CN112894793B - Modular combined type hybrid joint manipulator for cargo handling - Google Patents
Modular combined type hybrid joint manipulator for cargo handling Download PDFInfo
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- CN112894793B CN112894793B CN202110327199.9A CN202110327199A CN112894793B CN 112894793 B CN112894793 B CN 112894793B CN 202110327199 A CN202110327199 A CN 202110327199A CN 112894793 B CN112894793 B CN 112894793B
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- motion mechanism
- mechanical arm
- driving device
- rotary motion
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- 238000012546 transfer Methods 0.000 claims description 13
- 238000006073 displacement reaction Methods 0.000 claims description 10
- 230000008093 supporting effect Effects 0.000 claims description 9
- 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
- 239000000725 suspension Substances 0.000 claims description 3
- 238000000034 method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000000078 claw Anatomy 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
- 238000009434 installation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 238000007493 shaping process Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- 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
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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
- B25J15/06—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
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- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a modularized combined type mixed joint manipulator for cargo handling, which is used for transferring cargoes at a position to be transferred on a conveying line and comprises a mechanical arm arranged on a mechanical arm moving trolley and a paw mechanism 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; 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 sliding block capable of vertically and reciprocally displacing; the paw mechanism is hung on the sliding block through an external frame, and a vacuum suction tool for sucking goods is arranged in the external frame. The invention is suitable for containerized goods loading and unloading scenes of 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 modularized combined type hybrid joint manipulator for cargo handling.
Background
At present, manual loading and unloading are mainly adopted for containerized goods loading and unloading, but the manual loading and unloading efficiency is low, the cost is high, the large-scale containerized goods loading and unloading is not facilitated, the robot loading and unloading is a development trend of loading operation technology, and the robots suitable for loading and unloading goods such as containers, trucks and the like are fewer at present.
Disclosure of Invention
The present invention aims to solve the above technical problems 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, trucks and the like.
In order to achieve the above purpose, the invention adopts the following technical scheme:
A mixed joint manipulator of modularization combination formula for cargo handling, after the cargo is separated from the buttress mechanism through the transfer chain plastic that has the plastic function after carry to the position of waiting to transfer on the transfer chain, the transfer chain is installed on the transfer chain travelling car, through transfer chain travelling car drive can displace, its structural feature is:
the modularized combined type mixed joint manipulator is used for transferring cargoes at a to-be-transferred position on a conveying line and comprises a mechanical arm arranged on a mechanical arm moving trolley and a paw mechanism arranged at the tail end of the mechanical arm;
the mechanical arm moving trolley is characterized in that the bottom of the mechanical arm moving trolley is provided with running power by a pair of steering wheels which are independently driven and adopt a differential driving mode, four universal wheels which are arranged in four corners form six-point support together, and the mechanical arm is arranged at the top end of the mechanical arm moving trolley;
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 a 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 faces upwards, the second shaft rotary motion mechanism is arranged at the rod end and forms a synchronous vertical displacement member, the second shaft rotary motion mechanism is provided with a second horizontal swing arm which is driven by a second driving device to perform 360-degree rotary motion on a horizontal plane, the third shaft rotary motion mechanism is arranged at the arm end of the second horizontal swing arm, a third horizontal swing arm which is driven by a third driving device to perform rotary motion on the horizontal plane is arranged at the arm end of the third horizontal swing arm, the fourth shaft rotary motion mechanism is arranged at the arm end of the third horizontal swing arm, and the fifth shaft linear motion mechanism is suspended at the arm end of the fourth horizontal level through a guide rail mounting frame and comprises a fifth driving device and a swing block which is driven by the fifth driving device to perform reciprocating vertical displacement along the guide rail of the guide rail mounting frame;
The gripper mechanism is hoisted on the sliding block through the outer frame and forms a synchronous motion component with the mechanical arm, the far end of the outer frame opposite to the sliding block is open, the bottom of the open end is provided with a bottom supporting plate extending horizontally outwards and used for supporting cargoes, a vacuum suction tool used for sucking cargoes at a position to be transported on a conveying line is arranged in the outer frame, a vacuum generator is arranged in the vacuum suction tool, a sixth driving device is further arranged on the outer frame and can drive the vacuum suction tool or the open end facing the outer frame to linearly displace to extend out of the outer frame or the open end facing away from the outer frame to linearly displace into the retracted outer frame, and the linear displacement of the vacuum suction tool is guided by virtue of a linear bearing arranged on the outer frame and a guide rod.
