CN113459140B - Manipulator control method and system - Google Patents

Abstract

The invention discloses a manipulator control method and a manipulator control system, wherein the manipulator system provided by the invention can conveniently and quickly grab a specified product and turn over the grabbed product; the specific working principle is as follows: when a product needs to be grabbed, the 2 clamping plates clamp the product, then the overturning component is started, and the overturning component drives the supporting seat to rotate along the transverse rotating shaft, so that the product is overturned, and a worker can conveniently perform corresponding operation on the bottom of the product; and at the in-process of grip block centre gripping product, displacement sensor can detect the amount of movement of product to judge whether the product has the risk of falling, and then through the start-up of controller control drive unit, can drive the carriage release lever after the drive unit starts and remove, thereby make the side laminating contact of first backup pad and second backup pad and product, and then support the product at the tenesmus direction of product after the product upset, thereby prevent that unexpected phenomenon from appearing in the product.

Description

Manipulator control method and system

Technical Field

The invention relates to the technical field of manipulators, in particular to a manipulator control method and system.

Background

In the production process of modern manufacturing industry, especially on the production line of products with large volume and mass, the bottom of the product is often required to be subjected to production operation (for example, a component is installed at the bottom of the product), but due to the fact that the volume and mass of the product are large, workers are difficult to turn over the product to expose the bottom, and then corresponding operation is carried out on the bottom of the product; at present, related operations are mostly performed on the bottom of a product by manually adjusting the angle of the product after the product is hoisted by a travelling crane, but the method is very inconvenient, and the position and the angle of the product are manually adjusted after the product is hoisted, so that time and labor are wasted; and this kind of mode can not prevent falling protection to the product that lifts, in case the product appears accidental falling phenomenon in the in-process that is lifted, can cause great property loss even the health damage of the person.

Disclosure of Invention

The invention mainly aims to provide a manipulator control method and system, and aims to solve the problems that time and labor are wasted and falling prevention protection cannot be performed on a lifted product in the process of manually overturning the product.

In order to achieve the purpose, the technical scheme provided by the invention is as follows:

a manipulator system comprises a first supporting plate, a second supporting plate, a controller, a supporting frame and a grabbing assembly; the grabbing assembly comprises a supporting seat, a turning part and a clamping part; the supporting seat is connected to the supporting frame; the number of the grabbing components is 2;

the clamping component comprises a clamping plate and a first hydraulic cylinder; the first hydraulic cylinder is arranged on the supporting seat; the clamping plate is connected to a telescopic rod of the first hydraulic cylinder; the clamping plate is vertically arranged; the clamping plates of the 2 grabbing assemblies are opposite and parallel to each other, and the 2 clamping plates are vertically arranged; 2 opposite clamping plates are used for clamping products; the overturning part is used for driving the supporting seat to rotate so as to adjust the angle of the product; the grabbing assembly further comprises a moving rod and a driving part for driving the moving rod to move; the moving rod is movably arranged in the supporting seat in a penetrating way; the first support plate is vertically connected to the moving rod of one of the grabbing components, and the second support plate is vertically connected to the moving rod of the other grabbing component; the first supporting plate is provided with a cavity penetrating through the body; the second supporting plate is embedded in the cavity in a sliding fit manner, and the outer wall of the second supporting plate is in sliding fit contact with the inner wall of the cavity; the clamping plate is also provided with a displacement sensor, and the displacement sensor is in communication connection with the controller; the controller is used for controlling the start and stop of the driving part.

Preferably, the base of the first hydraulic cylinder is embedded in the supporting seat; the telescopic direction of the first hydraulic cylinder is the horizontal direction; the grabbing component also comprises a fixed seat; the overturning part comprises a first motor and a rotating shaft; the rotating shaft is rotatably arranged in the fixed seat in a penetrating way; the rotating shaft is horizontally arranged; one end of the rotating shaft is connected with the supporting seat; the other end of the rotating shaft is coaxially connected with a first gear; the first motor is arranged on the fixed seat; the output shaft of the first motor is coaxially connected with a second gear; the first gear is engaged with the second gear.

Preferably, the support frame comprises a first guide rod and a second guide rod which are parallel to each other and are arranged oppositely; the first guide rod and the second guide rod are both horizontally arranged; the grabbing component further comprises a sliding seat and a second hydraulic cylinder; the sliding seat is respectively arranged on the first guide rod and the second guide rod in a sliding way; the second hydraulic cylinder is used for driving the sliding seat to horizontally slide along the first guide rod and the second guide rod; the fixed seat is connected below the sliding seat.

Preferably, the grabbing assembly further comprises a lifting rod, a third hydraulic cylinder and a baffle plate; the lifting rod vertically penetrates through the sliding seat in a sliding mode, and is located between the first guide rod and the second guide rod; the top end of the lifting rod extends out of the sliding seat, and the top end of the lifting rod is connected with the baffle; the third hydraulic cylinder is arranged on the sliding seat; and the telescopic rod of the third hydraulic cylinder is connected with the baffle plate so as to be used for driving the lifting rod to vertically lift.

