CN113580189A

CN113580189A - Manipulator with pile up mechanism of taking

Info

Publication number: CN113580189A
Application number: CN202111147634.6A
Authority: CN
Inventors: 杨利华; 申江利
Original assignee: Hunan Liyun Intelligent Technology Co ltd
Current assignee: Hunan Liyun Intelligent Technology Co ltd
Priority date: 2021-09-29
Filing date: 2021-09-29
Publication date: 2021-11-02

Abstract

The application provides a manipulator with a stacking and taking mechanism, which belongs to the field of manipulators and comprises a linkage clamping mechanism, wherein the linkage clamping mechanism comprises a main body cover, two groups of sliding limiting assemblies are crosswise arranged at the bottom of an inner cavity of the main body cover, each sliding limiting assembly comprises two sliding rods fixed on four sides of the inner cavity of the main body cover, and each group of sliding limiting assemblies is provided with two supporting covers, the first contact switch contacts the top of the article, the manipulator stops descending, the third telescopic rod pushes the extension plate to move downwards, after No. two contact switches contacted ground, will stop flexible, the manipulator will press from both sides the article of piling up, has solved among the prior art problem that the manipulator can't press from both sides the article of piling up too high.

Description

Manipulator with pile up mechanism of taking

Technical Field

The invention relates to the field of manipulators, in particular to a manipulator with a stacking and taking mechanism.

Background

A robot is an automatic manipulator that simulates some of the motion functions of a human hand and arm to grasp, transport objects or manipulate tools according to a fixed program. It features that it can be programmed to perform various expected operations, and has the advantages of both human and mechanical arm, and the mechanical arm is composed of three parts, including executing mechanism, drive mechanism and control system. The hand is a member for gripping a workpiece (or a tool), and has various structures such as a grip type, a holding type, and an adsorption type according to the shape, size, weight, material, and working requirements of an object to be gripped.

The claw heads of most manipulators cannot clamp objects which are stacked too high; or when the fragile stacked articles are clamped, the clamping force at the periphery is not too large, the bottom is not provided with a synchronous protection mechanism, and when the fragile stacked articles are clamped, the bottom of the lowermost article is not supported by the mechanism to slide and be damaged.

Disclosure of Invention

The invention aims to solve the following problems: in the prior art, a manipulator cannot clamp objects stacked too high; and when the clamping device is used for clamping fragile stacked articles, the lowermost article has no mechanism for supporting and carrying, so that the problem of sliding and damage is caused.

In order to achieve the above object, the present invention provides the following technical solutions to improve the above problems.

A robot hand having a stack picking mechanism, comprising:

the linkage clamping mechanism comprises a linkage part and a top end sensing part, the linkage part is used for tightening the mechanical claw when the manipulator clamps and clamps stacked articles, the top end sensing part is used for determining the position of the top end of the article to be clamped by the mechanical claw and positioning the height of the mechanical claw, and the top end sensing part is a first contact switch;

the four sides in the linkage clamping mechanism are provided with four telescopic extension mechanisms, each telescopic extension mechanism comprises an extension part and a ground sensing part, each extension part is used for extending the length of the mechanical claw, each ground sensing part is used for sensing the height from the ground and preventing the mechanical claw from being damaged due to excessive extension of the extension part, and a second contact switch is arranged at the specific position of each ground sensing part;

the four sides of the telescopic extension mechanisms opposite to each other are provided with pull handle clamping assemblies, the pull handle clamping assemblies move to the tops of the telescopic extension mechanisms, the linkage clamping mechanisms drive the telescopic extension mechanisms to clamp the bottoms of articles clamped by the synchronous auxiliary carrying mechanical claws when stacked articles are clamped by the telescopic extension mechanisms and prevent the articles from sliding off, and the pull handle clamping assemblies move to the bottoms of the telescopic extension mechanisms and are used for clamping various irregular articles;

and the supporting and transporting mechanism is used for assisting the supporting device to move and is used for transporting the articles clamped by the mechanical claw after deformation, and the pulling handle clamping assembly is arranged on the deformed supporting and transporting mechanism in a deformed mode and is used for assisting the supporting and transporting mechanism to transport the articles clamped by the mechanical claw.

