CN114683253B - Mechanical arm with auxiliary supporting structure and using method thereof - Google Patents
Mechanical arm with auxiliary supporting structure and using method thereof Download PDFInfo
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- CN114683253B CN114683253B CN202210603627.0A CN202210603627A CN114683253B CN 114683253 B CN114683253 B CN 114683253B CN 202210603627 A CN202210603627 A CN 202210603627A CN 114683253 B CN114683253 B CN 114683253B
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- plate
- hollow
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- supporting plate
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0095—Gripping heads and other end effectors with an external support, i.e. a support which does not belong to the manipulator or the object to be gripped, e.g. for maintaining the gripping head in an accurate position, guiding it or preventing vibrations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
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- Manipulator (AREA)
Abstract
The invention provides a mechanical arm with an auxiliary supporting structure and a using method thereof, belonging to the technical field of logistics mechanical arms and comprising a hollow supporting plate; the auxiliary supporting plate is arranged on the lower side of the hollow supporting plate; the clamping mechanism is arranged at the bottom of the hollow supporting plate; the push plate is arranged between the hollow support plate and the auxiliary support plate; set up the swing that is used for holding two turning blocks of two activity grooves, two turning blocks are used for supporting fixed upset clamp plate and guide block, when the driven shaft is rotatory, the driven shaft drives upset clamp plate and two turning blocks are rotatory, when the upset clamp plate is located the bearing plate top after the upset, the realization pushes down the bearing plate, after two turning blocks upset, when making the auxiliary stay board be in the downside of hollow backup pad, realize carrying out the auxiliary stay to overweight commodity circulation piece, avoid the centre gripping of commodity circulation piece to remove the in-process, prevent because of the droing of the not hard up commodity circulation piece of centre gripping, cause the commodity circulation piece to damage.
Description
Technical Field
The invention belongs to the technical field of logistics manipulators, and particularly relates to a manipulator with an auxiliary supporting structure and a using method thereof.
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. The robot has the characteristics that various expected operations can be completed through programming, and the advantages of the robot and the manipulator are combined in structure and performance.
In the logistics storage process, the manipulator is used for mechanically clamping, transporting and stacking logistics pieces, and in the use process of the existing manipulator, as the manipulator does not have an auxiliary supporting structure, in the clamping and moving process of the logistics pieces, the logistics pieces are easy to fall off due to clamping looseness, and damage to the logistics pieces is caused.
Disclosure of Invention
The invention aims to provide a manipulator with an auxiliary support structure and a use method thereof, and aims to solve the problem that in the use process of the existing manipulator, as the manipulator does not have the auxiliary support structure, in the clamping and moving process of a logistics piece, the logistics piece is easy to fall off due to clamping looseness, and the logistics piece is damaged.
In order to achieve the purpose, the invention provides the following technical scheme:
a mechanical arm with an auxiliary supporting structure comprises a hollow supporting plate;
the auxiliary supporting plate is arranged on the lower side of the hollow supporting plate;
the clamping mechanism is arranged at the bottom of the hollow supporting plate;
the push plate is arranged between the hollow support plate and the auxiliary support plate; and
and the linkage mechanism is arranged in the hollow supporting plate, is connected with the auxiliary supporting plate and the push plate and is used for moving the auxiliary supporting plate and the push plate.
As a preferable scheme of the present invention, the linkage mechanism includes a driving component, a transmission component, a swinging component and a telescopic component, the driving component is disposed between the inner walls of the hollow support plates, the swinging component is disposed at the side end of the hollow support plates, the transmission component is disposed between the inner walls of the hollow support plates, the transmission component is connected with the driving component and the swinging component, the telescopic component is disposed at the top of the hollow support plates, and the telescopic component is connected with the push plate.
As a preferable scheme of the present invention, the driving assembly includes a motor fixedly connected to an upper side of an inner wall of the hollow support plate.