Preferably, the grabbing assembly further comprises a fourth hydraulic cylinder, a connecting rod, a steering seat, a bearing plate and a steering component; the connecting rod is vertically connected to the rotating shaft; the bottom end of the connecting rod is provided with a cylindrical rotating body which is coaxial with the connecting rod; the steering seat is provided with a first circular groove and a second circular groove;

the first and second circular grooves are coaxial with each other; the first circular groove is closer to the outside than the second circular groove; the inner diameter of the first circular groove is smaller than the inner diameter of the second circular groove; the cylindrical rotating body is matched with the second circular groove in a rotating and embedding manner; the connecting rod is matched with the first circular groove in a rotating embedded mode; the steering component is used for driving the steering seat to rotate relative to the connecting rod;

the fourth hydraulic cylinder is arranged at one end of the steering seat far away from the connecting rod; the telescopic rod of the fourth hydraulic cylinder and the connecting rod share a central axis; and the telescopic rod of the fourth hydraulic cylinder is vertically connected with the bearing plate.

Preferably, the steering member includes a second motor, an outer ring gear and a third gear; the outer gear ring is arranged on the steering seat, and the outer gear ring and the connecting rod share a central axis; the second motor is arranged on the connecting rod; the output shaft of the second motor is coaxially connected with the third gear; the third gear is meshed with the outer gear ring to drive the steering seat to rotate.

Preferably, the driving component comprises a first spring, a clamping rod, a sleeve, an electromagnet, a first baffle, a second spring and a second baffle;

the supporting seat is provided with an inner cavity, a first through hole and a second through hole which penetrate through the inner cavity and the outside; the first through hole and the second through hole are opposite and share a central axis; the moving rod is embedded in the first through hole and the second through hole in a matching manner; the travel bar includes a first end and a second end; wherein the first end of one of the grasping elements is connected to the first support plate; the first end of the other grabbing component is connected with the second supporting plate;

the second end is provided with the first baffle plate; the first spring is sleeved on the moving rod; one end of the first spring is connected to the first blocking piece, and the other end of the first spring is connected to the supporting seat; the first spring is always in a compressed state;

the moving rod is provided with a plurality of clamping grooves at equal intervals along the length direction; the cannula is disposed in the lumen; the clamping rod is embedded in the sleeve in a matching manner; the clamping rod is perpendicular to the moving rod; one end of the clamping rod close to the moving rod is provided with the second blocking piece; the second spring is sleeved on the sleeve; one end of the second spring is connected to the second baffle plate, and the other end of the second spring is connected to the inner wall of the inner cavity; the elastic force of the second spring enables the clamping rod to have the tendency of approaching the moving rod, so that the clamping rod is embedded into the clamping groove to fix the position of the moving rod; the electromagnet is arranged on one side of the clamping rod, which is far away from the moving rod; when the electromagnet is started, the clamping rod is attracted, so that the clamping rod is separated from the clamping groove.

Preferably, the driving part further comprises a grooved pulley, a third motor, a pull rope, a first contact switch, a second contact switch, a third supporting plate, a shift lever and a dumbbell-shaped plate;

the grooved wheel is rotatably arranged in the inner cavity; the third motor is used for driving the grooved pulley to rotate; the sheave is close to the first through hole; the first end is positioned on one side of the first through hole, which is far away from the second through hole; one end of the pull rope is connected to the movable rod; the other end of the pull rope is wound on the grooved pulley; the controller is used for controlling the start and stop of the third motor and the electromagnet; the first contact switch and the second contact switch are both in communication connection with the controller;

the third supporting plate is horizontally connected to the supporting seat; the shifting rod is vertically connected with a telescopic rod of the first hydraulic cylinder; the first contact switch and the second contact switch are both arranged on the lower side wall of the third supporting plate; the middle part of the dumbbell-shaped plate is hinged to the lower side wall of the third supporting plate; the dumbbell plate comprises a first plate and a second plate which are opposite; the first plate is provided with a first groove; the second plate is provided with a second groove; the lower side wall of the third support plate is provided with a first elastic bulge and a second elastic bulge;

when the first hydraulic cylinder extends, the deflector rod is in contact with the second plate to drive the second plate to rotate, so that the second plate triggers the second contact switch, and the second elastic protrusion is embedded into the second groove in a matched mode to fix the dumbbell-shaped plate; when the first hydraulic cylinder is shortened, the deflector rod is in contact with the first plate to drive the first plate to rotate, so that the first plate triggers the first contact switch, and the first elastic protrusion is embedded into the first groove in a matched mode to fix the dumbbell-shaped plate.

Preferably, a first rubber layer is arranged on the side surface of the first supporting plate facing the clamping plate; and a second rubber layer is arranged on the side surface of the second support plate facing the clamping plate.

The invention also provides a manipulator control method, which is applied to the manipulator system in any one of the above manners; the method comprises the following steps:

aligning the gripping members to opposite sides of the product;

clamping and fixing the product through a clamping component;

detecting whether the product moves downwards or not through a displacement sensor;

when the displacement sensor detects that the product moves downwards, the controller starts the driving part to drive the moving rod to move, so that the first supporting plate and the second supporting plate jointly perform anti-falling support on the product;

the supporting seat is driven to rotate along the transverse rotating shaft through the overturning component so as to adjust the angle of the product.

