CN113232033A - Automatic material taking anti-skidding mechanical arm based on big data - Google Patents
Automatic material taking anti-skidding mechanical arm based on big data Download PDFInfo
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- CN113232033A CN113232033A CN202110442982.XA CN202110442982A CN113232033A CN 113232033 A CN113232033 A CN 113232033A CN 202110442982 A CN202110442982 A CN 202110442982A CN 113232033 A CN113232033 A CN 113232033A
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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
- 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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Abstract
The invention belongs to the technical field of automatic machinery, in particular to an automatic material taking anti-skid manipulator based on big data; comprises a manipulator body, a base plate and a fixed box; the top of the manipulator body is fixedly connected with a fixed box; the bottom of the fixed box is provided with a base plate; the surface of the backing plate is connected with a first guide block and a second guide block in a sliding manner; a motor is fixedly connected inside the side wall of the fixed box; the side wall of the fixed box is provided with a sliding chute close to the bottom surface of the fixed box; a first supporting plate is connected inside the sliding groove in a sliding manner; the bottom supporting device effectively realizes the rapid and direct bottom supporting of the transported object, does not need to clamp the transported object, does not need to forcibly insert the supporting structure into the bottom of the transported object directly, avoids the damage to the surface of the transported object, simultaneously has the protection function of the bottom supporting and the fixing box, avoids the problems of falling and the like caused by the action of the base plate in the sliding and transporting processes of the transported object, and improves the transporting safety.
Description
Technical Field
The invention belongs to the technical field of automatic machinery, and particularly relates to an automatic material taking anti-skid manipulator based on big data.
Background
In the industrial production process, in order to improve the working efficiency, a manipulator is increasingly used, and particularly, the manipulator is used for carrying product packages.
According to the CN110181481A carrying manipulator, the carrying manipulator is simple in structure and convenient to operate, labor cost can be reduced, labor intensity of workers is reduced, product rejection rate is reduced, production efficiency is improved, and safety performance is improved.
However, in the prior art, the manipulator basically and directly clamps the side wall of the product or product packaging box to transport the packaging box, for the product with low surface strength and the transported objects such as the packaging box, under the action of the gravity of the transported object, a large shearing force is generated between the manipulator and the transported object, which easily causes the problem of surface extrusion or scratching of the transported object, and meanwhile, when the transported object is heavy, the transported object easily slips off, so that the transportation risk increases, in order to solve the problem, in the prior art, a support structure is simply arranged at the bottom of the manipulator, but since the support structure cannot be directly inserted into the bottom of the transported object, the transported object needs to be clamped first and then supported by the support structure, but for some fragile transported objects, the previous clamping also easily causes damage, for the easily deformed transportations, the problems of early slipping and the like are easy to occur.
In view of the above, the invention provides an automatic material taking antiskid manipulator based on big data, and solves the technical problems.
Disclosure of Invention
In order to make up for the problem that in the prior art, a manipulator basically and directly clamps the side wall of a product or a product packaging box to convey the packaging box, and for products with low surface strength, the product or the packaging box and other transporters can generate large shearing force between the manipulator and the transporters under the action of the gravity of the transporters, so that the surface of the transporters is easily extruded or scratched, the invention provides the automatic material taking antiskid manipulator based on the big data.
The technical scheme adopted by the invention for solving the technical problems is as follows: the invention relates to an automatic material taking anti-skid manipulator based on big data, which comprises a manipulator body, a base plate and a fixing box, wherein the base plate is arranged on the manipulator body; the top of the manipulator body is fixedly connected with a fixed box; the bottom of the fixed box is provided with a base plate; the top surface of the base plate is provided with first guide grooves which are uniformly distributed at a position right below the fixed box; a first guide block is connected inside the first guide groove in a sliding manner; a first telescopic rod is fixedly connected between the first guide block and the groove bottom corresponding to the first guide groove; the top surface of the base plate is provided with a second guide groove in the middle of the base plate; a second guide block is connected inside the second guide groove in a sliding manner; a second telescopic rod is fixedly connected between the second guide block and the bottom of the second guide groove, and the second telescopic rod is communicated with the first telescopic rod; the bottom surface of the fixed box is provided with a containing groove; a motor is fixedly connected inside the side wall of the fixed box; the side wall of the fixed box is provided with a sliding chute close to the bottom surface of the fixed box; a first supporting plate is connected inside the sliding groove in a sliding manner; a toothed plate is fixedly connected to the surface of the first supporting plate; an output shaft of the motor is fixedly connected with a gear, and the gear is meshed with the toothed plate; in the process of working, in the process of industrial production, in order to improve the working efficiency, more and more manipulators are used, and particularly, the manipulators are used for carrying products and packaging, in the prior art, the manipulators basically and directly clamp the side walls of the products or product packaging boxes to carry the packaging boxes, for the products with lower surface strength, the packaging boxes and other transporters, under the action of gravity of the transporters, a larger shearing force can be generated between the manipulators and the