As a preferred scheme of the present invention, the transmission assembly includes two driving shafts, two driving gears, a driven shaft, and two driven gears, one end of each of the two driving shafts is fixedly connected to two output ends of the motor, the other end of each of the two driving shafts is rotatably connected to an inner wall of the hollow support plate, the two driving gears are fixedly connected to circumferential surfaces of the two driving shafts, the driven shaft is fixedly connected between the inner walls of the hollow support plate, the two driven gears are fixedly connected to circumferential surfaces of the driven shaft, and the two driven gears are engaged with the two driving gears.
As a preferred scheme of the present invention, the telescopic assembly includes a plurality of telescopic holes, a plurality of telescopic rods, a plurality of pressure-bearing plates and springs, the plurality of telescopic holes are formed in the top of the hollow support plate, the pressure-bearing plates are arranged on the upper side of the hollow support plate, the plurality of telescopic rods are fixedly connected to the lower side of the pressure-bearing plate, the plurality of telescopic rods extend to the bottom of the hollow support plate and are fixedly connected to the push plate, the plurality of springs are arranged, the plurality of springs are sleeved on the circumferential surfaces of the plurality of telescopic rods, and the plurality of telescopic rods are located between the pressure-bearing plates and the hollow support plate.
As a preferable scheme of the present invention, the swing assembly includes two movable grooves, an overturning pressing plate, and two rotating blocks, the two movable grooves are formed at the side end of the hollow supporting plate, the two movable grooves are both communicated with the inner wall of the hollow supporting plate, the two rotating blocks are fixedly connected to the circumferential surface of the driven shaft, the two rotating blocks rotate in the two movable grooves, the two rotating blocks are both fixedly connected with the auxiliary supporting plate, and the overturning pressing plate is fixedly connected between the two rotating blocks.
As a preferred scheme of the invention, the clamping mechanism comprises a partition plate, two telescopic cylinders, two sliding chutes and two clamping sliding blocks, the partition plate is fixedly connected between the inner walls of the hollow supporting plates, the two telescopic cylinders are positioned at two sides of the partition plate, the two sliding chutes are arranged at the bottom of the hollow supporting plates, the two sliding chutes are both communicated with the inner walls of the hollow supporting plates, the two clamping sliding blocks slide in the two sliding chutes, and the two clamping sliding blocks are fixedly connected with the telescopic ends of the two telescopic cylinders.
As a preferred scheme of the invention, the top of the hollow support plate is fixedly connected with an operation terminal, the side ends of the two rotating blocks are fixedly connected with cathode electromagnetic blocks, the bottom of the hollow support plate is fixedly connected with two anode electromagnetic blocks, and the two anode electromagnetic blocks are vertically corresponding to the two cathode electromagnetic blocks.
As a preferable aspect of the present invention, the top of the auxiliary supporting plate is fixedly connected with a plurality of guide blocks, and the plurality of guide blocks are parallel.
A use method of a manipulator with an auxiliary support structure comprises the following steps:
s1, clamping:
the operation terminal controls the starting of the two telescopic cylinders, the telescopic ends of the two telescopic cylinders push the two clamping sliding blocks to slide in the two sliding grooves, and the two clamping sliding blocks clamp the logistics piece positioned between the two clamping sliding blocks through sliding;
s2, auxiliary supporting:
when a heavy object is clamped and moved, a terminal is operated to start a motor, two output ends of the motor drive two driving shafts to rotate, the two driving shafts drive two driving gears to rotate, the two driving gears drive two driven gears to rotate through meshing with the two driven gears, the two driven gears drive a driven shaft to rotate, the driven shaft drives two rotating blocks to rotate, the two rotating blocks rotate to drive an auxiliary supporting plate to swing, and when the auxiliary supporting plate is located below a hollow supporting plate, a plurality of guide blocks support a logistics piece to realize auxiliary supporting of the logistics piece;
s3, stabilizing the material flow piece:
in the process of stacking the logistics pieces, two output ends of a motor drive two driving shafts to rotate, the two driving shafts drive two driving gears to rotate, the two driving gears drive two driven gears to rotate through meshing with the two driven gears, the two driven gears drive driven shafts to rotate, the driven shafts drive two rotating blocks to rotate, the two rotating blocks drive an overturning pressing plate to swing, when the overturning pressing plate presses a bearing plate, a plurality of springs are removed from lifting the pushing plate, the logistics pieces are pressed down through the pushing plate, and the logistics pieces are stabilized when being stacked;
s4, low-altitude pouring:
when toppling over the commodity circulation piece with inclination more than 0 and being less than 20, two positive pole electromagnetism pieces do not inhale the butt joint with two negative pole electromagnetism pieces magnetism, and the auxiliary stay board is not parallel with hollow backup pad simultaneously, and the contained angle between auxiliary stay board and the hollow backup pad is 2 when to 15, is convenient for in the lower high department on ground, realizes toppling over the low latitude of commodity circulation piece.
Compared with the prior art, the invention has the beneficial effects that:
1. in this scheme, the swing that sets up of two movable chutes is used for holding two turning blocks, two turning blocks are used for supporting fixed upset clamp plate and guide block, when the driven shaft is rotatory, the driven shaft drives upset clamp plate and two turning blocks are rotatory, when the upset clamp plate is located the bearing plate top after the upset, the realization pushes down the bearing plate, after two turning blocks upset, when making the auxiliary stay board be in the downside of hollow backup pad, the realization carries out the auxiliary stay to overweight commodity circulation piece, avoid the centre gripping removal in-process of commodity circulation piece, prevent because of the droing of the not hard up commodity circulation piece of centre gripping, cause commodity circulation piece to damage.
2. In the scheme, a plurality of telescopic holes penetrate through a hollow support plate from top to bottom, the telescopic holes are used for accommodating telescopic sliding of a plurality of telescopic rods, a bearing plate is used for pushing the telescopic rods to move in a telescopic mode, the telescopic rods are used for supporting and fixing a push plate and the bearing plate, a plurality of springs are used for pushing the bearing plate to lift so as to realize lifting and resetting of the push plate, when a turnover pressing plate presses down the bearing plate in the stacking process of logistics pieces, the bearing plate pushes the telescopic rods to move downwards, the telescopic rods push the push plate to press downwards, so that the logistics pieces are stable when stacked, the telescopic rods are in sliding fit with the telescopic holes to ensure that the push plate moves downwards stably, after the logistics pieces are stacked, the hollow support plate is lifted, the depression of the turnover pressing plate on the bearing plate is eliminated, under the lifting of the springs, the push plate is reset, and stable stacking of the logistics pieces is realized, avoid causing and piling up the in-process and cause and empty.
3. In this scheme, a plurality of guide blocks are used for reducing the area of contact with commodity circulation spare, are convenient for inhale with two negative electromagnetic blocks and are connected when two positive electromagnetic blocks, and the auxiliary stay board is in when the slope, empty the empting of commodity circulation spare low.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a first perspective view of a robot having an auxiliary support structure in accordance with the present invention;
FIG. 2 is a second perspective view of a robot having an auxiliary support structure in accordance with the present invention;
FIG. 3 is an illustration of a robot having an auxiliary support structure according to the present invention;
FIG. 4 is a first cross-sectional half view of a robot having an auxiliary support structure in accordance with the present invention;
FIG. 5 is a second half cross-sectional view of a robot having an auxiliary support structure in accordance with the present invention;
FIG. 6 is a third cross-sectional view of a robot having an auxiliary support structure in accordance with the present invention;
FIG. 7 is a fourth cross-sectional view of a robot having an auxiliary support structure in accordance with the present invention;
fig. 8 is an exploded view of a robot linkage mechanism with an auxiliary support structure according to the present invention.
In the figure: 1. a hollow support plate; 2. a partition plate; 3. a telescopic cylinder; 4. a telescopic hole; 5. a chute; 6. clamping the sliding block; 7. pushing the plate; 8. a telescopic rod; 9. a pressure bearing plate; 10. a motor; 11. a driving gear; 12. a movable groove; 13. a driven shaft; 14. a driven gear; 15. rotating the block; 16. an auxiliary support plate; 17. a guide block; 18. turning over the pressing plate; 19. an anode electromagnet block; 20. a cathode electromagnetic block; 21. a fixing plate; 22. mounting blocks; 23. operating the terminal; 24. a drive shaft; 25. a spring.
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.
In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "top/bottom", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "sleeved/connected," "connected," and the like are to be construed broadly, e.g., "connected," which may be a fixed connection, a detachable connection, or an integral connection; the connection can be mechanical connection or electrical connection; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Referring to fig. 1-8, a robot with auxiliary support structure includes:
a hollow support plate 1;
the auxiliary supporting plate 16, the auxiliary supporting plate 16 is arranged at the lower side of the hollow supporting plate 1;
the clamping mechanism is arranged at the bottom of the hollow supporting plate 1;
the push plate 7, the push plate 7 is set up between hollow shoe plate 1 and auxiliary shoe plate 16; and
and the linkage mechanism is arranged in the hollow supporting plate 1, is connected with the auxiliary supporting plate 16 and the push plate 7 and is used for moving the auxiliary supporting plate 16 and the push plate 7.
According to the invention, a fixed plate 21 is fixedly connected to the top of a hollow support plate 1, a mounting block 22 is fixedly connected to the top of the fixed plate 21, the device is mounted on a mechanical arm through a mounting hole in the mounting block 22, the hollow support plate 1 is used for accommodating a linkage mechanism, a clamping mechanism, an operation terminal 23 and two anode electromagnetic absorption blocks 19, an auxiliary support plate 16 is used for supporting and fixing a plurality of guide blocks 17, the clamping mechanism is used for clamping a material flow piece, a material flow piece is pressed by a push plate 7, and the linkage mechanism is connected with the auxiliary support plate 16 and the push plate 7 and used for moving the auxiliary support plate 16 and the push plate 7.
The linkage mechanism comprises a driving assembly, a transmission assembly, a swinging assembly and a telescopic assembly, the driving assembly is arranged between the inner walls of the hollow supporting plates 1, the swinging assembly is arranged at the side ends of the hollow supporting plates 1, the transmission assembly is arranged between the inner walls of the hollow supporting plates 1, the transmission assembly is connected with the driving assembly and the swinging assembly, the telescopic assembly is arranged at the tops of the hollow supporting plates 1, and the telescopic assembly is connected with the push plate 7.
In the invention, the driving component is used for driving the auxiliary supporting plate 16 and the push plate 7 to move through power, the swinging component is used for rotating the auxiliary supporting plate 16 and the turnover pressing plate 18, the transmission component is used for transmitting power between the driving component and the swinging component, and the telescopic component is used for pushing the push plate 7 to move.
The driving assembly comprises a motor 10, and the motor 10 is fixedly connected to the upper side of the inner wall of the hollow supporting plate 1.
In the present invention, the motor 10 is a reaction type stepping motor for driving the two driving shafts 24 to rotate in two directions, so as to facilitate the swinging of the auxiliary supporting plate 16 and the turning pressing plate 18.
The transmission assembly comprises two driving shafts 24, two driving gears 11, a driven shaft 13 and two driven gears 14, one end of each driving shaft 24 is fixedly connected with two output ends of the motor 10, the other ends of the two driving shafts 24 are rotatably connected with the inner wall of the hollow supporting plate 1, the two driving gears 11 are fixedly connected to the circumferential surfaces of the two driving shafts 24, the driven shaft 13 is fixedly connected between the inner walls of the hollow supporting plate 1, the two driven gears 14 are fixedly connected to the circumferential surfaces of the driven shaft 13, and the two driven gears 14 are meshed with the two driving gears 11.
In the invention, the two driving shafts 24 are used for supporting and fixing the two driving gears 11, the two driving gears 11 drive the driven shaft 13 to rotate through the meshing with the two driven gears 14, and the driven shaft 13 is used for supporting and fixing the two driven gears 14 and the two rotating blocks 15, so that the torque force transmission is realized rapidly.
The flexible subassembly includes flexible hole 4, telescopic link 8, bearing plate 9 and spring 25, flexible hole 4 is provided with a plurality ofly, the top in hollow backup pad 1 is seted up in a plurality of flexible holes 4, bearing plate 9 sets up in hollow backup pad 1's upside, telescopic link 8 is provided with a plurality ofly, 8 fixed connection in bearing plate 9's downside of a plurality of telescopic links, a plurality of telescopic links 8 extend to hollow backup pad 1's bottom and push pedal 7 fixed connection, spring 25 is provided with a plurality ofly, the circumferential surface of a plurality of telescopic links 8 is located to a plurality of spring 25 covers, a plurality of telescopic links 8 are located between bearing plate 9 and the hollow backup pad 1.
In the invention, a plurality of telescopic holes 4 penetrate through a hollow support plate 1 from top to bottom, the plurality of telescopic holes 4 are used for accommodating telescopic sliding of a plurality of telescopic rods 8, a bearing plate 9 is used for pushing the plurality of telescopic rods 8 to move in a telescopic way, the plurality of telescopic rods 8 are used for supporting and fixing a push plate 7 and the bearing plate 9, a plurality of springs 25 are used for pushing the bearing plate 9 to lift and reset the push plate 7, in the stacking process of logistics pieces, when a turnover pressing plate 18 presses down the bearing plate 9, the bearing plate 9 pushes the plurality of telescopic rods 8 to move downwards, the plurality of telescopic rods 8 push the push plate 7 to press downwards, so that the logistics pieces are kept stable when stacked, the plurality of telescopic rods 8 are in sliding fit with the plurality of telescopic holes 4 to ensure that the push plate 7 moves downwards stably, after the logistics pieces are stacked, the hollow support plate 1 is lifted, the downward pressing of the bearing plate 9 by the turnover pressing plate 18 is eliminated, and under the lifting of the plurality of springs 25, make push pedal 7 reset, realize piling up the stable of commodity circulation piece, avoid causing and pile up the in-process and cause and empty.
The swing assembly comprises two movable grooves 12, a turning pressing plate 18 and two rotating blocks 15, the two movable grooves 12 are arranged at the side end of the hollow supporting plate 1, the two movable grooves 12 are communicated with the inner wall of the hollow supporting plate 1, the two rotating blocks 15 are fixedly connected to the circumferential surface of the driven shaft 13, the two rotating blocks 15 rotate in the two movable grooves 12, the two rotating blocks 15 are fixedly connected with the auxiliary supporting plate 16, and the turning pressing plate 18 is fixedly connected between the two rotating blocks 15.
According to the invention, the two movable grooves 12 are formed for accommodating the swinging of the two rotating blocks 15, the two rotating blocks 15 are used for supporting and fixing the turnover pressing plate 18 and the guide block 17, when the driven shaft 13 rotates, the driven shaft 13 drives the turnover pressing plate 18 and the two rotating blocks 15 to rotate, when the turnover pressing plate 18 is positioned at the top of the bearing plate 9 after being turned over, the bearing plate 9 is pressed downwards, and when the two rotating blocks 15 are turned over, the auxiliary supporting plate 16 is positioned at the lower side of the hollow supporting plate 1, the auxiliary supporting of an overweight logistics piece is realized, so that the logistics piece is prevented from falling off due to clamping loosening in the clamping moving process of the logistics piece, and the damage to the logistics piece is avoided.
The clamping mechanism comprises a partition plate 2, two telescopic cylinders 3, two sliding grooves 5 and two clamping sliding blocks 6, the partition plate 2 is fixedly connected between the inner walls of the hollow supporting plate 1, the two telescopic cylinders 3 are located on two sides of the partition plate 2, the two sliding grooves 5 are arranged at the bottom of the hollow supporting plate 1, the two sliding grooves 5 are communicated with the inner walls of the hollow supporting plate 1, the two clamping sliding blocks 6 slide in the two sliding grooves 5, and the two clamping sliding blocks 6 are fixedly connected with the telescopic ends of the two telescopic cylinders 3.
In the invention, the partition plate 2 is used for assisting in fixing the two telescopic cylinders 3, the two telescopic cylinders 3 are used for pushing the two clamping sliders 6 to slide, the two sliding grooves 5 are used for accommodating the two clamping sliders 6 to slide, meanwhile, the two sliding grooves 5 are used for limiting the movement of the two clamping sliders 6, and the two clamping sliders 6 clamp the logistics piece by approaching each other.
The top of the hollow support plate 1 is fixedly connected with an operation terminal 23, the side ends of the two rotating blocks 15 are fixedly connected with cathode electromagnetic blocks 20, the bottom of the hollow support plate 1 is fixedly connected with two anode electromagnetic blocks 19, and the two anode electromagnetic blocks 19 correspond to the two cathode electromagnetic blocks 20 up and down.
In the invention, the operation terminal 23 is electrically connected with the motor 10, the two anode electromagnetic absorption blocks 19 and the two cathode electromagnetic blocks 20 to control the starting of the motor 10, the two anode electromagnetic absorption blocks 19 and the two cathode electromagnetic blocks 20 are magnetically connected under the power-on condition, the auxiliary support plate 16 is locked through the magnetic absorption butt joint of the two anode electromagnetic absorption blocks 19 and the two cathode electromagnetic blocks 20, and the auxiliary support plate 16 is prevented from falling off due to the inclination of a supporting logistics part.
The top of the auxiliary supporting plate 16 is fixedly connected with a plurality of guide blocks 17, and the guide blocks 17 are in a parallel state.
In the invention, the plurality of guide blocks 17 are used for reducing the contact area with the logistics piece, so that when the two anode electromagnetic blocks 19 are not in electromagnetic attraction connection with the two cathode electromagnetic blocks 20 and the auxiliary support plate 16 is inclined, the logistics piece can be toppled in a low altitude mode.
The embodiment of the invention also provides a using method of the manipulator with the auxiliary supporting structure, which comprises the following steps:
s1, clamping:
the operation terminal 23 controls the starting of the two telescopic cylinders 3, the telescopic ends of the two telescopic cylinders 3 push the two clamping sliding blocks 6 to slide in the two sliding chutes 5, and the two clamping sliding blocks 6 clamp the logistics piece between the two clamping sliding blocks 6 through sliding;
s2, auxiliary supporting:
when a heavy object is clamped and moved, the operation terminal 23 starts the motor 10, two output ends of the motor 10 drive two driving shafts 24 to rotate, the two driving shafts 24 rotate to drive two driving gears 11 to rotate, the two driving gears 11 drive two driven gears 14 to rotate through meshing with the two driven gears 14, the two driven gears 14 drive a driven shaft 13 to rotate, the driven shaft 13 rotates to drive two rotating blocks 15 to rotate, the two rotating blocks 15 rotate to drive an auxiliary supporting plate 16 to swing, and when the auxiliary supporting plate 16 is located below the hollow supporting plate 1, the multiple guide blocks 17 support the object flow to realize auxiliary supporting of the object flow;
s3, stabilizing the material flow piece:
in the process of stacking the logistics pieces, two output ends of a motor 10 drive two driving shafts 24 to rotate, the two driving shafts 24 rotate to drive two driving gears 11 to rotate, the two driving gears 11 drive two driven gears 14 to rotate through meshing with the two driven gears 14, the two driven gears 14 drive driven shafts 13 to rotate, the driven shafts 13 rotate to drive two rotating blocks 15 to rotate, the two rotating blocks 15 rotate to drive an overturning pressing plate 18 to swing, when the overturning pressing plate 18 presses a bearing plate 9, a plurality of springs 25 are relieved to lift a push plate 7, the logistics pieces are pressed down through the push plate 7, and the logistics pieces are stabilized when being stacked;
s4, low-altitude pouring:
when the logistics piece is toppled over at an inclination angle larger than 0 degree and smaller than 20 degrees, the two anode electromagnetic attraction blocks 19 are not in magnetic attraction butt joint with the two cathode electromagnetic blocks 20, meanwhile, the auxiliary supporting plate 16 is not parallel to the hollow supporting plate 1, and when an included angle between the auxiliary supporting plate 16 and the hollow supporting plate 1 is 2 degrees to 15 degrees, the logistics piece can be toppled over in a low altitude on the ground conveniently.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. A manipulator with an auxiliary support structure is characterized by comprising;
a hollow support plate (1);
the auxiliary supporting plate (16), the auxiliary supporting plate (16) is arranged at the lower side of the hollow supporting plate (1);
the clamping mechanism is arranged at the bottom of the hollow supporting plate (1);
the push plate (7), the said push plate (7) is set up between hollow shoe plate (1) and auxiliary shoe plate (16); and
the linkage mechanism is arranged in the hollow supporting plate (1), and is connected with the auxiliary supporting plate (16) and the push plate (7) so as to enable the auxiliary supporting plate (16) to rotate and the push plate (7) to move;
the linkage mechanism comprises a driving assembly, a transmission assembly, a swinging assembly and a telescopic assembly, the driving assembly is arranged between the inner walls of the hollow supporting plates (1), the swinging assembly is arranged at the side ends of the hollow supporting plates (1), the transmission assembly is arranged between the inner walls of the hollow supporting plates (1), the transmission assembly is connected with the driving assembly and the swinging assembly, the telescopic assembly is arranged at the tops of the hollow supporting plates (1), and the telescopic assembly is connected with the push plate (7);
the swing assembly comprises two movable grooves (12), a turnover pressing plate (18) and two rotating blocks (15), wherein the movable grooves (12) are arranged at the side ends of the hollow supporting plate (1) in a two-way mode, the movable grooves (12) are communicated with the inner wall of the hollow supporting plate (1) in a two-way mode, the rotating blocks (15) are fixedly connected to the transmission assembly, the rotating blocks (15) rotate in the two movable grooves (12) in a two-way mode, the rotating blocks (15) are fixedly connected with the auxiliary supporting plate (16), and the turnover pressing plate (18) is fixedly connected between the two rotating blocks (15).
2. A robot with auxiliary support structure according to claim 1, characterized in that the driving assembly comprises a motor (10), the motor (10) is fixedly connected to the upper side of the inner wall of the hollow support plate (1).
3. The mechanical arm with the auxiliary supporting structure is characterized in that the transmission assembly comprises two driving shafts (24), two driving gears (11), a driven shaft (13) and two driven gears (14), one end of each driving shaft (24) is fixedly connected with two output ends of the motor (10), the other end of each driving shaft (24) is rotatably connected with the inner wall of the hollow supporting plate (1), the two driving gears (11) are fixedly connected with the circumferential surfaces of the two driving shafts (24), the driven shaft (13) is fixedly connected between the inner walls of the hollow supporting plate (1), the two driven gears (14) are fixedly connected with the circumferential surface of the driven shaft (13), and the two driven gears (14) are meshed with the two driving gears (11).
4. The robot arm with auxiliary support structure of claim 3, the telescopic component comprises a telescopic hole (4), a telescopic rod (8), a bearing plate (9) and a spring (25), a plurality of telescopic holes (4) are arranged, the plurality of telescopic holes (4) are arranged at the top of the hollow support plate (1), the bearing plate (9) is arranged on the upper side of the hollow support plate (1), the plurality of telescopic rods (8) are arranged, the plurality of telescopic rods (8) are fixedly connected to the lower side of the bearing plate (9), the plurality of telescopic rods (8) extend to the bottom of the hollow support plate (1) and are fixedly connected with the push plate (7), the spring (25) is provided with a plurality ofly, and is a plurality of the circumference surface of a plurality of telescopic link (8) is located to spring (25) cover, and is a plurality of telescopic link (8) are located between bearing plate (9) and hollow backup pad (1).
5. The mechanical arm with the auxiliary supporting structure is characterized in that the clamping mechanism comprises a partition plate (2), two telescopic cylinders (3), two sliding chutes (5) and two clamping sliding blocks (6), the partition plate (2) is fixedly connected between the inner walls of the hollow supporting plate (1), the two telescopic cylinders (3) are located on two sides of the partition plate (2), the two sliding chutes (5) are arranged at the bottom of the hollow supporting plate (1), the two sliding chutes (5) are communicated with the inner walls of the hollow supporting plate (1), the two clamping sliding blocks (6) slide in the two sliding chutes (5), and the two clamping sliding blocks (6) are fixedly connected with the telescopic ends of the two telescopic cylinders (3).