The invention is also characterized in that:
In the mechanical arm:
The second driving device, the third driving device, the fourth driving device and the fifth driving device are 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 the output shaft of the second driving device and horizontally extends in a cantilever mode;
The third shaft rotary 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 bottom surface of the U-shaped seat is fixedly connected to the second horizontal swing arm in a right-over way, and the third horizontal swing arm is coaxially connected with the output end of the third driving device and extends in a horizontal suspension way;
The fourth shaft rotary motion mechanism is fixedly arranged at the arm end of the 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 the output shaft of the fourth driving device and extends in a horizontal overhanging manner;
the guide rail of the fifth shaft linear motion mechanism is vertically fixed on the guide rail mounting frame, the fifth driving device is mounted at the top end of the guide rail mounting frame, a ball screw is arranged on the guide rail mounting frame, the ball screw pair is formed by the ball screw and the sliding block, and the fifth driving device provides driving force.
The paw mechanism comprises:
The sixth driving device is an air cylinder, the vacuum suction tool is fixedly arranged at the rod end of the air cylinder piston rod through a suction tool mounting plate, a plurality of guide rods which are arranged along the extension and retraction directions 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 outer frame.
The outer frame is made of aluminum alloy and is in a hollow structure, and the bottom support plate is a carbon fiber plate.
Compared with the prior art, the invention has the beneficial effects that:
The invention is provided with the mechanical arm moving trolley with the mechanical arm, and the executing end of the mechanical arm is provided with the paw mechanism, so that the integrated hybrid joint mechanical arm capable of moving independently is formed, is independent of the conveying line and the conveying line moving trolley, can be quickly combined with various conveying lines, and is suitable for quick deployment in various scenes. According to the invention, the mechanical arm is utilized to move the trolley to drive displacement, the mechanical arm is utilized to drive the paw mechanism to move, and the paw mechanism is utilized to grasp and transfer goods at the position to be transferred on the conveying line, so that the goods are loaded and unloaded, and the whole device adopts a modularized combined structure, so that 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 diagram of a robotic arm dolly;
FIG. 3 is a schematic view of a mechanical arm;
FIG. 4 is a schematic view of the structure of the gripper mechanism;
FIG. 5 is a schematic view of the gripper mechanism when the manipulator is ready to grasp cargo;
FIG. 6 is a schematic view of the structure of the manipulator during the movement of transferring cargo;
fig. 7 is a schematic view of the structure of the gripper mechanism when the robot releases the load.
In the figure, 1a unstacking mechanism; 2, conveying lines; 3, conveying a line mobile trolley; 4, cargo; 5, a mechanical arm moving trolley; 6 steering wheels; 7 universal wheels; 8, a mechanical arm; 9a first axis linear motion mechanism; 10a second drive means; 11 second shaft mounting seats; 12 a second horizontal swing arm; 13a third drive means; 14 a third shaft mount; 15 third horizontal swing arms; 16 fourth driving means; 17a fourth shaft mount; 18a fourth horizontal swing arm; 19 a guide rail mounting rack; 20 guide rails; a fifth driving means 21; 22 sliding blocks; a 23-jaw mechanism; 24 an outer frame; 25 bottom support plates; 26 sixth driving means; 27 a suction tool mounting plate; 28 vacuum suction tool; 29 guide bars; 30 linear bearings.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions in the embodiments of the present invention will be clearly and completely described in the following in conjunction with the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
After being unstacked by the unstacking mechanism 1, the goods 4 are conveyed to a position to be transported on the conveying line 2 after being shaped by the conveying line 2 with shaping function, the conveying line 2 is installed on the conveying line moving trolley 3, the moving trolley 3 can be driven to move through the conveying line, please refer to fig. 1 to 7, and the modularized combined type mixed joint manipulator structure for loading and unloading the goods 4 in the embodiment is as follows:
The modularized combined type mixed joint manipulator is used for transferring cargoes 4 at a position to be transferred on a 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 independently driven at the bottom and adopt a differential driving mode, four universal wheels 7 which are arranged in four corners are arranged to form six-point support together, 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 faces upwards, the second shaft rotary motion mechanism is arranged at the rod end and forms a synchronous vertical displacement member, the second shaft rotary motion mechanism is provided with a second horizontal swing arm 12 which is driven by a second driving device 10 to perform 360-degree rotary motion on a horizontal plane, the third shaft rotary motion mechanism is arranged at the arm end of the second horizontal swing arm 12, a third horizontal swing arm 15 which is driven by a third driving device 13 to perform rotary motion on the horizontal plane is arranged at the arm end of the third horizontal swing arm 15, a fourth horizontal swing arm 18 which is driven by a fourth driving device 16 to perform rotary motion on the horizontal plane is arranged, and the fifth shaft linear motion mechanism is suspended at the arm end of the fourth horizontal swing arm 18 through a guide rail mounting frame 19 and comprises a fifth driving device 21 and a swing block 22 which is driven by a fifth driving device 21 to perform vertical displacement along a guide rail 19 on the guide rail mounting frame 19;
The gripper mechanism 23 is hoisted on the sliding block 22 through the outer frame 24 to form a synchronous movement member with the mechanical arm 8, the far end of the outer frame 24 opposite to the sliding block 22 is open, the bottom of the open end is provided with a bottom supporting plate 25 extending horizontally outwards and 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 outer frame 24, a vacuum generator is arranged in the vacuum suction tool 28, a sixth driving device 26 is also arranged on the outer frame 24 and can drive the vacuum suction tool 28 or the open end facing the outer frame 24 to linearly move out of the outer frame 24 or the open end facing away from the outer frame 24 to linearly move back into the outer frame 24, and the linear movement of the vacuum suction tool 28 is guided by virtue of a linear bearing 30 arranged on the outer frame 24 and a guide rod 29.