As the preferred technical scheme of this application, the extension is including extending the board, the activity groove has been seted up to one side of extending the board, the activity inslot is fixed to be equipped with and is used for control to draw the clamp to get No. two electronic slip tables that the subassembly goes up and down, the cover is equipped with No. two sliders on No. two electronic slip tables, the both sides at extension board top all embedded being equipped with is used for extending the long No. three telescopic links of claw.

As the preferred technical scheme of this application, draw the installation base of pressing from both sides the clamp and getting the subassembly on No. two sliders including installing, the fixed mechanical finger that is used for pressing from both sides various irregular article that is equipped with in bottom of installation base, one side that No. two sliders were kept away from to the installation base is fixed to be provided with and is used for controlling mechanical finger to tighten up and relax No. one electric sliding table, the cover is equipped with a slider on the electric sliding table, mechanical finger's drive end articulates in the both sides of a slider.

As the preferred technical scheme of this application, linkage portion is including the main part cover, the bottom of main part cover inner chamber alternately is equipped with two sets of spacing subassemblies that slide, the spacing subassembly that slides includes two litter that are fixed in the four avris of main part cover inner chamber, every group all be equipped with two support covers on the spacing subassembly that slides, the fixed telescopic link that is equipped with in top of main part cover inner chamber No. two, the flexible end of telescopic link is fixed and is equipped with the transmission piece No. two, the bottom and one of them support cover fixed connection of transmission piece.

As the preferred technical scheme of this application, the avris at support cover top is fixed to be equipped with the drive rack, the fixed transfer line that is equipped with in middle part of main part cover inner chamber, the cover is equipped with the drive gear that is located two sets of spacing subassemblies bottom that slide on the transfer line, drive gear and four drive rack meshes, the bottom of main part cover inner chamber is alternately equipped with two sets of spacing spout subassemblies that are used for four spacing drive racks that are equipped with, spacing spout subassembly comprises the spacing frame of C shape of the fixed inner chamber four avris that sets up of four symmetries, support the cover and keep away from drive gear's one side and offer and be used for the gliding spacing groove of No. two sliders, the top induction part is installed in the bottom of transfer line.

As the preferred technical scheme of this application, the gliding sliding tray that is used for No. two sliders is offered to one side that the extension board was kept away from a contact switch, the bottom mounting that the extension board was kept away from No. two slider one sides is equipped with No. two grip blocks, the bottom fixed mounting that the supporting cover is close to No. two grip blocks one side has a grip block, ground response portion installs in the bottom of No. two grip blocks.

As the preferred technical scheme of this application, the middle part on main part cover top is equipped with the rotary drive subassembly that is used for the rotation bending, rotary drive subassembly's top is equipped with the arm exhibition mechanism that is used for driving the manipulator to carry out the motion, arm exhibition mechanism is including the slide bar of locating the rotary drive subassembly top, the embedded telescopic link that is equipped with in bottom of slide bar, the flexible end of telescopic link is connected with rotary drive subassembly's top, the middle part of slide bar rotates and is equipped with the transmission shaft, the tip of transmission shaft rotates and is equipped with No. two boards, the articulated board that is equipped with No. one in middle part of No. two board bottoms.

As the preferred technical scheme of this application, still include supporting box, supporting box's inside is equipped with the actuating mechanism who is used for driving arm exhibition mechanism's function, actuating mechanism is including the fixed L shape support frame of locating supporting box inner chamber bottom, the fixed motor that is equipped with in top of L shape support frame, the output of motor passes L shape support frame and fixedly connected with bevel gear No. one, the inside avris of L shape support frame rotates and is equipped with the second bevel gear with a bevel gear meshing, the tip of bevel gear passes L shape support frame and fixed the cam that is equipped with, the bottom that L shape support frame one side was kept away from to the cam is articulated with the bottom of a board, the top that L shape support frame is close to cam one side is articulated with the rear end of second board.