transporters, so that the problem of surface extrusion or scratching of the transporters is easily caused, meanwhile, when the transporters are heavier, the phenomenon of slipping easily occurs to increase the transport risk, in order to solve the problem, in the prior art, a supporting structure is simply arranged at the bottom of the manipulator, but because the supporting structure cannot be directly inserted into the bottom position of the transporters, when the transportation object needs to be transported by the manipulator, for example, a product or a packaging box needs to be placed above the backing plate, for example, direct packaging production is carried out above the backing plate, then the manipulator body is started, the fixing box is moved to a position right above the backing plate by the manipulator body, then the fixing box is controlled to move downwards, and the first guide block is extruded to be taken into the corresponding first guide groove, the first guide block can extrude the corresponding first telescopic rod, so that gas in the first telescopic rod enters the second telescopic rod, the second telescopic rod can drive the second guide block to eject out of the second guide groove, the transported object is lifted, the motor is started again, the motor rotates to drive the gear to rotate, the gear can drive the toothed plate to move, the toothed plate can further drive the first supporting plate to slide, the first supporting plate is slid to the bottom position of the transported object, then the fixed box is lifted upwards, the transported object is transported, when the transported object is transported to a designated point position, the first supporting plate is directly reset, the transported object can be led out from the inside of the fixed box, the transported object can be rapidly and directly lifted by the bottom lifting device, the transported object does not need to be clamped, a supporting structure does not need to be directly and forcibly inserted into the bottom of the transported object, the surface of the transported object is prevented from being damaged, meanwhile, the bottom lifting device and the fixed box have a protection function, the problems that the transported object slides down and falls due to the action of a base plate in the transporting process are avoided, the safety of transportation is improved.
Preferably, the bottom of the gear is provided with a rotating groove; a rotating column is rotatably connected inside the rotating groove; a third telescopic rod is fixedly connected to the position, close to the end face of the toothed plate, in the fixing box; the end face of a piston rod of the third telescopic rod is fixedly connected with a sliding plate; the end surface of the first supporting plate is provided with a receiving groove; the inside of the accommodating groove is fixedly connected with a guide rail; a second supporting plate is connected inside the guide rail in a sliding manner; a fixed block is fixedly connected inside the accommodating groove; the surface of the fixed block is fixedly connected with a fourth telescopic rod, and the fourth telescopic rod is communicated with the third telescopic rod; the during operation, through setting up the second backup pad, when first backup pad is about to derive completely, the gear can drive and rotate post extrusion slide, the slide can extrude the third telescopic link, make the inside gas of third telescopic link enter into the inside of fourth telescopic link pole, the fourth telescopic link can drive the second backup pad and derive and correspond and accomodate the groove, the second backup pad also can move according to the direction of guide rail simultaneously, derive when the second backup pad and accomodate the groove after completely, can upwards lift voluntarily, make parallel and level between second backup pad and the first backup pad, realize the support to more areas of fortune thing bottom, improve the supporting effect to the fortune thing.
Preferably, the bottom surface of the second supporting plate is fixedly connected with a first supporting block; the bottom surface of the accommodating groove is fixedly connected with a second supporting block at the position close to the opening part of the accommodating groove; during operation, through setting up first piece and second piece, derive when the second backup pad and accomodate the groove after completely, first piece can with the second support directly correspond the support between the piece, guaranteed the effective support of second backup pad bottom, reduce the pressure to the guide rail.
Preferably, the surfaces of the first supporting block and the second supporting block are both provided with mounting grooves; air bags are fixedly connected inside the mounting grooves; the surface of the first supporting plate is provided with uniformly arranged adjusting grooves; adjusting blocks are connected inside the adjusting grooves in a sliding mode; the bottom of the adjusting groove is fixedly connected with an air cushion, and the air cushion is communicated with the air bag; the during operation, through setting up gasbag and regulating block, when corresponding the contact between first piece and the second piece, the gasbag on first piece and second piece surface can receive the extrusion, and then the inside of air cushion can be crowded into to the inside gas of gasbag, can drive the regulating block through the air cushion inflation and upwards lift up, through designing the top surface with the regulating block for the matte structure, frictional force between can effectual improvement transporting thing and the first backup pad, reduce the transportation in-process, the transporting thing slides in the inside of fixed case.
Preferably, the surface of the adjusting block is provided with guide holes which are uniformly distributed and are communicated with the air cushion; the inner part of the guide hole is connected with a mandril in a sliding way; the top of the ejector rod is hinged with a connecting rod; the number of the connecting rods at the position of a single mandril is two, and the connecting rods are symmetrically distributed; the surfaces of the connecting rods are fixedly connected with sliding blocks, and the sliding blocks are connected to the surface of the first supporting plate in a sliding mode; elastic films are sleeved outside the connecting rods and the corresponding ejector rods; during operation, through setting up ejector pin and connecting rod, when the inside atmospheric pressure of air cushion increases, gaseous can level pressure ejector pin for the ejector pin is ejecting to correspond the guide hole, and the ejector pin can drive the connecting rod motion, realizes the bulging of elastic membrane, further increases coefficient of friction, reduces the thing of transporting and removes the risk.
