm:
the second driving device, the third driving device, the fourth driving device and the fifth driving device are all servo motors;
the second shaft rotary motion mechanism is fixedly arranged at the top end of the electric cylinder screw rod through a second shaft mounting seat, and the second horizontal swing arm is coaxially connected with an output shaft of the second driving device and horizontally overhung;
the third shaft rotating motion mechanism is fixedly arranged at the arm end of the second horizontal swing arm through a third shaft mounting seat, the longitudinal section of the third shaft mounting seat is U-shaped, the U-shaped bottom surface is oppositely and fixedly connected with the second horizontal swing arm, and the third horizontal swing arm is coaxially connected with the output end of a third driving device and horizontally overhung;
the fourth shaft rotary motion mechanism is fixedly arranged at the arm end of a third horizontal swing arm through a fourth shaft mounting seat, the fourth shaft mounting seat and the third shaft mounting seat have the same structural form, and the fourth horizontal swing arm is coaxially connected with an output shaft of a fourth driving device and horizontally overhung;
the guide rail of the fifth-axis linear motion mechanism is vertically and fixedly arranged on a guide rail mounting frame, the fifth driving device is arranged at the top end of the guide rail mounting frame, a ball screw is arranged on the guide rail mounting frame, the ball screw and the sliding block form a ball screw pair, and the fifth driving device provides driving force.
In the gripper mechanism:
the sixth driving device is an air cylinder, the vacuum suction tool is fixedly arranged at the rod end of a piston rod of the air cylinder through a suction tool mounting plate, a plurality of guide rods arranged along the telescopic direction of the air cylinder are fixedly connected to the suction tool mounting plate, and the guide rods are supported by linear bearings arranged on an external frame.
The outer frame is made of aluminum alloy and is of a hollow structure, and the bottom supporting plate is a carbon fiber plate.
Compared with the prior art, the invention has the beneficial effects that:
the manipulator moving trolley with the mechanical arm is arranged, the paw mechanism is arranged at the execution end of the mechanical arm, the hybrid joint manipulator capable of moving independently is integrally formed, is independent of the conveying lines and the conveying line moving trolley, can be rapidly combined with various conveying lines, and is suitable for rapid deployment under various scenes. According to the invention, the mechanical arm is used for moving the trolley to drive the trolley to move, the mechanical arm is used for driving the paw mechanism to move, the paw mechanism is used for grabbing and transferring the goods at the position to be transferred on the conveying line, the goods are loaded and unloaded, the whole structure form of modular combination is adopted, the flexibility is good, and the application range is wide.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of the robot moving cart;
FIG. 3 is a schematic view of a robotic arm;
FIG. 4 is a schematic structural view of a gripper mechanism;
FIG. 5 is a schematic view of the gripper mechanism as the robot is preparing to grasp a load;
FIG. 6 is a schematic view of the structure of the manipulator during the movement of transferring the cargo;
fig. 7 is a schematic structural diagram of the gripper mechanism when the manipulator releases the goods.
In the figure, 1 a destacking mechanism; 2, conveying the line; 3, conveying the movable trolley of the line; 4, cargo; 5, moving the trolley by the mechanical arm; 6, a steering wheel; 7 universal wheels; 8, a mechanical arm; 9 a first axis linear motion mechanism; 10 a second drive device; 11 a second shaft mount; 12 a second horizontal swing arm; 13 a third drive device; 14 a third shaft mount; 15 a third horizontal swing arm; 16 a fourth drive means; 17 a fourth shaft mounting seat; 18 a fourth horizontal swing arm; 19 a rail mount; 20, a guide rail; 21 a fifth driving device; 22 a slide block; 23 a gripper mechanism; 24 an outer frame; 25 bottom pallets; 26 a sixth drive means; 27 suction tool mounting plate; 28, vacuum suction; 29 a guide bar; 30 linear bearings.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the embodiments of the present invention, and it is obvious that the described embodiments are some embodiments of the present invention, but not all 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.