Compared with the prior art, the invention at least has the following beneficial effects:

the manipulator system provided by the invention can conveniently and quickly grab products and turn the grabbed products, for example, products with large volume and mass which are inconvenient to turn manually; the specific working principle is as follows: when a product needs to be grabbed, the 2 clamping plates move oppositely by starting the first hydraulic cylinders of the 2 grabbing assemblies, so that the 2 clamping plates clamp the product, then the overturning part is started, the overturning part drives the supporting seat to rotate along the transverse rotating shaft, so that the product overturns, the bottom of the product is exposed, and a worker can conveniently perform corresponding operation on the bottom of the product; and in-process at the grip block centre gripping product, displacement sensor can detect the amount of movement of product to judge whether the product has the risk of falling, and then the start through controller control drive assembly, drive assembly can drive the carriage release lever after starting and remove, thereby make the side laminating contact of first backup pad and second backup pad and product, and then support the product at the tenesmus direction of product after the product upset, thereby prevent that unexpected phenomenon from appearing in the product, avoid loss of property and health damage.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

Fig. 1 is a schematic front view of a robot system according to an embodiment of the present invention;

fig. 2 is a schematic top view of a robot system according to an embodiment of the present invention;

fig. 3 is a schematic partial structural diagram (1) of an embodiment of a robot system according to the present invention;

FIG. 4 is an enlarged detail view of the internal structure of FIG. 1 at A;

fig. 5 is a partial schematic structural diagram (2) of an embodiment of a robot system according to the present invention;

FIG. 6 is an enlarged detail view of the internal structure of FIG. 5 at B;

fig. 7 is a partial schematic structural diagram (3) of an embodiment of a robot system according to the present invention.

Description of reference numerals:

110-supporting column, 120-supporting arm, 130-first guide rod, 140-second guide rod, 150-grabbing component, 160-lifting rod, 170-sliding seat, 180-baffle, 190-third hydraulic cylinder, 210-fixed seat, 220-first supporting plate, 230-second supporting plate, 240-long groove, 250-bearing plate, 260-fourth hydraulic cylinder, 270-rotating shaft, 280-first gear, 290-second gear, 310-first motor, 320-supporting seat, 330-first hydraulic cylinder, 340-telescopic rod of first hydraulic cylinder, 350-clamping plate, 360-first baffle, 370-first connecting rod, 380-second connecting rod, 390-connecting seat, 410-connecting rod, 420-steering seat, 430-outer gear ring, 440-third gear, 450-second motor, 460-inner cavity, 470-moving rod, 480-first through hole, 490-second through hole, 510-first spring, 520-second end, 540-electromagnet, 550-sleeve, 560-second spring, 570-clamping rod, 580-clamping protrusion, 590-clamping groove, 610-pulling rope, 620-grooved wheel, 630-third supporting plate, 640-driving rod, 650-dumbbell shaped plate, 660-first plate, 670-second plate, 680-first groove, 690-second groove, 710-first elastic protrusion, 720-second elastic protrusion, 730-first circular groove, 740-second circular groove, 750-cylinder, 760-second hydraulic cylinder, 770-cavity, 480-second elastic protrusion, 610-second elastic protrusion, and the like, And a second barrier 780.

The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.

In addition, the descriptions related to "first", "second", etc. in the present invention are only for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "connected," "secured," and the like are to be construed broadly, and for example, "secured" may be a fixed connection, a removable connection, or an integral part; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In addition, the technical solutions in the embodiments of the present invention may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination of technical solutions should not be considered to exist, and is not within the protection scope of the present invention.

The invention provides a manipulator control method and system.

Referring to fig. 1-7, in an embodiment of a robot system according to the present invention, the robot system includes a first support plate 220, a second support plate 230, a controller, a support frame, and a grasping assembly 150; the grabbing assembly 150 comprises a supporting seat 320, a turning part and a clamping part; the supporting seat 320 is connected to the supporting frame; the number of the grasping units 150 is plural, and 2 in this embodiment.

The clamp member includes a clamp plate 350 and a first hydraulic cylinder 330; the first hydraulic cylinder 330 is disposed on the support base 320; the clamping plate 350 is connected to the telescopic rod 340 of the first hydraulic cylinder; the clamping plate 350 is vertically arranged; the clamping plates 350 of the 2 grabbing assemblies 150 are opposite and parallel to each other, and the 2 clamping plates 350 are all vertically arranged; 2 opposing clamping plates 350 for clamping the product; the overturning part is used for driving the supporting seat 320 to rotate along the transverse rotating shaft so as to adjust the angle of the product; the grasping assembly 150 further includes a moving rod 470, and a driving part for driving the moving rod 470 to move; the moving rod 470 is movably inserted into the supporting seat 320, and the moving rod 470 is perpendicular to the extending direction of the first hydraulic cylinder 330; the first support plate 220 is vertically connected to the moving bar 470 of one of the grasping assemblies 150 in the line direction of the two grasping assemblies 150, and the second support plate 230 is vertically connected to the moving bar 470 of the other grasping assembly 150 in the line direction of the two grasping assemblies 150; the first supporting plate 220 is provided with a cavity 770 penetrating through the body, the first supporting plate 220 is further provided with a long groove 240 penetrating through the cavity wall of the cavity 770, the long groove 240 is positioned at one side of the first supporting plate 220 close to the supporting seat 220, and the moving rod 470 connected to the second supporting plate 230 can be movably embedded into the long groove 240, so that the 2 grabbing components 150 can be moved closer to each other, and a product with a smaller size can be clamped; the second supporting plate 230 is embedded in the cavity 770 in a sliding fit manner, and the outer wall of the second supporting plate 230 is in sliding fit contact with the inner wall of the cavity 770; the first support plate 220 is perpendicular to the clamping plate 350.