In a specific implementation, the corresponding structure arrangement also includes:
The mechanical arm moving trolley 5 is internally provided with a pneumatic system power source, a counterweight, a battery and the like, steering wheels 6 are respectively arranged on the front side and the rear side of the bottom, the steering wheels have azimuth driving and rotation driving, two universal wheels 7 are respectively arranged on the left side and the right side, the stable supporting effect is achieved, and the mechanical arm moving trolley is superior to three-point type supporting in operation balance degree. The mechanical arm moving trolley 5 has a differential driving mode, when the mechanical arm moving trolley is in a narrow space and can not turn around, the mechanical arm moving trolley can ensure that the mechanical arm moving trolley normally enters and exits the container and keeps continuously running forwards, and the 360-degree rotation of the vehicle body can be realized through controlling the steering angles of the two steering wheels 6. In addition, because of the independent driving control of the double steering wheels 6, the transverse movement function of the vehicle body at any angle can be realized, and the double power output ensures that the running power of the vehicle body is uniformly distributed and the vibration is small.
Mechanical arm 8:
The first shaft linear motion mechanism 9 is driven by an electric cylinder, so that the second horizontal swing arm can rotate 360 degrees, the motion space is greatly increased, and meanwhile, when the mechanical arm 8 does not work at ordinary times, the screw rod of the electric cylinder can retract, 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 suspending way;
the third shaft rotary 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 bottom surface of the U-shaped is fixedly connected to the second horizontal swing arm 12 in a positive way, and the third horizontal swing arm 15 is coaxially connected with the output end of the third driving device 13 and extends in a horizontal overhanging way;
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 the fourth horizontal swing arm 18 is coaxially connected with the output shaft of the fourth driving device 16 and extends in a horizontal suspension mode;
the guide rail 20 of the fifth axis linear motion mechanism is vertically fixed on the guide rail mounting frame 19, the fifth driving device 21 is mounted at the top end of the guide rail mounting frame 19, a ball screw is arranged on the guide rail mounting frame 19, a ball screw pair is formed by the ball screw and the sliding block 22, and the driving force is provided by the fifth driving device 21;
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.
The gripper mechanism 23:
the sixth driving device 26 is a cylinder, the vacuum suction tool 28 is fixedly arranged at the rod end of the cylinder piston rod through the suction tool mounting plate 27, a plurality of guide rods 29 which are arranged along the extension and retraction direction of the cylinder are fixedly connected to the suction tool mounting plate 27, and the guide rods 29 are supported by a linear bearing 30 arranged on the outer frame 24. The vacuum suction tool 28 is long and can keep good contact with different surfaces, and the vacuum generator is built in, so that the installation and the replacement are more convenient.
The outer frame 24 is made of aluminum alloy and is in a hollow structure, the bottom supporting plate 25 is made of carbon fiber plates, and the precision and the strength of the paw mechanism 23 are ensured by adopting a mode of combining the aluminum alloy and the carbon fiber plates, so that the weight is effectively reduced.
Working principle:
When the mechanical arm works, cargoes 4 are conveyed to the conveying line 2 after being unstacked through the unstacking mechanism 1, are conveyed to a position to be transported after being shaped through the conveying line 2, and are driven to move to a designated position for absorbing the cargoes 4 through the mechanical arm 8 by the aid of the hand claw mechanism 23, 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 cycle, the vacuum generator starts to work during the process of pushing out the vacuum suction tool 28 by the air cylinder, the piston rod of the air cylinder behind the goods 4 at the position to be transported on the conveying line 2 is sucked by the vacuum suction tool 28 to retract, and then the paw mechanism 23 starts to move according to the designated movement track, as shown in fig. 6, to transport the goods 4. After the gripper mechanism 23 moves to the specified position for releasing the cargo 4, the piston rod of the cylinder is pushed out, the breaking valve of the vacuum generator is operated, and the cargo 4 is released to the specified position as shown in fig. 7.