Preferably, the positions of the end surfaces of the connecting rods, which are far away from the corresponding ejector rods, on one side are rotatably connected with rollers, and when the connecting rods are flush with the surfaces of the first supporting plates, the rollers are positioned outside the corresponding elastic films; the during operation, rotate the connection gyro wheel through the surface at the connecting rod, during the groove was accomodate in the income in the second backup pad, the gasbag stops to receive the extrusion, and then the reduction in the air cushion, ejector pin and connecting rod reset this moment, the connecting rod is with the surperficial parallel and level of first backup pad, when having reduced the thing of transporting and first backup pad surface friction, the top surface that has also guaranteed first backup pad has sufficient holding area, the gyro wheel of connecting rod top surface is derived this moment simultaneously, further reduce the friction, be convenient for the relative slip between thing of transporting and the first backup pad, derive the thing of transporting.
Preferably, the hinge point positions of the ejector rods and the corresponding connecting rods are provided with ejector discs; the top surface of the top disc is fixedly connected with a supporting pad, and the bottom position of the supporting pad is designed to be a curved surface structure; during operation, through setting up a set and supporting pad, through elasticity and the curved surface design of supporting pad, press when the supporter on the surface of supporting pad, the supporting pad can appear slightly crooked, if the thing relative slip of transporting this moment, the thing of transporting can drive the elastic membrane and stretch for the extrusion forms the fold between elastic membrane and the supporting pad, reduces the further slip risk of transporting the thing.
Preferably, the top surface of the first supporting plate is provided with uniformly arranged rolling grooves; the inner parts of the rolling grooves are rotatably connected with wheel posts; a pressure regulating cavity is formed in the wheel column; the surfaces of the wheel posts are provided with uniformly distributed connecting holes; the inner parts of the connecting holes are connected with ejector blocks in a sliding manner; the elastic coating film is wrapped outside the top blocks; the during operation, through setting up the wheel post, kicking block through the even arrangement of surface sliding connection at the wheel post, when removing the transport thing, stop to the inside access air supply in pressure regulating chamber, the kicking block can adduct and correspond even hole, the whole internal shrinkage of wheel post, can reduce the easy slip problem of transport thing, when needs are unloaded, can be directly to the leading-in atmospheric pressure in inside in pressure regulating chamber, the kicking block is all ejecting even hole this moment, the whole swell of wheel post, can be normal this moment rotate, here can be through adding power, come the rotation of initiative control wheel post, the accurate position of the transport thing of being convenient for is unloaded.
Preferably, the side surface of the second guide block is provided with uniformly arranged expanded grooves close to the top surface of the second guide block; an expansion plate is connected inside the expansion groove in a sliding manner; springs are fixedly connected between the expanding plate and the bottom of the corresponding expanding groove.
Preferably, elastic plates are fixedly connected between the expansion plate and the second guide block; the elastic plates are all designed in a corrugated structure.
The invention has the following beneficial effects:
1. according to the automatic material taking anti-skid manipulator based on the big data, the manipulator body, the base plate and the fixing box are arranged, so that the rapid and direct bottom supporting of a transported object is effectively realized, the transported object does not need to be clamped, a supporting structure does not need to be directly and forcibly inserted into the bottom of the transported object, the surface of the transported object is prevented from being damaged, meanwhile, the bottom supporting and the fixing box have a protection effect, the problems that the transported object slides down, falls off due to the action of the base plate in the transporting process and the like are avoided, and the transporting safety is improved.
2. According to the automatic material taking anti-skidding mechanical arm based on the big data, due to the arrangement of the ejector rod, the connecting rod and the idler wheel, when the internal air pressure of the air cushion is increased, air can press the ejector rod in a constant mode, so that the ejector rod ejects out of the corresponding guide hole, the ejector rod can drive the connecting rod to move, the elastic film is expanded, the friction coefficient is further increased, and the moving risk of a transported object is reduced; simultaneously when the groove is accomodate in the income of second backup pad, the gasbag stops to receive the extrusion, and then the pressure reduces in the air cushion, ejector pin and connecting rod reset this moment, the connecting rod is with the surperficial parallel and level of first backup pad, when having reduced the thing of transporting and first backup pad surface friction power, the top surface that has also guaranteed first backup pad has sufficient holding area, the gyro wheel of connecting rod top surface is derived this moment simultaneously, further reduce the friction, the relative slip between the thing of transporting of being convenient for and the first backup pad is derived the thing of transporting.
Drawings
The invention will be further explained with reference to the drawings.