The clamping plate 350 is further provided with a displacement sensor, the displacement sensor is in communication connection with the controller, and the displacement sensor is used for detecting the movement amount of a product in the process that the clamping plate 350 clamps the product; the controller is used for controlling the start and stop of the driving part so as to enable the two movable rods 470 to approach or move away.

The manipulator system provided by the invention can conveniently and quickly grab products and turn the grabbed products, for example, products with large volume and mass which are inconvenient to turn manually; the specific working principle is as follows: when a product needs to be grabbed, the 2 clamping plates 350 move oppositely by starting the first hydraulic cylinders 330 of the 2 grabbing components 150, so that the 2 clamping plates 350 clamp the product, then the overturning component is started, and the overturning component drives the supporting seat 320 to rotate along the transverse rotating shaft, so that the product overturns, the bottom of the product is exposed, and a worker can conveniently perform corresponding operation on the bottom of the product; and at the in-process of grip block 350 centre gripping product, displacement sensor can detect the amount of movement of product to judge whether the product has the risk of falling, and then the start-up through controller control drive assembly, drive assembly can drive the carriage release lever 470 removal after starting, thereby make the side laminating contact of first backup pad 220 and second backup pad 230 and product, and then support the product at the tenesmus direction of product after the product upset, thereby prevent that the unexpected phenomenon of falling from appearing in the product, avoid loss of property and health damage.

In addition, the base of the first hydraulic cylinder 330 is embedded in the supporting base 320; the extending and retracting direction of the first hydraulic cylinder 330 is horizontal, i.e. the moving direction of the clamping plate 350 is horizontal; the grasping assembly 150 further includes a holder 210; the turning part comprises a first motor 310 and a rotating shaft 270; the rotating shaft 270 is rotatably inserted into the fixing base 210; the rotating shaft 270 is horizontally arranged; one end of the rotating shaft 270 is connected with the supporting seat 320; the other end of the rotating shaft 270 is coaxially connected with a first gear 280; the first motor 310 is disposed on the fixing base 210; the output shaft of the first motor 310 is coaxially connected with a second gear 290; the first gear 280 is engaged with the second gear 290. Through above-mentioned technical scheme, perfect drive unit's structure and function to in the product after the upset is by the centre gripping, thereby expose the bottom of product.

Meanwhile, the support frame includes a first guide bar 130 and a second guide bar 140 that are parallel to and opposite to each other, and further includes a support column 110 and a support arm 120; the number of the support columns 110 is 4, and the number of the support arms 120 is 2; wherein 1 support arm 120 is attached to the top of 2 support columns 110; the other 1 support arm 120 is connected to the top of the other 2 support columns 110; the 2 support arms 120 are parallel to each other and all arranged horizontally; both ends of the first guide bar 130 are respectively connected to the 2 support arms 120; both ends of the second guide bar 140 are respectively connected to the 2 support arms 120; the first guide bar 130 and the second guide bar 140 are both horizontally arranged; the gripper assembly 150 further includes a slide mount 170 and a second hydraulic cylinder 760; the sliding seat 170 is slidably disposed through the first guide bar 130 and the second guide bar 140; the second hydraulic cylinder 760 is used for driving the sliding seat 170 to horizontally slide along the first guide rod 130 and the second guide rod 140; the fixed base 210 is connected to the lower side of the sliding base 170.

By providing the sliding seat 170 and the second hydraulic cylinder 760, the grabbing assembly 150 can be driven to move horizontally, thereby being suitable for products with different sizes.

In addition, the grabbing assembly 150 further comprises a lifting rod 160, a third hydraulic cylinder 190 and a baffle 180; the lifting rod 160 is vertically and slidably inserted into the sliding seat 170, and the lifting rod 160 is located between the first guide rod 130 and the second guide rod 140; the top end of the lifting rod 160 extends out of the sliding seat 170, and the top end of the lifting rod 160 is connected with a baffle 180; the third hydraulic cylinder 190 is disposed on the sliding seat 170; the telescopic rod of the third hydraulic cylinder 190 is connected to the blocking plate 180 to drive the lifting rod 160 to vertically lift, so as to adjust the height of the supporting seat 320, and thus the height of the clamping plate 350, so as to be suitable for products with different sizes.

Meanwhile, the grabbing assembly 150 further comprises a fourth hydraulic cylinder 260, a connecting rod 410, a steering seat 420, a bearing plate 250 and a steering component; the connecting rod 410 is vertically connected to the rotating shaft 270, and the specific scheme is as follows: the grabbing assembly 150 further comprises a first link 370, a second link 380 and a connecting seat 390, wherein the first link 370 and the second link 380 are parallel to each other, the first link 370 and the second link 380 are both vertically connected to the rotating shaft 270, the first link 370 and the second link 380 are respectively located at two sides of the fixed seat 210, and the connecting seat 390 is connected to one end of the first link 370 away from the rotating shaft 270 and one end of the second link 380 away from the rotating shaft 270; the bottom end of the connecting rod 410 is provided with a cylindrical rotating body 750 coaxial with the connecting rod 410; the steering seat 420 is formed with a first circular groove 730 and a second circular groove 740.

The first circular groove 730 and the second circular groove 740 are coaxial with each other; the first circular groove 730 is closer to the outside than the second circular groove 740; the inner diameter of the first circular groove 730 is smaller than the inner diameter of the second circular groove 740; the cylindrical rotating body 750 is matched with the second circular groove 740 in a rotating and embedding manner; the connecting rod 410 is matched and rotatably embedded in the first circular groove 730; the steering component is used for driving the steering seat 420 to rotate relative to the connecting rod 410.

The fourth hydraulic cylinder 260 is arranged at one end of the steering seat 420 far away from the connecting rod 410; the telescopic rod of the fourth hydraulic cylinder 260 and the connecting rod 410 share a central axis; the telescopic rod of the fourth hydraulic cylinder 260 is vertically connected with the carrier plate 250.

Through the technical scheme, the bottom anti-falling protection can be carried out on the clamped product, and the specific scheme is as follows; after 2 grip blocks the product, rise through the drive lifter 160 of third pneumatic cylinder 190 to drive the product and break away from ground (or other holding surfaces), then turn to the seat 420 through turning to the part drive and rotate, thereby drive the level of fourth pneumatic cylinder 260 and rotate, thereby drive carrier plate 250 and rotate, thereby make carrier plate 250 rotate to the below that is located the product, with the purpose that plays the protection of preventing weighing down to the product bottom.

Meanwhile, the above-mentioned steering part includes the second motor 450, the outer ring gear 430, and the third gear 440; the outer gear ring 430 is arranged on the steering seat 420, and the outer gear ring 430 and the connecting rod 410 share a central axis; the second motor 450 is disposed at the connecting rod 410; the output shaft of the second motor 450 is coaxially connected with a third gear 440; the third gear 440 is engaged with the outer ring gear 430 to drive the steering seat 420 to rotate. Through the technical scheme, the structure and the function of the steering component are perfected.

Further, the driving part includes a first spring 510, a catching lever 570, a sleeve 550, an electromagnet 540, a first catch 360, a second spring 560, and a second catch 780.

The supporting seat 320 is provided with an inner cavity 460, a first through hole 480 and a second through hole 490, wherein the first through hole 480 and the second through hole penetrate through the inner cavity 460 and the outside; the first through hole 480 and the second through hole 490 are opposite and share a central axis; the movable rod 470 is embedded in the first through hole 480 and the second through hole 490 in a matching manner; the travel bar 470 includes a first end and a second end 520; a first end of one of the grasping elements 150 is connected to the first support plate 220; a first end of another grasping element 150 is attached to the second support plate 230.

The second end 520 is provided with a first baffle 360; the first spring 510 is sleeved on the moving rod 470; one end of the first spring 510 is connected to the first stopper 360, and the other end of the first spring 510 is connected to the support base 320; the first spring 510 is always in a compressed state such that the moving bar 470 has a tendency to move in a direction from the first end to the second end 520.

The moving rod 470 is provided with a plurality of slots 590 at equal intervals along the length direction; the cannula 550 is fixedly disposed within the lumen 460; the clamping rod 570 is embedded in the sleeve 550 in a matching way; the capture bar 570 is perpendicular to the travel bar 470; one end of the catching rod 570 close to the moving rod 470 is provided with a second stopper 780; the second spring 560 is sleeved on the sleeve 550; one end of the second spring 560 is connected to the second stopper 780, and the other end of the second spring 560 is connected to the inner wall of the inner cavity 460; the elastic force of the second spring 560 makes the position lever 570 have a tendency to approach the moving rod 470, so that the position lever 570 is inserted into the position slot 590 (specifically, a position protrusion 580 is disposed at one end of the position lever 570 near the moving rod 470, and the position protrusion 580 can be inserted into the position slot 590 in a matching manner, so as to fix the position of the moving rod 470; the electromagnet 540 is arranged on one side of the clamping rod 570 far away from the moving rod 470; when the electromagnet 540 is started, the blocking rod 570 is attracted and released, so that the blocking rod 570 is separated from the clamping groove 590.

A first rubber layer is arranged on the side surface of the first support plate 220 facing the clamping plate 350; the side of the second support plate 230 facing the clamping plate 350 is provided with a second rubber layer, and by arranging the first rubber layer and the second rubber layer, a buffering effect can be achieved, and the first support plate 220 and the second support plate 230 are prevented from scratching products.