Goods 4 are transported to the position of waiting to transport on transfer chain 2 after 2 plastic of transfer chain that have the plastic function after breaking a jam by mechanism 1 that breaks a jam, and transfer chain 2 is installed on transfer chain travelling car 3, and it can the displacement to drive through transfer chain travelling car 3, please refer to fig. 1-7, the modular combined mixed joint manipulator structure for goods 4 loading and unloading of this embodiment as follows:
the modular combined type mixed joint manipulator is used for transferring the goods 4 at the position to be transferred on the conveying line 2 and comprises a mechanical arm 8 arranged on a mechanical arm moving trolley 5 and a paw mechanism 23 arranged at the tail end of the mechanical arm 8;
the mechanical arm moving trolley 5 is provided with running power by a pair of steering wheels 6 which are driven independently at the bottom and adopt a differential driving mode, four universal wheels 7 which are arranged at four corners are configured to jointly form a six-point support, and a mechanical arm 8 is arranged at the top end;
the mechanical arm 8 comprises a first shaft linear motion mechanism 9, a second shaft rotary motion mechanism, a third shaft rotary motion mechanism, a fourth shaft rotary motion mechanism and a fifth shaft linear motion mechanism which are sequentially connected from the top end of the mechanical arm moving trolley 5, wherein the first shaft linear motion mechanism 9 is an electric cylinder and is arranged at the top end of the mechanical arm moving trolley 5, a screw rod is upward, the second shaft rotary motion mechanism is arranged at the rod end and forms a synchronous vertical displacement component, a second horizontal swing arm 12 which is driven by a second driving device 10 and can do 360-degree rotary motion on the horizontal plane is arranged on the second shaft rotary motion mechanism, the third shaft rotary motion mechanism is arranged at the arm end of the second horizontal swing arm 12 and is provided with a third horizontal swing arm 15 which is driven by a third driving device 13 and can do rotary motion on the horizontal plane, and a fourth shaft rotary motion mechanism is arranged at the arm end, the five-axis linear motion mechanism is suspended at the arm end of the fourth horizontal swing arm 18 through a guide rail mounting rack 19 and comprises a fifth driving device 21 and a slide block 22 driven by the fifth driving device 21 and capable of vertically reciprocating along a guide rail 20 on the guide rail mounting rack 19;
the gripper mechanism 23 is hung on the sliding block 22 through the external frame 24, and forms a synchronous motion component with the mechanical arm 8, the far end of the external frame 24 opposite to the sliding block 22 is open, the bottom of the open end is provided with a bottom supporting plate 25 which horizontally extends outwards and is used for supporting the goods 4, a vacuum suction tool 28 used for sucking the goods 4 at the position to be transported on the conveying line 2 is arranged in the external frame 24, a vacuum generator is arranged in the vacuum suction tool 28, a sixth driving device 26 is further arranged on the external frame 24 and can drive the vacuum suction tool 28 to linearly move towards the open end of the external frame 24 to extend out of the external frame 24 or linearly move back to the open end of the external frame 24 to retract into the external frame 24, and the linear displacement of the vacuum suction tool 28 is guided by a linear bearing 30 arranged on the external frame 24 and a guide rod 29.
In specific implementation, the corresponding structural arrangement also includes:
the mechanical arm moving trolley 5 is internally provided with a pneumatic system power source, a balance weight, a battery and the like, the front side and the rear side of the bottom are respectively provided with a steering wheel 6 which has azimuth driving and rotation driving, the left side and the right side are respectively provided with two universal wheels 7 which play a role in stable support, and the operation balance degree is superior to that of three-point support. The mechanical arm moving trolley 5 has a differential driving mode, when the mechanical arm moving trolley is in a narrow space and cannot turn around, the mechanical arm moving trolley can normally enter and exit a container and keep continuous forward running, and 360-degree rotation of the trolley body can be realized by controlling the steering angles of the two steering wheels 6. In addition, due to the independent driving control of the double steering wheels 6, the transverse moving function of the vehicle body at any angle can be realized, the running power distribution of the vehicle body is uniform due to double power output, and the vibration is small.