As the preferable technical scheme of the application, one side of the supporting box is provided with an auxiliary supporting component for an auxiliary supporting box supporting arm unfolding mechanism, the top end of one side of the supporting box is fixedly provided with a first hydraulic rod, the telescopic end of the hydraulic rod is rotatably provided with a rotary limiting block, the bottom end of the rotary limiting block is provided with a round hole, the inside of the round hole is in sliding connection with a sliding rod, one side of the rotary limiting block, which is far away from the first hydraulic rod, is rotatably provided with a second hydraulic rod, the end of the second hydraulic rod, which is far away from the rotary limiting block, is provided with an auxiliary supporting component, the auxiliary supporting component comprises an auxiliary supporting frame fixedly provided with one end of the second hydraulic rod, the bottom end of the auxiliary supporting frame is provided with a supporting and transporting mechanism, the bottom end of the supporting box and the bottom end of the supporting and transporting mechanism are both provided with two universal wheels, and one side of the supporting box, which is opposite to the auxiliary supporting frame, is fixedly provided with two telescopic supporting legs, the avris of supporting box and auxiliary stay subassembly all is equipped with flexible supporting component, flexible supporting component comprises two telescopic support legs.

As the preferable technical scheme, the supporting and transporting mechanism comprises two supporting plates arranged at the bottom end of an auxiliary supporting frame, a plurality of mounting blocks inserted into the bottom end of the auxiliary supporting frame are fixedly arranged at the top ends of the supporting plates, a protection plate is hinged at the top end of one side opposite to the two supporting plates, a spring bolt II is fixedly arranged at the top end inside the protection plate, a groove II matched with the spring bolt II is respectively arranged at the bottom end and one side opposite to the hinged part of the supporting plates and the protection plate, a protection component is arranged at the bottom end of the protection plate, a base is hinged at the bottom ends of the two supporting plates, a spring bolt I is fixedly arranged at the bottom end inside the supporting plates, a groove I matched with the spring bolt I is respectively arranged at the top end and one side opposite to the hinged part of the supporting plates and the base, a mounting groove is arranged at the middle part of one side opposite to the supporting plates, the fixed slot has been seted up to backup pad front end and rear end equidistance, and the protection subassembly is including the protection casing of locating the guard plate bottom, and the front end at protection casing top and the rear end at top are all fixed and are equipped with the piece of inserting that inserts the guard plate bottom, and the inside front end of protection casing rotates through the wind spring and is equipped with the pivot, and the pivot is rolled up and is equipped with the protection network, protection network one end and pivot fixed connection, and the other end of protection network is equipped with the fixed hook that matches with the fixed slot.

As the preferable technical scheme of the application, the middle of the supporting and transporting mechanism is provided with a protection component for protecting the operation of the transporting trolley and the equipment.

Compared with the prior art, the invention has the beneficial effects that:

1. through the arrangement of the first contact switch in the linkage clamping mechanism and the third telescopic rod in the telescopic extension mechanism, when the manipulator clamps and clamps stacked articles, the first contact switch contacts the tops of the articles, the manipulator stops descending, the third telescopic rod pushes the extension plate to move downwards, when the second contact switch contacts the ground, the telescopic extension is stopped, the manipulator clamps and clamps the stacked articles, and the problem that the manipulator cannot clamp and clamp the stacked articles in the prior art is solved;

2. through the arrangement of the pull handle clamping assembly and the second electric sliding table in the telescopic extension mechanism, when fragile stacked articles are clamped by the first clamping plate and the second clamping plate, the second electric sliding table pushes the pull handle clamping assembly to move downwards, the first electric sliding table in the pull handle clamping assembly can drive a mechanical finger to bend, a protection function is achieved below the articles, and the problems that when a manipulator clamps the fragile stacked articles in the prior art, the lowermost articles are not supported by the mechanisms and slide and are damaged are solved;

3. by the aid of the supporting and transporting mechanism, when the whole device is supported by the telescopic supporting legs, the supporting and transporting mechanism is detached and transformed into a transporting trolley for transporting articles, and when the number of the transporting trolleys is limited or no transporting trolley is arranged, the working time of the transporting trolleys is prevented from being delayed;

4. when irregular articles need to be clamped or the bottoms of stacked articles are irregular, the articles can be clamped more conveniently by the aid of mechanical fingers in the pulling handle clamping assembly, and the protection performance of the articles is greatly improved;