In this embodiment, the mechanical arm moving trolley 5 is independent of the conveying line moving trolley 3, and provides advancing driving forces for the conveying line 2 and the mechanical arm 8 respectively, the conveying line 2 can adopt various conveying lines 2 such as a box conveying line 2 and a packaging bag conveying line 2, and by adopting the modularized design thought, standard mechanical, electrical and communication interfaces are defined, and the mechanical arm moving trolley 5 can be quickly combined with various conveying lines 2, so that quick deployment under various application scenes is adapted.
While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the spirit and principles of the invention, the scope of which is defined by the claims and their equivalents.
Claims (4)
1. A mixed joint manipulator of modularization combination formula for cargo handling, after the cargo is separated from the buttress mechanism through the transfer chain plastic that has the plastic function after carry to the position of waiting to transfer on the transfer chain, the transfer chain is installed on transfer chain travelling car, through transfer chain travelling car drive can displacement, characterized by:
the modularized combined type mixed joint manipulator is used for transferring cargoes at a to-be-transferred position on a conveying line and comprises a mechanical arm arranged on a mechanical arm moving trolley and a paw mechanism arranged at the tail end of the mechanical arm;
the mechanical arm moving trolley is characterized in that the bottom of the mechanical arm moving trolley is provided with running power by a pair of steering wheels which are independently driven and adopt a differential driving mode, four universal wheels which are arranged in four corners form six-point support together, and the mechanical arm is arranged at the top end of the mechanical arm moving trolley;
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 a 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 faces upwards, the second shaft rotary motion mechanism is arranged at the rod end and forms a synchronous vertical displacement member, the second shaft rotary motion mechanism is provided with a second horizontal swing arm which is driven by a second driving device to perform 360-degree rotary motion on a horizontal plane, the third shaft rotary motion mechanism is arranged at the arm end of the second horizontal swing arm, a third horizontal swing arm which is driven by a third driving device to perform rotary motion on the horizontal plane is arranged at the arm end of the third horizontal swing arm, the fourth shaft rotary motion mechanism is arranged at the arm end of the third horizontal swing arm, and the fifth shaft linear motion mechanism is suspended at the arm end of the fourth horizontal level through a guide rail mounting frame and comprises a fifth driving device and a swing block which is driven by the fifth driving device to perform reciprocating vertical displacement along the guide rail of the guide rail mounting frame;
The gripper mechanism is hoisted on the sliding block through the outer frame and forms a synchronous motion component with the mechanical arm, the far end of the outer frame opposite to the sliding block is open, the bottom of the open end is provided with a bottom supporting plate extending horizontally outwards and used for supporting cargoes, a vacuum suction tool used for sucking cargoes at a position to be transported on a conveying line is arranged in the outer frame, a vacuum generator is arranged in the vacuum suction tool, a sixth driving device is further arranged on the outer frame and can drive the vacuum suction tool or the open end facing the outer frame to linearly displace to extend out of the outer frame or the open end facing away from the outer frame to linearly displace into the retracted outer frame, and the linear displacement of the vacuum suction tool is guided by virtue of a linear bearing arranged on the outer frame and a guide rod.
2. The modular combined hybrid joint manipulator for cargo handling according to claim 1, wherein the manipulator:
The second driving device, the third driving device, the fourth driving device and the fifth driving device are 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 the output shaft of the second driving device and horizontally extends in a cantilever mode;
The third shaft rotary 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 bottom surface of the U-shaped seat is fixedly connected to the second horizontal swing arm in a right-over way, and the third horizontal swing arm is coaxially connected with the output end of the third driving device and extends in a horizontal suspension way;
The fourth shaft rotary motion mechanism is fixedly arranged at the arm end of the 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 the output shaft of the fourth driving device and extends in a horizontal overhanging manner;
the guide rail of the fifth shaft linear motion mechanism is vertically fixed on the guide rail mounting frame, the fifth driving device is mounted at the top end of the guide rail mounting frame, a ball screw is arranged on the guide rail mounting frame, the ball screw pair is formed by the ball screw and the sliding block, and the fifth driving device provides driving force.
3. The modular combined hybrid joint manipulator for cargo handling of claim 1, wherein the gripper mechanism:
The sixth driving device is an air cylinder, the vacuum suction tool is fixedly arranged at the rod end of the air cylinder piston rod through a suction tool mounting plate, a plurality of guide rods which are arranged along the extension and retraction directions 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 outer 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 in a hollow structure, and the bottom support plate is a carbon fiber plate.
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| CN202110327199.9A CN112894793B (en) | 2021-03-26 | 2021-03-26 | Modular combined type hybrid joint manipulator for cargo handling |
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| CN202110327199.9A CN112894793B (en) | 2021-03-26 | 2021-03-26 | Modular combined type hybrid joint manipulator for cargo handling |
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| CN112894793B true CN112894793B (en) | 2024-06-25 |
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| 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 |
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| 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 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
| CN105923409B (en) * | 2016-06-25 | 2019-03-29 | 佛山隆深机器人有限公司 | Full-automatic container handling 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 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
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