In the robot arm 8:
the first shaft linear motion mechanism 9 is driven by an electric cylinder, so that the second horizontal swing arm can rotate for 360 degrees, the motion space is greatly increased, and meanwhile, when the mechanical arm 8 does not work at ordinary times, a lead screw of the electric cylinder can be retracted, and the occupied space is reduced;
the second driving device 10, the third driving device 13, the fourth driving device 16 and the fifth driving device 21 are all servo motors;
the second shaft rotary motion mechanism is fixedly arranged at the top end of the electric cylinder screw rod through a second shaft mounting seat 11, and a second horizontal swing arm 12 is coaxially connected with an output shaft of a second driving device 10 and horizontally extends in a hanging manner;
the third shaft rotating motion mechanism is fixedly arranged at the arm end of the second horizontal swing arm 12 through a third shaft mounting seat 14, the longitudinal section of the third shaft mounting seat 14 is U-shaped, the U-shaped bottom surface is oppositely and fixedly connected with the second horizontal swing arm 12, and a third horizontal swing arm 15 is coaxially connected with the output end of a third driving device 13 and horizontally overhung;
the fourth shaft rotary motion mechanism is fixedly arranged at the arm end of the third horizontal swing arm 15 through a fourth shaft mounting seat 17, the fourth shaft mounting seat 17 and the third shaft mounting seat 14 have the same structural form, and a fourth horizontal swing arm 18 is coaxially connected with an output shaft of a fourth driving device 16 and horizontally overhangs;
a guide rail 20 of the fifth-axis linear motion mechanism is vertically and fixedly arranged on a guide rail mounting rack 19, a fifth driving device 21 is arranged at the top end of the guide rail mounting rack 19, a ball screw is arranged on the guide rail mounting rack 19, a ball screw pair is formed by the ball screw and a sliding block 22, and the fifth driving device 21 provides driving force;
the second horizontal swing arm 12, the third horizontal swing arm 15 and the fourth horizontal swing arm 18 are all made of sectional materials.
In the gripper mechanism 23:
the sixth driving device 26 is a cylinder, the vacuum suction tool 28 is fixedly mounted at a rod end of a piston rod of the cylinder through a suction tool mounting plate 27, the suction tool mounting plate 27 is fixedly connected with a plurality of guide rods 29 arranged along the telescopic direction of the cylinder, and the guide rods 29 are supported by linear bearings 30 mounted on the outer frame 24. The vacuum suction tool 28 is in a strip shape, can keep good contact with different surfaces, is internally provided with a vacuum generator, and is more convenient to install and replace.
The outer frame 24 is hollow out structure with the aluminum alloy as the material, and the bottom plate 25 is the carbon fiber board, adopts the mode of aluminum alloy and carbon fiber board combination when guaranteeing 23 precision of hand claw mechanism and intensity, has effectively alleviateed weight.
The working principle is as follows:
when the manipulator works, goods 4 are unstacked through the unstacking mechanism 1 and then conveyed to the conveying line 2, the goods are conveyed to a position to be transported after being shaped through the conveying line 2, the mechanical arm 8 drives the gripper mechanism 23 to move to a specified position for absorbing the goods 4, as shown in fig. 5, then the cylinder works, the piston rod drives the vacuum suction tool 28 to push out, and guiding is achieved through the linear bearing 30 and the guide rod 29 in the process. In order to reduce the working beat, the vacuum generator starts to work in the process that the air cylinder pushes out the vacuum suction tool 28, the piston rod of the air cylinder retracts after the vacuum suction tool 28 sucks the goods 4 at the position to be transferred on the conveying line 2, and then the paw device 23 starts to move according to the appointed movement track, as shown in fig. 6, the goods 4 are transferred. After the gripper mechanism 23 is moved to a designated position for releasing the load 4, the piston rod of the cylinder is pushed out, the breaking valve of the vacuum generator is operated, and the load 4 is released to the designated position, as shown in fig. 7.
In this embodiment, arm travelling car 5 is independent of transfer chain travelling car 3, provides the drive power that advances for transfer chain 2 and arm 8 respectively, and transfer chain 2 can adopt all kinds of transfer chains 2 such as box transfer chain 2, wrapping bag transfer chain 2, adopts this kind of modular design thinking, and the machinery of definition standard, electric, communication interface, arm travelling car 5 can with all kinds of transfer chain 2 rapid Assembly, adapt to the quick deployment under the various application scenes.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (4)
1. The utility model provides a combined mixed joint manipulator of modularization for goods handling, goods are carried to treating the transfer position on the transfer chain after the transfer chain plastic that has the plastic function after unstacking by the mechanism of unstacking, the transfer chain is installed on the transfer chain travelling car, through the transfer chain travelling car drives can the displacement, characterized by:
the modular combined type mixed joint manipulator is used for transferring goods at a position to be transferred on a conveying line and comprises a mechanical arm and a paw mechanism, wherein the mechanical arm is arranged on a mechanical arm moving trolley, and the paw mechanism is arranged at the tail end of the mechanical arm;
the mechanical arm moving trolley is provided with running power by a pair of steering wheels which are driven independently at the bottom and adopt a differential driving mode, four universal wheels which are arranged at four corners are configured to jointly form a six-point support, and a mechanical arm is mounted at the top end;
the mechanical arm comprises a first shaft linear motion mechanism, a second shaft rotary motion mechanism, a third shaft rotary motion mechanism, a fourth shaft rotary motion mechanism and a fifth shaft linear motion mechanism which are sequentially connected from the top end of the mechanical arm moving trolley, wherein the first shaft linear motion mechanism is an electric cylinder and is arranged at the top end of the mechanical arm moving trolley, a screw rod is upward, the second shaft rotary motion mechanism is arranged at the rod end and forms a synchronous vertical displacement component, a second horizontal swing arm which is driven by a second driving device and can do 360-degree rotary motion on the horizontal plane is arranged on the second shaft rotary motion mechanism, the third shaft rotary motion mechanism is arranged at the arm end of the second horizontal swing arm and is provided with a third horizontal swing arm which is driven by a third driving device and can do rotary motion on the horizontal plane, and the fourth shaft rotary motion mechanism is arranged at the arm end of the third horizontal swing, the five-axis linear motion mechanism is suspended at the arm end of the fourth horizontal swing arm through a guide rail mounting frame and comprises a fifth driving device and a slide block which is driven by the fifth driving device and can vertically reciprocate along a guide rail on the guide rail mounting frame;
the hand claw mechanism is in through the hoist and mount of external frame on the slider, with the arm constitutes the synchronous motion component, on the external frame, with the more distal end that the slider is relative is uncovered, and open end bottom is provided with the bottom plate board that outside level extended for the bearing goods be equipped with in the external frame and be used for absorbing the vacuum suction tool of waiting the goods of translocation position on the conveying line, vacuum suction tool embeds vacuum generator, still be equipped with sixth drive arrangement on the external frame, can drive vacuum suction tool or towards outside the open end linear displacement of external frame to stretching out external frame outside, or the open end linear displacement of external frame dorsad to in retracting external frame, the linear displacement of vacuum suction tool relies on the linear bearing who sets up on the external frame to form the direction with the guide bar.
2. The modular combination hybrid joint manipulator for cargo handling of claim 1, wherein in the robot arm:
the second driving device, the third driving device, the fourth driving device and the fifth driving device are all servo motors;
the second shaft rotary motion mechanism is fixedly arranged at the top end of the electric cylinder screw rod through a second shaft mounting seat, and the second horizontal swing arm is coaxially connected with an output shaft of the second driving device and horizontally overhung;
the third shaft rotating motion mechanism is fixedly arranged at the arm end of the second horizontal swing arm through a third shaft mounting seat, the longitudinal section of the third shaft mounting seat is U-shaped, the U-shaped bottom surface is oppositely and fixedly connected with the second horizontal swing arm, and the third horizontal swing arm is coaxially connected with the output end of a third driving device and horizontally overhung;
the fourth shaft rotary motion mechanism is fixedly arranged at the arm end of a third horizontal swing arm through a fourth shaft mounting seat, the fourth shaft mounting seat and the third shaft mounting seat have the same structural form, and the fourth horizontal swing arm is coaxially connected with an output shaft of a fourth driving device and horizontally overhung;
the guide rail of the fifth-axis linear motion mechanism is vertically and fixedly arranged on a guide rail mounting frame, the fifth driving device is arranged at the top end of the guide rail mounting frame, a ball screw is arranged on the guide rail mounting frame, the ball screw and the sliding block form a ball screw pair, and the fifth driving device provides driving force.
3. The modular combination type hybrid joint manipulator for cargo handling of claim 1, wherein in the gripper mechanism:
the sixth driving device is an air cylinder, the vacuum suction tool is fixedly arranged at the rod end of a piston rod of the air cylinder through a suction tool mounting plate, a plurality of guide rods arranged along the telescopic direction of the air cylinder are fixedly connected to the suction tool mounting plate, and the guide rods are supported by linear bearings arranged on an external frame.