5. the protection plate in the supporting and transporting mechanism is connected with the mounting seat in the pull handle clamping assembly through the bolt, and the end parts of the two mechanical fingers are connected through the bolt, so that the two mechanical fingers are used as the pull handle and the trailer connecting hook of the transporting cart, and the transporting cart is convenient for people to use;

6. through the protection assembly in the supporting and transporting mechanism, the rotating shaft, the protective net and the fixing hook in the protection assembly, when the supporting and transporting mechanism is deformed into a transporting trolley, the protection assembly is installed at two ends of the top of the protective plate, the protective net is pulled down, and the protective net is fixed on the supporting plate through the fixing hook, so that the safety of article transportation is improved;

7. through the piece of inserting in the protection component that sets up, when equipment operation, with the piece both ends of inserting of protection casing in the protection component inject the front end of supporting box and the arrangement inslot of auxiliary stay frame's front end respectively, it is fixed through the fixed hook to pull out the protection network, the security when improving equipment operation.

Drawings

FIG. 1 is a schematic diagram of a robot with a stack picking mechanism according to the present application;

FIG. 2 is a schematic cross-sectional front view of a robot with a stack picking mechanism according to the present application;

FIG. 3 is a schematic side view in cross-section of a robot with a stack picking mechanism according to the present application;

FIG. 4 is a schematic structural view of a linkage clamping mechanism in a robot with a stack picking mechanism according to the present application;

FIG. 5 is a schematic cross-sectional view of a linkage clamping mechanism in a robot with a stack picking mechanism according to the present application;

FIG. 6 is an enlarged schematic view of A in FIG. 5 provided herein;

FIG. 7 is a schematic bottom view of a linkage clamping mechanism in a robot with a stack picking mechanism according to the present application;

FIG. 8 is a schematic cross-sectional view of a telescopic extension mechanism in a robot with a stack pick-up mechanism according to the present application;

FIG. 9 is a schematic diagram showing a structure and a schematic diagram showing a disassembled structure of a pull handle clamping assembly in a robot with a stacking and picking mechanism according to the present application;

FIG. 10 is a schematic cross-sectional view of a support and transport mechanism in a robot having a stack picking mechanism according to the present application;

FIG. 11 is an enlarged schematic view of B of FIG. 10 provided herein;

FIG. 12 is an enlarged schematic view of C of FIG. 10 provided herein;

FIG. 13 is a schematic structural view of a support transport mechanism in a robot having a stack picking mechanism as provided herein;

fig. 14 is an enlarged schematic structural diagram of D in fig. 11 provided in the present application.

The following are marked in the figure:

1. a support box; 2. an auxiliary support frame; 3. a supporting and transporting mechanism; 301. a base; 302. a support plate; 303. a first spring bolt; 304. a protection plate; 305. mounting blocks; 306. a second spring bolt; 307. fixing grooves; 308. a protective cover; 309. a protective net; 310. inserting a block; 311. a fixed hook; 312. a rotating shaft; 313. mounting grooves; 4. a telescopic support leg; 5. rotating the limiting block; 6. a drive mechanism; 601. an L-shaped support frame; 602. a motor; 603. a first bevel gear; 604. a second bevel gear; 605. a cam; 7. a universal wheel; 8. an arm spreading mechanism; 801. a first board; 802. a second plate; 803. a drive shaft; 804. a slide bar; 9. a first telescopic rod; 10. a rotary drive assembly; 11. a linkage clamping mechanism; 1101. a main body cover; 1102. a slide rod; 1103. a C-shaped limiting frame; 1104. a second telescopic rod; 1105. a transmission rod; 1106. a transmission block; 1107. a support housing; 1108. a transmission gear; 1109. a first contact switch; 1110. a drive rack; 12. a pull handle gripping assembly; 1201. a mounting seat; 1202. a first electric sliding table; 1203. a first sliding block; 1204. a mechanical finger; 13. a telescopic extension mechanism; 1301. an extension plate; 1302. a second electric sliding table; 1303. a first clamping plate; 1304. a second clamping plate; 1305. a second contact switch; 1306. a second sliding block; 1307. and a third telescopic rod.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments.

Thus, the following detailed description of the embodiments of the invention is not intended to limit the scope of the invention as claimed, but is merely representative of some embodiments of the invention. 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 the embodiments of the present invention and the features and technical solutions thereof may be combined with each other without conflict.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the present invention, it should be noted that the terms "upper", "lower", and the like refer to orientations or positional relationships based on those shown in the drawings, or orientations or positional relationships that are conventionally arranged when the products of the present invention are used, or orientations or positional relationships that are conventionally understood by those skilled in the art, and such terms are used for convenience of description and simplification of the description, and do not refer to or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.

As shown in fig. 4, 5, 6, 7, 8 and 9, the present embodiment provides a manipulator with a stack taking mechanism, which includes a linkage clamping mechanism 11, a telescopic extension mechanism 13 and a handle clamping assembly 12, the linkage clamping mechanism 11 includes a linkage portion and a top end sensing portion, the linkage portion includes a main body housing 1101, two sets of sliding limiting assemblies are crosswise disposed at the bottom of an inner cavity of the main body housing 1101, each sliding limiting assembly includes two sliding rods 1102 fixed at four sides of the inner cavity of the main body housing 1101, each set of sliding limiting assemblies is provided with two supporting housings 1107, a second telescopic rod 1104 is fixed at the top end of the inner cavity of the main body housing 1101, a transmission block 1106 is fixed at the telescopic end of the second telescopic rod 1104, the bottom end of the transmission block 1106 is fixedly connected with one of the supporting housings 1107, a transmission rack is fixed at the top of each supporting housing 1107, a transmission rod 1105 is fixed at the middle portion of the inner cavity of the main body housing 1110, the transmission rod 1105 is sleeved with a transmission gear 1108 positioned at the bottoms of the two groups of sliding limiting assemblies, the transmission gear 1108 is meshed with the four transmission racks 1110, the bottom of the inner cavity of the main body cover 1101 is crosswise provided with two groups of limiting sliding chute assemblies used for limiting the four transmission racks 1110, each limiting sliding chute assembly consists of four C-shaped limiting frames 1103 which are symmetrically and fixedly arranged on four sides of the inner cavity, one side, away from the transmission gear 1108, of the supporting cover 1107 is provided with a limiting groove used for sliding a second sliding block 1306, the linkage clamping mechanism 11 can realize synchronous motion of the four supporting covers 1107 through a second telescopic rod 1104, the top end sensing part is arranged at the bottom end of the transmission rod 1105, the top end sensing part is specifically a first contact switch 1109 arranged at the bottom end of the transmission rod 1105, the first contact switch 1109 is in contact with the top of an article, and the manipulator can stop descending;

the telescopic extension mechanism comprises an extension part and a ground sensing part, the extension part comprises an extension plate 1301, a movable groove is formed in one side of the extension plate 1301, a second electric sliding table 1302 is fixedly arranged in the movable groove, a second sliding block 1306 is sleeved on the second electric sliding table 1302, a third telescopic rod 1307 for extending the claw length is embedded in each of two sides of the top of the extension plate 1301, the third telescopic rod 1307 can push the extension plate 1301 to move downwards, a sliding groove for sliding the second sliding block 1306 is formed in one side, away from a first contact switch 1109, of the extension plate 1301, a second clamping plate 1304 is fixedly arranged at the bottom end of one side, away from the second sliding block 1306, of the extension plate 1301, a first clamping plate 1303 is fixedly arranged at the bottom end of one side, close to the second clamping plate 1304, a limit groove for sliding the second sliding block 1306 is formed in one side, away from a transmission gear 1108, of the first clamping plate 1303 and the second clamping plate 1304 clamp fragile stacked objects, the second electric sliding table 1302 pushes the pull handle clamping assembly 12 to move downwards, the ground sensing part is installed at the bottom end of the second clamping plate 1304, the ground sensing part is specifically a second contact switch 1305 installed at the bottom end of the second clamping plate 1304, and after the second contact switch 1305 contacts the ground, the extension part stops stretching;

the handle pulling and clamping assembly 12 comprises a mounting seat 1201 mounted on a second sliding block 1306, a first electric sliding table 1202 is fixedly arranged on one side, away from the second sliding block 1306, of the mounting seat 1201, the first sliding table 1202 is sleeved with a first sliding block 1203, a mechanical finger 1204 is fixedly arranged at the bottom of the mounting seat 1201, a driving end of the mechanical finger 1204 is hinged to two sides of the first sliding block 1203, the first electric sliding table 1202 can drive the first sliding block 1203 to ascend, and the first sliding block 1203 can drive the mechanical finger 1204 to bend.

As shown in figure 1 of the drawings, in which, as shown in fig. 2 and fig. 3, as a preferred embodiment, on the basis of the foregoing manner, further, a rotation driving assembly 10 for rotating and bending is disposed in the middle of the top end of the main body housing 1101, the rotation driving assembly 10 drives the manipulator to rotate and bend, an arm unfolding mechanism 8 is disposed at the top end of the rotation driving assembly 10, the arm unfolding mechanism 8 includes a sliding rod 804 disposed at the top end of the rotation driving assembly 10, a first telescopic rod 9 is embedded in the bottom of the sliding rod 804, a telescopic end of the first telescopic rod 9 is connected with the top end of the rotation driving assembly 10, a transmission shaft 803 is rotatably disposed in the middle of the sliding rod 804, a second plate 802 is rotatably disposed at an end of the transmission shaft 803, a first plate 801 is hinged to the middle of the bottom end of the second plate 802, the arm unfolding mechanism 8 pushes the second plate 802 through the first plate 801, the second plate 802 pushes the transmission shaft 803, and the transmission shaft 803 drives the sliding rod 804 to drive the manipulator to carry;

the support box comprises a support box 1, a driving mechanism 6 is arranged inside the support box 1, the driving mechanism 6 comprises an L-shaped support frame 601 fixedly arranged at the bottom end of an inner cavity of the support box 1, a motor 602 is fixedly arranged at the top end of the L-shaped support frame 601, the output end of the motor 602 penetrates through the L-shaped support frame 601 and is fixedly connected with a first bevel gear 603, a second bevel gear 604 meshed with the first bevel gear 603 is rotatably arranged at the side inside the L-shaped support frame 601, the end part of the first bevel gear 603 penetrates through the L-shaped support frame 601 and is fixedly provided with a cam 605, the bottom end of the cam 605 far away from the L-shaped support frame 601 is hinged with the bottom end of a first plate 801, the top end of one side of the L-shaped support frame 601 close to the cam 605 is hinged with the rear end of a second plate 802, the motor 602 drives the cam 605 to rotate, and the cam 605 can drive the first plate 801 to move;

the top end of one side of the supporting box 1 is fixedly provided with a first hydraulic rod, the telescopic end of the hydraulic rod is rotatably provided with a rotary limiting block 5, the bottom end of the rotary limiting block 5 is provided with a round hole, the inside of the round hole is slidably connected with the sliding rod 804, the rotary limiting block 5 is used for limiting the movement range of the sliding rod 804, one side of the rotary limiting block 5, which is far away from the first hydraulic rod, is rotatably provided with a second hydraulic rod, one end of the second hydraulic rod, which is far away from the rotary limiting block 5, is provided with an auxiliary supporting component, the auxiliary supporting component comprises an auxiliary supporting frame 2 fixedly provided with one end of the second hydraulic rod, the supporting and transporting mechanism 3 is arranged at the bottom end of the auxiliary supporting frame 2, the bottom end of the supporting box 1 and the bottom end of the supporting and transporting mechanism 3 are both provided with two universal wheels 7, one side of the supporting box 1, which is opposite to the auxiliary supporting frame 2, is provided with a telescopic supporting component, the telescopic supporting component is composed of two telescopic supporting legs 4, the telescopic support legs 4 can lift the device, and the stability of the whole device is improved.