Through the technical scheme, the structure of the driving part is perfected, the movement of the moving rod 470 can be controlled, specifically, when the moving rod 470 needs to be driven, so as to drive the first supporting plate 220 and the second supporting plate 230 to move, namely, the electromagnet 540 is controlled to attract the clamping rod 570, so that the clamping rod 570 is separated from the clamping groove 590, so that the moving rod 470 moves under the action of the first spring 510, so that the first supporting plate 220 and the second supporting plate 230 move towards the direction close to the supporting seat 320, namely, the first supporting plate 220 and the second supporting plate 230 both move towards the direction close to the product, and finally are in contact with the side surface of the product in an attaching manner, then the electromagnet 540 is controlled to be powered off, so that the electromagnet 540 does not attract the clamping rod 570 any more, so that the clamping protrusion 580 of the clamping rod 570 is embedded into the clamping groove 590, so as to fix the position of the moving rod 470, so that the first supporting plate 220 and the second supporting plate 230 generate a supporting effect on the product, after the product overturns to expose the bottom, the first supporting plate 220 and the second supporting plate 230 vertically support the product, thereby avoiding the product from falling accidentally.

Meanwhile, the driving part further includes a sheave 620, a third motor, a pull rope 610, a first contact switch, a controller, a second contact switch, a third support plate 630, a shift lever 640, and a dumbbell plate 650.

The sheave 620 is rotatably disposed in the inner chamber 460; the third motor is used for driving the sheave 620 to rotate; the sheave 620 is adjacent the first through hole 480; the first end is located on a side of the first via 480 facing away from the second via 490; one end of the pull cord 610 is attached to the travel bar 470 near the second end 520; the other end of the pull rope 610 is wound on the sheave 620; the controller is used for controlling the start and stop of the third motor and the electromagnet 540; the first contact switch and the second contact switch are both in communication connection with the controller.

The third supporting plate 630 is horizontally connected to the supporting base 320; the shift lever 640 is vertically connected to the telescopic rod 340 of the first hydraulic cylinder; the first contact switch and the second contact switch are both disposed on a lower sidewall of the third support plate 630; the middle part of the dumbbell plate 650 is hinged to the lower side wall of the third support plate 630; the dumbbell plate 650 includes first and second opposing plates 660, 670, each of the first and second plates 660, 670 being horizontally disposed; the first plate 660 is provided with a first groove 680; the second plate 670 is provided with a second groove 690; the lower sidewall of the third support plate 630 is provided with a first elastic protrusion 710 and a second elastic protrusion 720.

When the first hydraulic cylinder 330 extends, the lever 640 contacts the second plate 670 to drive the second plate 670 to rotate, so that the second plate 670 triggers the second contact switch, so that the second elastic protrusion 720 is engaged with the second groove 690 to fix the dumbbell plate 650; when the first hydraulic cylinder 330 is shortened, the lever 640 contacts the first plate 660 to drive the first plate 660 to rotate, so that the first plate 660 triggers the first contact switch, and the first elastic protrusion 710 is engaged with the first groove 680 to fix the dumbbell plate 650.

Through the technical scheme, the functions of the driving part are further improved, the moving rod 470 can be automatically driven to move, and the first supporting plate 220 and the second supporting plate 230 can automatically perform anti-falling support on the product; specifically, when the first hydraulic cylinder 330 extends (i.e., the clamping plate 350 starts to move to clamp a product), the lever 640 can contact the second plate 670 to drive the second plate 670 to rotate, so that the second plate 670 triggers the second contact switch, and simultaneously the second elastic protrusion 720 is engaged with the second groove 690 to fix the dumbbell plate 650 (at this time, the first plate 660 rotates to be close to the first hydraulic cylinder 330, i.e., to protrude from the third supporting plate 630), after the second contact switch is triggered, the controller controls the electromagnet 540 to be powered on for a first preset time (e.g., 2 seconds), the electromagnet 540 attracts the clamping rod 570 to separate the clamping rod 570 from the clamping slot 590, so that the moving rod 470 moves under the action of the first spring 510, so that the first supporting plate 220 and the second supporting plate 230 move toward the direction close to the supporting seat 320, i.e., the first supporting plate 220 and the second supporting plate 230 both move toward the direction close to the product, finally, the adhesive is attached to and contacted with the side surface of the product; after 2 seconds, the electro-magnet 540 cuts off the power supply for the electro-magnet 540 no longer inhales with screens pole 570, so that the screens protrusion 580 of screens pole 570 imbeds in the draw-in groove 590, thereby the position of fixed carriage release lever 470, thereby make first backup pad 220 and second backup pad 230 produce the supporting role to the product, can avoid the product accident to appear falling.

When the first hydraulic cylinder 330 is shortened (which indicates that the operator has finished operating the product and the clamping device begins to unload the product), the lever 640 can contact the first plate 660 to drive the first plate 660 to rotate, so that the first plate 660 triggers the first contact switch, and the first elastic protrusion 710 is fittingly inserted into the first groove 680 to fix the dumbbell plate 650 (at this time, the second plate 670 rotates to be close to the first hydraulic cylinder 330, i.e., to protrude from the third support plate 630), after the first contact switch is triggered, the controller controls the electromagnet 540 to be powered on for a second preset time (e.g., 3 seconds) and starts the third motor for a third preset time (e.g., 3 seconds), the second preset time is longer than the first preset time, the electromagnet 540 attracts the clamping rod 570 to disengage the clamping rod 570 from the clamping groove 590, the third motor drives the sheave 620 to rotate, so that the moving rod 470 is driven by the pull rope 610 to move away from the second through hole 490, i.e., the first and second support plates 220 and 230 are brought out of contact with the side of the product; after 3 seconds, the third motor is stopped, and the electromagnet 540 is powered off, so that the electromagnet 540 does not suck the clamping rod 570 any more, so that the clamping protrusion 580 of the clamping rod 570 is embedded into the clamping groove 590, thereby fixing the position of the movable rod 470, so that the first support plate 220 and the second support plate 230 return to the initial position, and further facilitating the support of the next product.