6. The mechanical arm with the auxiliary support structure as claimed in claim 5, wherein the top of the hollow support plate (1) is fixedly connected with an operation terminal (23), the side ends of the two rotation blocks (15) are fixedly connected with cathode electromagnetic blocks (20), the bottom of the hollow support plate (1) is fixedly connected with two anode electromagnetic blocks (19), and the two anode electromagnetic blocks (19) correspond to the two cathode electromagnetic blocks (20) up and down.
7. The manipulator with the auxiliary support structure according to claim 6, wherein a plurality of guide blocks (17) are fixedly connected to the top of the auxiliary support plate (16), and the plurality of guide blocks (17) are in a parallel state.
8. A method of using the robot with auxiliary support structure of claim 7, comprising the steps of:
s1, clamping:
the operation terminal (23) controls the starting of the two telescopic cylinders (3), the telescopic ends of the two telescopic cylinders (3) push the two clamping sliding blocks (6) to slide in the two sliding grooves (5), and the two clamping sliding blocks (6) clamp the logistics piece between the two clamping sliding blocks (6) through sliding;
s2, auxiliary supporting:
when clamping and moving an overweight material flow part, an operation terminal (23) starts a motor (10), two output ends of the motor (10) drive two driving shafts (24) to rotate, the two driving shafts (24) rotate to drive two driving gears (11) to rotate, the two driving gears (11) drive two driven gears (14) to rotate through meshing with the two driven gears (14), the two driven gears (14) drive a driven shaft (13) to rotate, the driven shaft (13) rotates to drive two rotating blocks (15) to rotate, the two rotating blocks (15) rotate to drive an auxiliary supporting plate (16) to swing, when the auxiliary supporting plate (16) is positioned at the lower side of a hollow supporting plate (1), the operation terminal (23) starts two anode magnetic suction blocks (19) to magnetically suck and butt with two cathode electromagnetic blocks (20) so that the auxiliary supporting plate (16) is parallel to the hollow supporting plate (1), the plurality of guide blocks (17) support the logistics pieces to realize auxiliary support of the logistics pieces;
s3, stabilizing the material flow piece:
in the stacking process of logistics pieces, two output ends of a motor (10) drive two driving shafts (24) to rotate, the two driving shafts (24) rotate to drive two driving gears (11) to rotate, the two driving gears (11) drive two driven gears (14) to rotate through meshing with the two driven gears (14), the two driven gears (14) drive driven shafts (13) to rotate, the driven shafts (13) rotate to drive two rotating blocks (15), the two rotating blocks (15) rotate to drive an overturning pressure plate (18) to swing, when the overturning pressure plate (18) presses a bearing plate (9), lifting of a push plate (7) by a plurality of springs (25) is removed, the logistics pieces are pressed downwards by the push plate (7), and the logistics pieces are stabilized when being stacked;
s4, low-altitude pouring:
when toppling over the logistics piece by an inclination angle which is larger than 0 degree and smaller than 20 degrees, the two anode electromagnetic attraction blocks (19) are not in magnetic attraction butt joint with the two cathode electromagnetic blocks (20), meanwhile, the auxiliary supporting plate (16) is not parallel to the hollow supporting plate (1), and when an included angle between the auxiliary supporting plate (16) and the hollow supporting plate (1) is 2 degrees to 15 degrees, low-altitude toppling over of the logistics piece is achieved.
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| CN202210603627.0A CN114683253B (en) | 2022-05-31 | 2022-05-31 | Mechanical arm with auxiliary supporting structure and using method thereof |
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| CN114683253B true CN114683253B (en) | 2022-08-12 |
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| JP2004025326A (en) * | 2002-06-24 | 2004-01-29 | Okura Yusoki Co Ltd | Grasping device and transfer machine |
| CN209717737U (en) * | 2018-12-04 | 2019-12-03 | 深圳市金奥博科技股份有限公司 | Mechanical gripper |
| CN213674175U (en) * | 2020-11-20 | 2021-07-13 | 武赞福 | Manipulator device for grabbing stone |
| CN215247816U (en) * | 2021-06-04 | 2021-12-21 | 佛山市卓翔机械设备有限公司 | Clamping device |
| CN113858182A (en) * | 2021-10-20 | 2021-12-31 | 安徽信息工程学院 | A manipulator device for work piece is transported |
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