As shown in fig. 10, 11, 12, 13 and 14, as a preferred embodiment, based on the above-mentioned manner, further, the supporting and transporting mechanism 3 includes two supporting plates 302 disposed at the bottom end of the auxiliary supporting frame 2, the top end of the supporting plate 302 is fixedly provided with a plurality of mounting blocks 305 inserted into the bottom end of the auxiliary supporting frame 2, the top end of the opposite side of the two supporting plates 302 is hinged with a protection plate 304, the top end of the inside of the protection plate 304 is fixedly provided with a second spring bolt 306, the bottom end of the hinged part of the supporting plate 302 and the protection plate 304 and the opposite side are both provided with a second groove matched with the second spring bolt 306, the bottom end of the protection plate 304 is provided with a protection assembly, the bottom ends of the two supporting plates 302 are hinged with a base 301, the bottom end of the inside of the supporting plate 302 is fixedly provided with a first spring bolt 303, the top end of the hinged part of the supporting plate 302 and the base 301 and the opposite side are both provided with a first groove matched with the first spring bolt 303, mounting groove 313 has been seted up at the middle part of the relative one side of protection plate 304, fixed slot 307 has been seted up to backup pad 302 front end and rear end equidistance, support transport mechanism 3 and lift off and become the transportation shallow of transported substance article through the deformation, protection component is including locating the protection casing 308 of protection plate 304 bottom, the front end at protection casing 308 top and the rear end at top all are fixed to be equipped with the piece 310 of inserting protection plate 304 bottom, the inside front end of protection casing 308 rotates through the coil spring and is equipped with pivot 312, the last book of pivot 312 is equipped with protection network 309, protection network 309 one end and pivot 312 fixed connection, the other end of protection network 309 is equipped with the fixed hook 311 who matches with fixed slot 307, protection component installs the both ends at protection plate 304 top, pull down protection network 309, be fixed in backup pad 302 through fixed hook 311, the security when having improved article transportation.

Specifically, this manipulator with pile up mechanism of taking when during operation/use:

s1, mounting equipment: the device is moved to a required place through the universal wheel 7, and then the telescopic support leg 4 in the telescopic support component can lift the device to a fixed position;

s2, mounting the trolley: after the device is lifted, the supporting and transporting mechanism 3 can be separated from the bottom of the auxiliary supporting component, the first spring bolt 303 in the supporting plate 302 is loosened, the two supporting plates 302 are laid flat, the first spring bolt 303 can be automatically locked, the second spring bolt 306 in the protecting plates 304 is loosened, the two protecting plates 304 are lifted, the second spring bolt 306 can be automatically locked, the protecting components are installed at two ends of the top of the protecting plates 304, the protecting net 309 is pulled down and fixed on the supporting plates 302 through the fixing hooks 311, finally the changed transporting trolley is arranged below a manipulator, the pull handle clamping component 12 is deformed and installed in the installation groove 313 through the installation seat 1201, and the connecting handle of the transporting trolley can be changed;

s3, control equipment: the control arm unfolding mechanism 8 pushes the second plate 802 through the first plate 801, the second plate 802 pushes the transmission shaft 803, the transmission shaft 803 drives the sliding rod 804 to drive the manipulator to carry, and controls the linkage clamping mechanism 11, the telescopic extension mechanism 13 and the handle clamping assembly 12 to operate cooperatively, when the manipulator is gripping the stacked article, the first contact switch 1109 contacts the top of the article, the manipulator stops descending, the third telescopic rod 1307 pushes the extension plate 1301 to move downwards, when the second contact switch 1305 contacts the ground, the extension and the contraction are stopped, the second extension rod 1104 realizes synchronous contraction movement of the four support covers 1107, when stacked articles are clamped by the first clamping plate 1303 and the second clamping plate 1304, the second electric sliding table 1302 pushes the pull handle clamping assembly 12 to move downwards, and the first electric sliding table 1202 in the pull handle clamping assembly 12 drives the mechanical fingers 1204 to bend, so that a protection function is achieved below the articles;

s4, protection: when the supporting and transporting mechanism 3 becomes a transporting cart, the protection component is arranged at the top end of the supporting and transporting mechanism 3, and when the supporting and transporting mechanism 3 is not needed to be used, the protection component is arranged at the front ends of the supporting box 1 and the auxiliary supporting component.

The above embodiments are only used for illustrating the invention and not for limiting the technical solutions described in the invention, and although the present invention has been described in detail in the present specification with reference to the above embodiments, the present invention is not limited to the above embodiments, and therefore, any modification or equivalent replacement of the present invention is made; all such modifications and variations are intended to be included herein within the scope of this disclosure and the appended claims.

Claims

1. A manipulator with a stack taking mechanism, comprising:

the four sides of the telescopic extension mechanisms opposite to each other are respectively provided with a pull handle clamping assembly, the pull handle clamping assemblies move to the tops of the telescopic extension mechanisms, the linkage clamping mechanisms drive the telescopic extension mechanisms to clamp and clamp stacked articles and are used for synchronously assisting in supporting and carrying the bottoms of the clamped articles and preventing the articles from sliding off, the pull handle clamping assemblies move to the bottoms of the telescopic extension mechanisms, and the tightening of the pull handle clamping assemblies is controlled to clamp and clamp various irregular articles;

2. The manipulator with stack mechanism of taking of claim 1, characterized in that, the extension includes the extension board, the activity groove has been seted up to one side of extension board, the activity inslot is fixed to be equipped with and is used for controlling to draw the handle to press from both sides the electronic slip table No. two that gets the subassembly and go up and down, the cover is equipped with No. two sliders on No. two electronic slip tables, all embedded No. three telescopic links that are used for extending the claw length that are equipped with in both sides at extension board top.

3. The manipulator with stack mechanism of taking of claim 2, characterized in that, the subassembly is got including installing the mount pad on No. two sliders to the handle clamp, the fixed mechanical finger that is used for pressing from both sides and getting various irregular article in bottom of mount pad, one side that No. two sliders were kept away from to the mount pad is fixed to be provided with and is used for controlling mechanical finger to tighten up and relax No. one electronic slip table, the cover is equipped with a slider on No. one electronic slip table, the drive end of mechanical finger articulates in the both sides of a slider.

4. The manipulator with the stacking and taking mechanism according to claim 3, wherein the linkage part comprises a main body cover, two sets of sliding limiting assemblies are crosswise arranged at the bottom of an inner cavity of the main body cover, each sliding limiting assembly comprises two sliding rods fixed on four sides of the inner cavity of the main body cover, each set of sliding limiting assemblies is provided with two supporting covers, a second telescopic rod is fixedly arranged at the top end of the inner cavity of the main body cover, a transmission block is fixedly arranged at the telescopic end of the second telescopic rod, and the bottom end of the transmission block is fixedly connected with one of the supporting covers.

5. The manipulator with stack mechanism of taking of claim 4, characterized in that, the fixed drive rack that is equipped with of avris at support cover top, the fixed transfer line that is equipped with in middle part of main part cover inner chamber, the cover is equipped with the drive gear that is located two sets of spacing subassemblies bottom that slide on the transfer line, drive gear and four drive rack meshes, the bottom of main part cover inner chamber is crisscross to be equipped with two sets of spacing spout subassemblies that are equipped with and are used for spacing four drive racks, spacing spout subassembly comprises the spacing frame of the C shape on four fixed inner chamber four sides that set up of four symmetries, the spacing groove that is used for No. two sliders to slide is offered to one side that the support cover kept away from drive gear, top induction part installs in the bottom of transfer line.

6. The manipulator with the stacking and taking mechanism is characterized in that a sliding groove for sliding the second slider is formed in one side, away from the first contact switch, of the extension plate, a second clamping plate is fixedly arranged at the bottom end of one side, away from the second slider, of the extension plate, the second contact switch is mounted at the bottom end of the second clamping plate, a first clamping plate is fixedly mounted at the bottom end, close to one side of the second clamping plate, of the support cover, and the ground sensing portion is mounted at the bottom end of the second clamping plate.

7. The manipulator of claim 6, wherein a rotary driving assembly for rotating and bending is disposed at the middle of the top end of the main body cover, and an arm extending mechanism for driving the manipulator to perform a carrying motion is disposed at the top end of the rotary driving assembly.

8. The manipulator with the stacking and taking mechanism according to claim 7, further comprising a support box, wherein the support box is internally provided with a driving mechanism for driving the arm stretching mechanism to operate, and one side of the support box is provided with an auxiliary support component for assisting the support box to support the arm stretching mechanism.

9. The manipulator with the stacking and taking mechanism as claimed in claim 8, wherein the support box and the auxiliary support assembly are provided with telescopic support assemblies at the sides, and a protection assembly for protecting the operation of the transport cart and the equipment is arranged in the middle of the support and transport mechanism.