The present invention also provides a manipulator control method, and in the first embodiment of the manipulator control method provided by the present invention, the present embodiment is applied to the manipulator system according to any one of the above embodiments; the embodiment comprises the following steps:

step S110: the clamping members are aligned on opposite sides of the product.

Step S120: the product is clamped and fixed by the clamping component.

Step S130: detecting whether the product moves downwards or not through a displacement sensor;

step S140: when the displacement sensor detects that the product moves downwards, the controller activates the driving part to drive the moving rod 470 to move, so that the first supporting plate 220 and the second supporting plate 230 jointly perform anti-falling support on the product.

Step S150: the supporting seat 320 is driven by the turning part to rotate along the transverse rotating shaft so as to adjust the angle of the product.

Through the technical scheme, at the in-process of grip block 350 centre gripping product, displacement sensor can detect the decurrent amount of movement of product, in order to judge whether the product has the risk of falling, and then the start-up through controller control drive unit, drive unit can drive the carriage release lever 470 after starting and remove, thereby make the side laminating contact of first backup pad 220 and second backup pad 230 with the product, and then carry out vertical braces to the product after the product upset, thereby prevent that the unexpected phenomenon of falling from appearing in the product, avoid property and personal health loss.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims (9)

1. A manipulator system is characterized by comprising a first supporting plate, a second supporting plate, a controller, a supporting frame and a grabbing component; the grabbing assembly comprises a supporting seat, a turning part and a clamping part; the supporting seat is connected to the supporting frame; the number of the grabbing components is 2;

the clamping component comprises a clamping plate and a first hydraulic cylinder; the first hydraulic cylinder is arranged on the supporting seat; the clamping plate is connected to a telescopic rod of the first hydraulic cylinder; the clamping plate is vertically arranged; the clamping plates of the 2 grabbing assemblies are opposite and parallel to each other, and the 2 clamping plates are vertically arranged; 2 opposite clamping plates are used for clamping products; the overturning part is used for driving the supporting seat to rotate so as to adjust the angle of the product; the grabbing assembly further comprises a moving rod and a driving part for driving the moving rod to move; the moving rod is movably arranged in the supporting seat in a penetrating way; the first support plate is vertically connected to the moving rod of one of the grabbing components, and the second support plate is vertically connected to the moving rod of the other grabbing component; the first supporting plate is provided with a cavity penetrating through the body; the second supporting plate is embedded in the cavity in a sliding fit manner, the first supporting plate is also provided with an elongated slot penetrating through the wall of the cavity, the elongated slot is positioned on one side of the first supporting plate close to the supporting seat, and a moving rod connected to the second supporting plate can be movably embedded in the elongated slot, so that the 2 grabbing components can be moved closer to each other; the second supporting plate is embedded in the cavity in a sliding fit manner; the outer wall of the second supporting plate is in sliding fit contact with the inner wall of the cavity; the clamping plate is also provided with a displacement sensor, and the displacement sensor is in communication connection with the controller; the controller is used for controlling the start and stop of the driving part;

the driving component comprises a first spring, a clamping rod, a sleeve, an electromagnet, a first baffle, a second spring and a second baffle;

the supporting seat is provided with an inner cavity, a first through hole and a second through hole which penetrate through the inner cavity and the outside; the first through hole and the second through hole are opposite and share a central axis; the moving rod is embedded in the first through hole and the second through hole in a matching manner; the travel bar includes a first end and a second end; wherein the first end of one of the grasping elements is connected to the first support plate; the first end of the other grabbing component is connected with the second supporting plate;

the second end is provided with the first baffle plate; the first spring is sleeved on the moving rod; one end of the first spring is connected to the first blocking piece, and the other end of the first spring is connected to the supporting seat; the first spring is always in a compressed state;

the moving rod is provided with a plurality of clamping grooves at equal intervals along the length direction; the cannula is disposed in the lumen; the clamping rod is embedded in the sleeve in a matching manner; the clamping rod is perpendicular to the moving rod; one end of the clamping rod close to the moving rod is provided with the second blocking piece; the second spring is sleeved on the sleeve; one end of the second spring is connected to the second baffle plate, and the other end of the second spring is connected to the inner wall of the inner cavity; the clamping rod has the tendency of approaching to the moving rod due to the elasticity of the second spring, and can be embedded into the clamping groove so as to fix the position of the moving rod; the electromagnet is arranged on one side of the clamping rod, which is far away from the moving rod; the electromagnet can attract the clamping rod, so that the clamping rod is separated from the clamping groove.

2. The manipulator system according to claim 1, wherein the base of the first hydraulic cylinder is embedded in the support base; the telescopic direction of the first hydraulic cylinder is the horizontal direction; the grabbing component also comprises a fixed seat; the overturning part comprises a first motor and a rotating shaft; the rotating shaft is rotatably arranged in the fixed seat in a penetrating way; the rotating shaft is horizontally arranged; one end of the rotating shaft is connected with the supporting seat; the other end of the rotating shaft is coaxially connected with a first gear; the first motor is arranged on the fixed seat; the output shaft of the first motor is coaxially connected with a second gear; the first gear is engaged with the second gear.

3. A manipulator system according to claim 2, wherein the support frame comprises first and second guide rods arranged parallel and opposite to each other; the first guide rod and the second guide rod are both horizontally arranged; the grabbing component further comprises a sliding seat and a second hydraulic cylinder; the sliding seat is respectively arranged on the first guide rod and the second guide rod in a sliding way; the second hydraulic cylinder is used for driving the sliding seat to horizontally slide along the first guide rod and the second guide rod; the fixed seat is connected below the sliding seat.

4. A manipulator system according to claim 3, wherein the gripper assembly further comprises a lift bar, a third hydraulic cylinder and a stop; the lifting rod vertically penetrates through the sliding seat in a sliding mode, and is located between the first guide rod and the second guide rod; the top end of the lifting rod extends out of the sliding seat, and the top end of the lifting rod is connected with the baffle; the third hydraulic cylinder is arranged on the sliding seat; and the telescopic rod of the third hydraulic cylinder is connected with the baffle plate so as to be used for driving the lifting rod to vertically lift.

5. A manipulator system according to claim 2, wherein the gripper assembly further comprises a fourth hydraulic cylinder, a connecting rod, a steering base, a carrier plate and a steering member; the connecting rod is vertically connected to the rotating shaft; the bottom end of the connecting rod is provided with a cylindrical rotating body which is coaxial with the connecting rod; the steering seat is provided with a first circular groove and a second circular groove;

the first and second circular grooves are coaxial with each other; the first circular groove is closer to the outside than the second circular groove; the inner diameter of the first circular groove is smaller than the inner diameter of the second circular groove; the cylindrical rotating body is matched with the second circular groove in a rotating and embedding manner; the connecting rod is matched with the first circular groove in a rotating embedded mode; the steering component is used for driving the steering seat to rotate relative to the connecting rod;

the fourth hydraulic cylinder is arranged at one end of the steering seat far away from the connecting rod; the telescopic rod of the fourth hydraulic cylinder and the connecting rod share a central axis; and the telescopic rod of the fourth hydraulic cylinder is vertically connected with the bearing plate.

6. A manipulator system according to claim 5, wherein the steering assembly comprises a second motor, an outer gear ring and a third gear; the outer gear ring is arranged on the steering seat, and the outer gear ring and the connecting rod share a central axis; the second motor is arranged on the connecting rod; the output shaft of the second motor is coaxially connected with the third gear; the third gear is meshed with the outer gear ring to drive the steering seat to rotate.

7. The manipulator system according to claim 1, wherein the driving unit further comprises a sheave, a third motor, a pull cord, a first contact switch, a second contact switch, a third support plate, a shift lever, and a dumbbell plate;

the grooved wheel is rotatably arranged in the inner cavity; the third motor is used for driving the grooved pulley to rotate; the sheave is close to the first through hole; the first end is positioned on one side of the first through hole, which is far away from the second through hole; one end of the pull rope is connected to the movable rod; the other end of the pull rope is wound on the grooved pulley; the controller is used for controlling the start and stop of the third motor and the electromagnet; the first contact switch and the second contact switch are both in communication connection with the controller;

the third supporting plate is horizontally connected to the supporting seat; the shifting rod is vertically connected with a telescopic rod of the first hydraulic cylinder; the first contact switch and the second contact switch are both arranged on the lower side wall of the third supporting plate; the middle part of the dumbbell-shaped plate is hinged to the lower side wall of the third supporting plate; the dumbbell plate comprises a first plate and a second plate which are opposite; the first plate is provided with a first groove; the second plate is provided with a second groove; the lower side wall of the third support plate is provided with a first elastic bulge and a second elastic bulge;

when the first hydraulic cylinder extends, the deflector rod can be in contact with the second plate to drive the second plate to rotate, so that the second plate triggers the second contact switch, and the second elastic protrusion is embedded into the second groove in a matched mode to fix the dumbbell-shaped plate; when the first hydraulic cylinder shortens, the shifting rod can be in contact with the first plate to drive the first plate to rotate, so that the first plate triggers the first contact switch, and the first elastic protrusion is embedded into the first groove in a matched mode to fix the dumbbell-shaped plate.

8. A manipulator system according to claim 1, wherein the side of the first support plate facing the clamping plate is provided with a first rubber layer; and a second rubber layer is arranged on the side surface of the second support plate facing the clamping plate.

9. A robot control method, characterized by being applied to a robot system according to any one of claims 1 to 8; the method comprises the following steps:

aligning the gripping members to opposite sides of the product;

clamping and fixing the product through a clamping component;

detecting whether the product moves downwards or not through a displacement sensor;

when the displacement sensor detects that the product moves downwards, the controller starts the driving part to drive the moving rod to move, so that the first supporting plate and the second supporting plate jointly perform anti-falling support on the product;

the supporting seat is driven to rotate along the transverse rotating shaft through the overturning component so as to adjust the angle of the product.

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