FIG. 1 is a perspective view of the present invention;
FIG. 2 is a front view of the present invention;
FIG. 3 is an enlarged view of a portion of FIG. 2 at A;
FIG. 4 is an enlarged partial view at B in FIG. 2;
FIG. 5 is an enlarged partial view at C of FIG. 3;
FIG. 6 is an enlarged partial view at D of FIG. 5;
in the figure: the manipulator body 1, backing plate 2, fixed case 3, first guide 4, first telescopic link 5, second guide 6, second telescopic link 7, motor 8, first backup pad 9, pinion rack 10, gear 11, rotation post 12, third telescopic link 13, slide 14, guide rail 15, second backup pad 16, fixed block 17, fourth telescopic link 18, first backup pad 19, second backup pad 20, gasbag 21, regulating block 22, air cushion 23, ejector pin 24, connecting rod 25, slider 26, elastic membrane 27, gyro wheel 28, top dish 29, supporting pad 30, wheel post 31, kicking block 32, elasticity diolame 33, elastic plate 34, spring 35, expand board 36.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
As shown in fig. 1 to 6, the automatic material taking antiskid manipulator based on big data comprises a manipulator body 1, a backing plate 2 and a fixing box 3; the top of the manipulator body 1 is fixedly connected with a fixed box 3; the bottom of the fixed box 3 is provided with a backing plate 2; the top surface of the backing plate 2 is provided with first guide grooves which are uniformly distributed at a position right below the fixed box 3; a first guide block 4 is connected inside the first guide groove in a sliding manner; a first telescopic rod 5 is fixedly connected between the first guide block 4 and the groove bottom corresponding to the first guide groove; a second guide groove is formed in the middle of the backing plate 2 on the top surface of the backing plate 2; a second guide block 6 is connected inside the second guide groove in a sliding manner; a second telescopic rod 7 is fixedly connected between the second guide block 6 and the bottom of the second guide groove, and the second telescopic rod 7 is communicated with the first telescopic rod 5; the bottom surface of the fixed box 3 is provided with a containing groove; a motor 8 is fixedly connected inside the side wall of the fixed box 3; a sliding groove is formed in the side wall of the fixed box 3 and close to the bottom surface of the fixed box 3; a first supporting plate 9 is connected inside the sliding groove in a sliding manner; a toothed plate 10 is fixedly connected to the surface of the first supporting plate 9; an output shaft of the motor 8 is fixedly connected with a gear 11, and the gear 11 is meshed with the toothed plate 10; in the process of working, in the process of industrial production, in order to improve the working efficiency, more and more manipulators are used, and particularly, the manipulators are used for carrying products and packaging, in the prior art, the manipulators basically and directly clamp the side walls of the products or product packaging boxes to carry the packaging boxes, for the products with lower surface strength, the packaging boxes and other transporters, under the action of gravity of the transporters, a larger shearing force can be generated between the manipulators and the transporters, so that the problem of surface extrusion or scratching of the transporters is easily caused, meanwhile, when the transporters are heavier, the phenomenon of slipping easily occurs to increase the transport risk, in order to solve the problem, in the prior art, a supporting structure is simply arranged at the bottom of the manipulator, but because the supporting structure cannot be directly inserted into the bottom position of the transporters, when the transportation object needs to be transported by the manipulator, for example, a product or a packaging box needs to be placed above the backing plate 2, for example, direct packaging production is performed above the backing plate 2, then the manipulator body 1 is started, the fixing box 3 is moved to a position right above the backing plate 2 by the manipulator body 1, then the fixing box 3 is controlled to move downwards, and the first guide block 4 is pressed to be received in the corresponding first guide groove, the first guide block 4 is pressed to correspond to the first telescopic rod 5, the gas in the first telescopic rod 5 enters the inside of the second telescopic rod 7, the second telescopic rod 7 can drive the second guide block 6 to eject out of the second guide groove, the transported object is lifted up, the motor 8 is started again at the moment, the motor 8 rotates to drive the gear 11 to rotate, the gear 11 can drive the toothed plate 10 to move, the toothed plate 10 can further drive the first supporting plate 9 to slide, the first supporting plate 9 is slid to the bottom position of the transported object, then the fixed box 3 is lifted upwards, the transported object is transported, when the transported object is transported to a designated point position, the first supporting plate 9 is directly reset, the transported object can be led out from the inside of the fixed box 3, and meanwhile, through big data analysis, the transported object can be known as a sliding object, the invention effectively realizes the rapid and direct bottom lifting of the transported object, the transported object does not need to be clamped, and the supporting structure does not need to be directly forced to be inserted into the bottom of the transported object, avoided the damage to the transported object surface, the bottom holds up simultaneously and fixed case 3's guard action, has avoided the landing and the transportation in-process of transported object, receives the backing plate 2 effect and the scheduling problem that falls appears, has improved the security of transporting.
As an embodiment of the present invention, a rotation groove is formed at the bottom of the gear 11; a rotating column 12 is rotatably connected inside the rotating groove; a third telescopic rod 13 is fixedly connected to the end surface of the inner part of the fixed box 3 close to the toothed plate 10; the end face of a piston rod of the third telescopic rod 13 is fixedly connected with a sliding plate 14; the end surface of the first supporting plate 9 is provided with a receiving groove; the inside of the accommodating groove is fixedly connected with a guide rail 15; a second support plate 16 is connected to the inner part of the guide rail 15 in a sliding manner; a fixed block 17 is fixedly connected inside the accommodating groove; the surface of the fixed block 17 is fixedly connected with a fourth telescopic rod 18, and the fourth telescopic rod 18 is communicated with the third telescopic rod 13; the during operation, through setting up second backup pad 16, when first backup pad 9 is about to derive completely, gear 11 can drive and rotate post 12 extrusion slide 14, slide 14 can extrude third telescopic link 13, make the inside gas of third telescopic link 13 enter into the inside of the 18 poles of fourth telescopic link, fourth telescopic link 18 can drive second backup pad 16 and derive and correspond and accomodate the groove, second backup pad 16 also can remove according to guide rail 15's direction simultaneously, derive when second backup pad 16 and accomodate the groove after, can upwards lift automatically, make parallel and level between second backup pad 16 and the first backup pad 9, realize the support to more areas of transporting thing bottom, improve the supporting effect to the transporting thing.
As an embodiment of the present invention, a first supporting block 19 is fixedly connected to the bottom surface of the second supporting plate 16; the bottom surface of the accommodating groove is fixedly connected with a second supporting block 20 at the position close to the opening part of the accommodating groove; during operation, through setting up first piece 19 and second piece 20, after second backup pad 16 derived the storage groove completely, first piece 19 can with the second piece 20 between direct corresponding support, guaranteed the effective support of second backup pad 16 bottom, reduce the pressure to guide rail 15.
As an embodiment of the present invention, the surfaces of the first supporting block 19 and the second supporting block 20 are both provided with mounting grooves; air bags 21 are fixedly connected inside the mounting grooves; the surface of the first supporting plate 9 is provided with uniformly arranged adjusting grooves; the inner parts of the adjusting grooves are all connected with adjusting blocks 22 in a sliding manner; an air cushion 23 is fixedly connected to the bottom of the adjusting groove, and the air cushion 23 is communicated with the air bag 21; the during operation, through setting up gasbag 21 and regulating block 22, when corresponding the contact between first piece 19 and second piece 20, gasbag 21 on first piece 19 and second piece 20 surface can receive the extrusion, and then the inside of gasbag 21 inside gas can be crowded into air cushion 23, can drive regulating block 22 through the inflation of air cushion 23 and upwards lift, through the top surface design with regulating block 22 for the matte structure, can effectual improvement transport and the frictional force between the first backup pad 9, reduce the transfer in-process, the transport slides in the inside of fixed box 3.
As an embodiment of the present invention, the surface of the adjusting block 22 is provided with guide holes uniformly arranged, and the guide holes are all communicated with the air cushion 23; a mandril 24 is connected in the guide hole in a sliding way; the top of the top rod 24 is hinged with a connecting rod 25; the number of the connecting rods 25 at the position of a single mandril 24 is two, and the connecting rods are symmetrically distributed; the surfaces of the connecting rods 25 are fixedly connected with sliding blocks 26, and the sliding blocks 26 are connected to the surface of the first supporting plate 9 in a sliding manner; the connecting rod 25 and the corresponding ejector rod 24 are sleeved with elastic films 27; during operation, through setting up ejector pin 24 and connecting rod 25, when the inside atmospheric pressure increase of air cushion 23, gaseous can level pressure ejector pin 24 for ejector pin 24 is ejecting to correspond the guide hole, and ejector pin 24 can drive connecting rod 25 motion, realizes the bulging of elastic membrane 27, further increases coefficient of friction, reduces the thing of transporting and removes the risk.
As an embodiment of the invention, the end surfaces of the connecting rods 25 far away from the corresponding push rods 24 are rotatably connected with rollers 28, and when the connecting rods 25 are flush with the surface of the first supporting plate 9, the rollers 28 are located outside the corresponding elastic films 27; during operation, through rotating connection gyro wheel 28 on the surface at connecting rod 25, when accomodating the groove in the second backup pad 16, gasbag 21 stops to receive the extrusion, and then the interior pressure of air cushion 23 reduces, ejector pin 24 and connecting rod 25 reset this moment, connecting rod 25 and first backup pad 9's surface parallel and level, when having reduced the thing of transporting and first backup pad 9 surface friction, the top surface that has also guaranteed first backup pad 9 has sufficient holding area, the gyro wheel 28 derivation of connecting rod 25 top surface this moment simultaneously, further reduce friction, be convenient for the relative slip between thing of transporting and the first backup pad 9, derive the thing of transporting.
As an embodiment of the present invention, the hinge point positions of the top rod 24 and the corresponding connecting rod 25 are both provided with a top disc 29; the top surface of the top plate 29 is fixedly connected with a supporting pad 30, and the bottom position of the supporting pad 30 is designed to be a curved surface structure; during operation, through setting up top dish 29 and supporting pad 30, through the elasticity and the curved surface design of supporting pad 30, press when supporting pad 30's surface when the thing is transported, supporting pad 30 can appear small-amplitude bending, if when transporting the thing relative slip this moment, the thing can drive elastic film 27 tensile to the thing of transporting for the extrusion forms the fold between elastic film 27 and the supporting pad 30, reduces the further slip risk of thing of transporting.
As an embodiment of the present invention, the top surface of the first supporting plate 9 is provided with uniformly arranged rolling grooves; the inner parts of the rolling grooves are rotatably connected with wheel posts 31; a pressure regulating cavity is formed inside the wheel column 31; the surfaces of the wheel posts 31 are provided with uniformly arranged connecting holes; the inner parts of the connecting holes are all connected with a top block 32 in a sliding way; the elastic envelopes 33 are wrapped outside the top blocks 32; the during operation, through setting up wheel post 31, kicking block 32 through the even arrangement of surface sliding connection at wheel post 31, when removing the transport thing, stop to the inside access air supply in pressure regulating chamber, kicking block 32 can adduction correspond even hole, the whole internal shrinkage of wheel post 31, can reduce the easy slip problem of transport thing, when needs are unloaded, can be directly to the leading-in atmospheric pressure in inside in pressure regulating chamber, kicking block 32 all ejecting even hole this moment, the whole swell of wheel post 31, can be normal this moment rotate, here can be through adding power, come initiative control wheel post 31 to rotate, the accurate position of the transport thing of being convenient for is unloaded.
As an embodiment of the present invention, the side surface of the second guide block 6 near the top surface of the second guide block 6 is provided with uniformly arranged expanding grooves; an expansion plate 36 is connected to the inside of the expansion groove in a sliding manner; and springs 35 are fixedly connected between the expanding plate 36 and the bottom of the corresponding expanding groove.
As an embodiment of the present invention, the elastic plate 34 is fixedly connected between the expanding plate 36 and the second guide block 6; the elastic plates 34 are all designed in a corrugated structure.
The specific working process is as follows:
when the manipulator is used for transferring a transported object, firstly, during production, a product or a packing box is required to be placed above the backing plate 2, for example, direct packaging production is carried out above the backing plate 2, then the manipulator body 1 is started, the fixing box 3 is moved to a position right above the backing plate 2 through the manipulator body 1, then the fixing box 3 is controlled to move downwards and extrude the first guide block 4, so that the first guide block 4 is collected into the corresponding first guide groove, the first guide block 4 extrudes the corresponding first telescopic rod 5, so that gas in the first telescopic rod 5 enters the second telescopic rod 7, the second telescopic rod 7 drives the second guide block 6 to eject out of the second guide groove, the transported object is lifted, at the moment, the motor 8 is started again, the motor 8 rotates to drive the gear 11 to rotate, the gear 11 drives the toothed plate 10 to move, the toothed plate 10 further drives the first supporting plate 9 to slide, the first supporting plate 9 slides to the bottom of the transported object, then the fixed box 3 is lifted upwards, the transported object is transported, when the transported object is transported to a designated point position, the first supporting plate 9 is reset directly, the transported object can be led out from the inside of the fixed box 3, and meanwhile, through big data analysis, the transported object can be known to be a moving and sliding object; when the first supporting plate 9 is to be completely led out, the gear 11 can drive the rotating column 12 to extrude the sliding plate 14, the sliding plate 14 can extrude the third telescopic rod 13, so that the gas in the third telescopic rod 13 enters the inside of the rod 18 of the fourth telescopic rod, the fourth telescopic rod 18 can drive the second supporting plate 16 to be led out of the corresponding accommodating groove, meanwhile, the second supporting plate 16 can also move according to the direction of the guide rail 15, and after the second supporting plate 16 is completely led out of the accommodating groove, the second supporting plate can be automatically lifted upwards, so that the second supporting plate 16 and the first supporting plate 9 are parallel and level, the bottom of a transported object can be supported in more areas, and the supporting effect on the transported object is improved; when the second supporting plate 16 is completely guided out of the accommodating groove, the first supporting block 19 and the second supporting block 20 are directly and correspondingly supported, so that effective support of the bottom of the second supporting plate 16 is ensured, and pressure on the guide rail 15 is reduced; when the first supporting block 19 and the second supporting block 20 are in corresponding contact, the air bags 21 on the surfaces of the first supporting block 19 and the second supporting block 20 are extruded, then air in the air bags 21 can be extruded into the air cushions 23, the adjusting blocks 22 can be driven to be lifted upwards through expansion of the air cushions 23, and the top surfaces of the adjusting blocks 22 are designed to be of a rough surface structure, so that the friction force between a transported object and the first supporting plate 9 can be effectively improved, and the sliding of the transported object in the fixing box 3 in the transportation process is reduced; when the internal air pressure of the air cushion 23 is increased, the air can press the ejector rod 24 at a fixed pressure, so that the ejector rod 24 ejects out of the corresponding guide hole, the ejector rod 24 can drive the connecting rod 25 to move, the elastic membrane 27 is expanded, the friction coefficient is further increased, and the moving risk of the transported object is reduced; when the second support plate 16 is accommodated in the accommodating groove, the air bag 21 stops being extruded, the inner pressure of the air cushion 23 is reduced, the ejector rod 24 and the connecting rod 25 are reset at the moment, the connecting rod 25 is flush with the surface of the first support plate 9, the friction force between the transferred object and the surface of the first support plate 9 is reduced, meanwhile, the top surface of the first support plate 9 is ensured to have enough supporting area, and meanwhile, the roller 28 on the top surface of the connecting rod 25 is led out, so that the friction is further reduced, the relative sliding between the transferred object and the first support plate 9 is facilitated, and the transferred object is led out; through the elasticity and the curved surface design of the supporting pad 30, when the transported object is pressed on the surface of the supporting pad 30, the supporting pad 30 can be slightly bent, if the transported object slides relatively at the moment, the transported object can drive the elastic membrane 27 to stretch, so that the elastic membrane 27 and the supporting pad 30 are extruded to form folds, and the risk of further sliding of the transported object is reduced; through the kicking block 32 of evenly arranging at the surperficial sliding connection of wheel post 31, when removing the transport thing, stop to the inside access air supply in pressure regulating chamber, kicking block 32 can adduct and correspond even hole, the whole internal shrinkage of wheel post 31, can reduce the easy slip problem of transport thing, when needs are unloaded, can be directly to the leading-in atmospheric pressure in inside in pressure regulating chamber, kicking block 32 all ejecting even hole this moment, the whole swell of wheel post 31, can be normal this moment rotate, here can be through adding power, come initiative control wheel post 31 to rotate, the accurate position of the transport thing of being convenient for is unloaded.
The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. An automatic material taking antiskid manipulator based on big data comprises a manipulator body (1), a base plate (2) and a fixing box (3); the method is characterized in that: the top of the manipulator body (1) is fixedly connected with a fixed box (3); a base plate (2) is arranged at the bottom of the fixed box (3); the top surface of the backing plate (2) is provided with first guide grooves which are uniformly distributed at a position right below the fixed box (3); a first guide block (4) is connected inside the first guide groove in a sliding manner; a first telescopic rod (5) is fixedly connected between the first guide block (4) and the groove bottom corresponding to the first guide groove; a second guide groove is formed in the middle of the backing plate (2) on the top surface of the backing plate (2); a second guide block (6) is connected inside the second guide groove in a sliding manner; a second telescopic rod (7) is fixedly connected between the second guide block (6) and the bottom of the second guide groove, and the second telescopic rod (7) is communicated with the first telescopic rod (5); the bottom surface of the fixed box (3) is provided with a containing groove; a motor (8) is fixedly connected inside the side wall of the fixed box (3); a sliding groove is formed in the side wall of the fixed box (3) close to the bottom surface of the fixed box (3); a first supporting plate (9) is connected inside the sliding groove in a sliding manner; a toothed plate (10) is fixedly connected to the surface of the first supporting plate (9); an output shaft of the motor (8) is fixedly connected with a gear (11), and the gear (11) is meshed with the toothed plate (10).
2. The automatic material taking antiskid manipulator based on the big data as claimed in claim 1, characterized in that: the bottom of the gear (11) is provided with a rotating groove; a rotating column (12) is rotatably connected inside the rotating groove; a third telescopic rod (13) is fixedly connected to the end face of the inner part of the fixed box (3) close to the toothed plate (10); the end face of a piston rod of the third telescopic rod (13) is fixedly connected with a sliding plate (14); the end surface of the first supporting plate (9) is provided with a receiving groove; a guide rail (15) is fixedly connected inside the accommodating groove; a second support plate (16) is connected to the inner part of the guide rail (15) in a sliding manner; a fixed block (17) is fixedly connected inside the accommodating groove; the surface of the fixed block (17) is fixedly connected with a fourth telescopic rod (18), and the fourth telescopic rod (18) is communicated with the third telescopic rod (13).
3. The automatic material taking and anti-skidding mechanical arm based on the big data as claimed in claim 2, is characterized in that: the bottom surface of the second supporting plate (16) is fixedly connected with a first supporting block (19); the bottom surface of the containing groove is fixedly connected with a second supporting block (20) close to the opening part of the containing groove.
4. The automatic material taking antiskid manipulator based on big data as claimed in claim 3, characterized in that: mounting grooves are formed in the surfaces of the first supporting block (19) and the second supporting block (20); air bags (21) are fixedly connected inside the mounting grooves; the surface of the first supporting plate (9) is provided with uniformly arranged adjusting grooves; the inner parts of the adjusting grooves are all connected with adjusting blocks (22) in a sliding manner; the bottom of the adjusting groove is fixedly connected with an air cushion (23), and the air cushion (23) is communicated with the air bag (21).
5. The automatic material taking antiskid manipulator based on big data according to claim 4, characterized in that: guide holes which are uniformly distributed are formed in the surface of the adjusting block (22), and the guide holes are communicated with the air cushion (23); a mandril (24) is connected in the guide hole in a sliding way; the top of the top rod (24) is hinged with a connecting rod (25); the number of the connecting rods (25) at the position of a single mandril (24) is two, and the connecting rods are symmetrically distributed; the surfaces of the connecting rods (25) are fixedly connected with sliding blocks (26), and the sliding blocks (26) are connected to the surface of the first supporting plate (9) in a sliding mode; the connecting rod (25) and the corresponding ejector rod (24) are sleeved with elastic films (27).
6. The automatic material taking antiskid manipulator based on big data according to claim 5, characterized in that: the surface of the connecting rod (25) is far away from the end face of one side of the corresponding ejector rod (24) and is connected with a roller (28) in a rotating mode, and when the connecting rod (25) is flush with the surface of the first supporting plate (9), the roller (28) is located outside the corresponding elastic film (27).
7. The automatic material taking antiskid manipulator based on big data according to claim 6, characterized in that: the hinge point positions of the ejector rods (24) and the corresponding connecting rods (25) are provided with ejector discs (29); the top surface of top dish (29) all links firmly supporting pad (30), and the bottom position of supporting pad (30) is the design of curved surface structure.
8. The automatic material taking antiskid manipulator based on big data as claimed in claim 7, wherein: the top surface of the first supporting plate (9) is provided with uniformly arranged rolling grooves; the inner parts of the rolling grooves are rotatably connected with wheel columns (31); a pressure regulating cavity is formed in the wheel column (31); the surfaces of the wheel posts (31) are provided with uniformly distributed connecting holes; the inner parts of the connecting holes are all connected with ejector blocks (32) in a sliding manner; the elastic coating (33) is wrapped outside the top block (32) together.
9. The automatic material taking and anti-skidding mechanical arm based on the big data as claimed in claim 8, characterized in that: the side surface of the second guide block (6) is provided with uniformly-arranged expanded grooves close to the top surface of the second guide block (6); an expansion plate (36) is connected to the inside of the expansion groove in a sliding manner; and springs (35) are fixedly connected between the expanding plate (36) and the bottoms of the corresponding expanding grooves.
10. The automatic material taking antiskid manipulator based on the big data as claimed in claim 9, characterized in that: elastic plates (34) are fixedly connected between the expanding plate (36) and the second guide block (6); the elastic plates (34) are all designed in a corrugated structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110442982.XA CN113232033A (en) | 2021-04-23 | 2021-04-23 | Automatic material taking anti-skidding mechanical arm based on big data |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110442982.XA CN113232033A (en) | 2021-04-23 | 2021-04-23 | Automatic material taking anti-skidding mechanical arm based on big data |
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| Publication Number | Publication Date |
|---|---|
| CN113232033A true CN113232033A (en) | 2021-08-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110442982.XA Pending CN113232033A (en) | 2021-04-23 | 2021-04-23 | Automatic material taking anti-skidding mechanical arm based on big data |
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| CN (1) | CN113232033A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103193079A (en) * | 2013-04-14 | 2013-07-10 | 北京圣华同安新型建材技术有限公司 | Carrying manipulator for producing environment-friendly bricks |
| CN104016126A (en) * | 2014-06-18 | 2014-09-03 | 新昌县同德精密机械有限公司 | Manipulator for feeding cylindrical or disk-type workpieces |
| DE102016214736A1 (en) * | 2016-08-09 | 2018-02-15 | Krones Aktiengesellschaft | Tool head, gripping and / or manipulation device with such a tool head and method for handling piece goods or containers |
| CN110178532A (en) * | 2019-06-06 | 2019-08-30 | 福建省中科生物股份有限公司 | A kind of automatic recovering device of shoot vegetable |
| CN111890338A (en) * | 2020-08-04 | 2020-11-06 | 明光市金世纪机械科技有限公司 | Delta parallel four-shaft type manipulator |
-
2021
- 2021-04-23 CN CN202110442982.XA patent/CN113232033A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103193079A (en) * | 2013-04-14 | 2013-07-10 | 北京圣华同安新型建材技术有限公司 | Carrying manipulator for producing environment-friendly bricks |
| CN104016126A (en) * | 2014-06-18 | 2014-09-03 | 新昌县同德精密机械有限公司 | Manipulator for feeding cylindrical or disk-type workpieces |
| DE102016214736A1 (en) * | 2016-08-09 | 2018-02-15 | Krones Aktiengesellschaft | Tool head, gripping and / or manipulation device with such a tool head and method for handling piece goods or containers |
| CN110178532A (en) * | 2019-06-06 | 2019-08-30 | 福建省中科生物股份有限公司 | A kind of automatic recovering device of shoot vegetable |
| CN111890338A (en) * | 2020-08-04 | 2020-11-06 | 明光市金世纪机械科技有限公司 | Delta parallel four-shaft type manipulator |
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