4. The modular combined hybrid joint manipulator for cargo handling of claim 1, wherein: the outer frame is made of aluminum alloy and is of a hollow structure, and the bottom supporting plate is a carbon fiber plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110327199.9A CN112894793B (en) | 2021-03-26 | 2021-03-26 | Modular combined type hybrid joint manipulator for cargo handling |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110327199.9A CN112894793B (en) | 2021-03-26 | 2021-03-26 | Modular combined type hybrid joint manipulator for cargo handling |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112894793A true CN112894793A (en) | 2021-06-04 |
| CN112894793B CN112894793B (en) | 2024-06-25 |
Family
ID=76109231
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110327199.9A Active CN112894793B (en) | 2021-03-26 | 2021-03-26 | Modular combined type hybrid joint manipulator for cargo handling |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112894793B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115027952A (en) * | 2022-06-23 | 2022-09-09 | 中车长江铜陵车辆有限公司 | Stacking head negative pressure sucker for loading vehicle |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0585621A (en) * | 1991-09-25 | 1993-04-06 | Lion Corp | Cargo handling method |
| EP2570372A1 (en) * | 2011-09-19 | 2013-03-20 | Greif International Holding BV. | Cargo handling system |
| CN105923409A (en) * | 2016-06-25 | 2016-09-07 | 佛山隆深机器人有限公司 | Full-automatic container loading and unloading system |
| CN107471195A (en) * | 2017-07-17 | 2017-12-15 | 厦门裕邦智能科技有限公司 | A kind of Mobile Cargo robot |
| CN109693903A (en) * | 2019-02-25 | 2019-04-30 | 广州达意隆包装机械股份有限公司 | A kind of cargo handling system |
| CN110606386A (en) * | 2019-09-09 | 2019-12-24 | 中车长江铜陵车辆有限公司 | Intelligent loading and unloading system for containerized goods |
| CN214490594U (en) * | 2021-03-26 | 2021-10-26 | 常州先进制造技术研究所 | Modular combined hybrid joint manipulator for cargo handling |
-
2021
- 2021-03-26 CN CN202110327199.9A patent/CN112894793B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0585621A (en) * | 1991-09-25 | 1993-04-06 | Lion Corp | Cargo handling method |
| EP2570372A1 (en) * | 2011-09-19 | 2013-03-20 | Greif International Holding BV. | Cargo handling system |
| CN105923409A (en) * | 2016-06-25 | 2016-09-07 | 佛山隆深机器人有限公司 | Full-automatic container loading and unloading system |
| CN107471195A (en) * | 2017-07-17 | 2017-12-15 | 厦门裕邦智能科技有限公司 | A kind of Mobile Cargo robot |
| CN109693903A (en) * | 2019-02-25 | 2019-04-30 | 广州达意隆包装机械股份有限公司 | A kind of cargo handling system |
| CN110606386A (en) * | 2019-09-09 | 2019-12-24 | 中车长江铜陵车辆有限公司 | Intelligent loading and unloading system for containerized goods |
| CN214490594U (en) * | 2021-03-26 | 2021-10-26 | 常州先进制造技术研究所 | Modular combined hybrid joint manipulator for cargo handling |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115027952A (en) * | 2022-06-23 | 2022-09-09 | 中车长江铜陵车辆有限公司 | Stacking head negative pressure sucker for loading vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112894793B (en) | 2024-06-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP4169858A1 (en) | Loading and unloading equipment, and loading and unloading system | |
| CN107878989B (en) | Automatic reclaimer of storage | |
| CN206123626U (en) | Multi -functional shipment machine people of 6 -degree of freedom | |
| CN107840059B (en) | Automatic reclaimer of two-way storage | |
| CN213264090U (en) | Storage floor truck | |
| CN106112999A (en) | Six degree of freedom multi-functional shipment robot | |
| CN208485326U (en) | A kind of automatic loading machine | |
| CN210968860U (en) | Stacking robot capable of moving freely | |
| CN110606386A (en) | Intelligent loading and unloading system for containerized goods | |
| CN214490594U (en) | Modular combined hybrid joint manipulator for cargo handling | |
| CN211077748U (en) | Full-automatic loading system that prepares material | |
| CN112894793A (en) | Modular combined hybrid joint manipulator for cargo handling | |
| CN108840122B (en) | Automatic loading machine | |
| CN205187198U (en) | Bearing roller line manipulator | |
| CN112720429B (en) | Carrying manipulator and freight transport system | |
| CN213106893U (en) | Negative pressure detection type transverse moving material taking mechanism | |
| CN113335816A (en) | Omnidirectional movement multi-degree-of-freedom warehousing and transportation robot | |
| CN110893613B (en) | Upper and lower stick robot capable of running on S-shaped track | |
| CN221234569U (en) | System bottle feeding system | |
| CN220033364U (en) | Freight transportation storage palletizing robot | |
| CN116873575B (en) | Electric double-beam bridge type stacking device | |
| CN220765758U (en) | Plate folding and unfolding mechanism and transfer mechanism | |
| CN116788873B (en) | Automatic unloader suitable for box freight bags | |
| CN213293993U (en) | Turnover conveying mechanism | |
| CN221164981U (en) | Three-axis stacking overturning manipulator |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant |