CN115401717B - Fastening manipulator suitable for transportation is tied up to flexibility - Google Patents
Fastening manipulator suitable for transportation is tied up to flexibility Download PDFInfo
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- CN115401717B CN115401717B CN202211365133.XA CN202211365133A CN115401717B CN 115401717 B CN115401717 B CN 115401717B CN 202211365133 A CN202211365133 A CN 202211365133A CN 115401717 B CN115401717 B CN 115401717B
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- shaft
- bandage
- ratchet
- transportation
- hook
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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
- B25J15/08—Gripping heads and other end effectors having finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02W—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO WASTEWATER TREATMENT OR WASTE MANAGEMENT
- Y02W30/00—Technologies for solid waste management
- Y02W30/50—Reuse, recycling or recovery technologies
- Y02W30/80—Packaging reuse or recycling, e.g. of multilayer packaging
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Package Frames And Binding Bands (AREA)
Abstract
The invention relates to a manipulator, in particular to a fastening manipulator suitable for flexible bundling and transportation. The manipulator comprises a transportation bracket, a manipulator arranged on the transportation bracket and a plurality of groups of fastening devices, wherein the plurality of groups of fastening devices are sequentially arranged at intervals along the length direction of the transportation bracket, and the plurality of fastening devices are used for bundling objects; the manipulator is used for realizing the locking and the unlocking of the fastening device. The invention can realize flexible bundling and transportation, and simultaneously can always effectively fasten objects, thereby avoiding crushing and scratching the surfaces of the objects in the transportation process.
Description
Technical Field
The invention relates to a manipulator, in particular to a fastening manipulator suitable for flexible bundling and transportation.
Background
With the progress of automation technology and the development of robotized technical equipment, the flexible bundling and transporting of objects in complex environments needs to be unmanned. Therefore, the fastening mechanical arm which has strong applicability and can be widely applied and is suitable for flexible bundling transportation has great necessity. The binding belt is used to tie up the object and fasten in the traditional manual work, and the staff hardly guarantees the weight of the lower hand and is slow and urgent, and can crush the transported object and scratch the surface of the object in the fastening process. If the fastening is improper, the object is easy to fall off in the transportation process. Meanwhile, the technical problem to be solved is to ensure the physical and physiological safety of operators under heavy physical labor.
Disclosure of Invention
In view of the above problems, an object of the present invention is to provide a fastening manipulator suitable for flexible bundling and transportation, so as to solve the problems that the conventional manual bundling is time-consuming and labor-consuming, and it is difficult to ensure the lightness and urgency of the lower hand when the simple manual bundling is performed, and the heavy object is very easy to bring hidden troubles to the safety of the operators.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention provides a fastening manipulator suitable for flexible bundling and transportation, which comprises a transportation bracket, a mechanical manipulator and a plurality of groups of fastening devices, wherein the mechanical manipulator and the plurality of groups of fastening devices are arranged on the transportation bracket, the plurality of groups of fastening devices are sequentially arranged at intervals along the length direction of the transportation bracket, and the fastening devices are used for bundling objects; the mechanical manipulator is used for realizing the locking and unlocking of the fastening device.
The fastening device comprises a binding belt screwing device, a bidirectional locking device and a locking hook, wherein the bidirectional locking device is arranged on the transportation bracket along the width direction of the transportation bracket, the binding belt screwing device and the locking hook are respectively arranged at two ends of the bidirectional locking device, and move in opposite directions or in opposite directions through the driving of the bidirectional locking device, and the binding of objects is realized through the connection of the binding belt screwing device and the locking hook.
The bandage screwing device comprises a shell, an outer hexagonal rotary input shaft, a bandage buckle, a gear transmission mechanism, a ratchet mechanism and a bandage winding shaft, wherein the outer hexagonal rotary input shaft and the bandage winding shaft are vertically arranged in the shell, and the outer hexagonal rotary input shaft is in transmission connection with the bandage winding shaft through the gear transmission mechanism; one end of the binding band is wound on the binding band winding shaft, the other end of the binding band is led out from the outlet on the shell, the end part of the other end of the binding band is connected with the binding band buckle, and the binding band buckle is provided with a through hole used for being connected with the lock hook;
the ratchet mechanism is arranged on the shell and the bandage winding shaft and used for controlling the bandage winding shaft to rotate in one direction.
The ratchet mechanism comprises a ratchet wheel, a ratchet claw, a shaft, a jacking assembly and a button assembly, wherein the ratchet wheel is fixedly arranged on the binding band winding shaft; the ratchet pawl is of a bent structure, the two ends of the ratchet pawl are respectively an occlusion end and a pressing end, and the bent part of the ratchet pawl is rotatably arranged on the shell through a shaft;
the jacking assembly and the button assembly are both arranged on the shell, the jacking assembly is abutted against the occlusion end of the ratchet pawl, so that the occlusion end of the ratchet pawl is occluded with the ratchet wheel, and the binding band winding shaft can only rotate in one direction; the button assembly corresponds to the pressing end of the ratchet pawl, and the ratchet pawl is driven to rotate around the shaft through the button assembly, so that the biting end of the ratchet pawl is separated from the ratchet wheel.
The jacking assembly comprises a guide pin and a pressure spring I, wherein the guide pin is arranged at the top of the shell, the guide pin is sleeved with the pressure spring I, and the two ends of the pressure spring I are respectively abutted to the shell and the occlusion end of the ratchet pawl.
The button assembly comprises a button shaft, a pressure spring II and a manual button, wherein the button shaft is connected with the shell in a sliding mode, a pressing block corresponding to the pressing end of the ratchet pawl is arranged at the inner side end of the button shaft, the manual button is arranged at the outer side end of the button shaft, the pressure spring II is sleeved on the button shaft, and two ends of the pressure spring II are respectively abutted to the shell and the manual button.
The guide outlet is arranged at the top of the shell, and a guide wheel is arranged at the guide outlet;
the top of the shell is also provided with a bandage buckle slot for being plugged with the bandage buckle.
The bidirectional locking device comprises a mounting frame, a motor, a belt transmission assembly, a right slide block, a right screw, a bidirectional screw rod, a lock hook mounting plate, a guide rail, a binding band screwing device mounting plate, a left screw and a left slide block, wherein the mounting frame is connected with the transportation bracket, the bidirectional screw rod and the guide rail are arranged on the mounting frame in parallel, and the bidirectional screw rod can rotate; the right-handed screw nut and the left-handed screw nut are in threaded connection with the bidirectional screw rod, the motor is arranged on the mounting frame, and the output end of the motor is connected with the bidirectional screw rod through the belt transmission assembly; the right slider and the left slider are connected with the guide rail in a sliding manner, the lock hook mounting plate is connected with the right slider and the right-handed screw nut, and the binding band screwing device mounting plate is connected with the left slider and the left-handed screw nut.
The lock hook comprises a fixed hook, a movable lock nose, a torsional spring and a lock hook shaft, wherein the fixed hook is connected with the lock hook mounting plate, the lock hook shaft is mounted on the fixed hook, one end of the movable lock nose is rotatably mounted on the lock hook shaft, and the other end of the movable lock nose corresponds to the tail end of the fixed hook; the torsional spring is sleeved on the lock hook shaft, and two ends of the torsional spring are respectively abutted against the movable lock nose and the fixed hook, and the torsional spring enables the movable lock nose and the fixed hook to form a closed ring.
The mechanical manipulator comprises a seven-degree-of-freedom mechanical arm, a clamping jaw and an inner hexagonal rotating device, wherein the seven-degree-of-freedom mechanical arm is arranged in the middle of the transportation bracket, and the execution tail end of the seven-degree-of-freedom mechanical arm is connected with the clamping jaw and the inner hexagonal rotating device.
The invention has the advantages and beneficial effects that:
1. the invention can realize flexible bundling and transportation, and simultaneously, effectively fasten the object all the time, and avoid crushing and scratching the surface of the object in the transportation process.
2. The invention simultaneously uses the two-way locking device and the binding band tightening device, thereby providing double insurance of unmanned fastening.
3. The bidirectional locking device is used, so that the binding belt can be driven to simultaneously adjust the tightness in the bilateral symmetry direction of an object, and the situation that the surface of the object is scratched and the outer surface is possibly scratched due to the action of the unidirectional tightening force of the binding belt when only the binding belt screwing device is used can be avoided. For the bulk rodlike materials, the rodlike materials can be prevented from falling off due to asymmetric left and right stress.
4. The bidirectional locking device is driven by the motor, is convenient to operate, and avoids the condition that the lower hand weight of a worker varies from person to person.
Drawings
FIG. 1 is an isometric view of a fastening robot of the present invention adapted for flexible strapping transport;
FIG. 2 is a schematic view of the fastening device of the present invention;
FIG. 3 is an isometric view of the strap tightener of the present invention;
FIG. 4 is an isometric view of the internal structure of the band tightening device of the present invention;
FIG. 5 is a side view showing the internal structure of the band tightening device according to the present invention;
FIG. 6 is a schematic view of the band tightening device of the present invention;
FIG. 7 is a schematic view of the structure of the strap buckle of the present invention;
FIG. 8 is a schematic view of the two-way locking device of the present invention;
FIG. 9 is a schematic structural view of the latch hook of the present invention;
FIG. 10 is a schematic view of the robot of the present invention;
in the figure: the device comprises a transportation bracket 1, a mechanical manipulator 2, a fastening device 3, a bandage screwing device 4, a bidirectional locking device 5, a locking hook 6, a shell 7, an outer hexagonal rotary input shaft 8, a bandage 9, a bandage buckle 10, a bandage buckle slot 11, a manual button 12, a ratchet 13, a ratchet pawl 14, a bandage winding shaft 15, a small bevel gear 16, a large bevel gear 17, a compression spring I, a compression spring 19, a button shaft 20, a compression spring II, a mounting frame 22, a motor 23, a belt transmission assembly 24, a right slider 25, a right screw 26, a locking hook mounting plate 27, a right screw 28, a guide rail 29, a coupler 30, a limiting block 31, a left screw 32, a bandage screwing device mounting plate 33, a left screw 34, a left slider 35, a fixed hook 36, a movable locking nose 37, a torsion spring 38, a hook shaft 39, a clamping jaw 40 and an inner hexagonal rotary device 41.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1, the fastening manipulator suitable for flexible bundling transportation provided by the invention comprises a transportation bracket 1, a mechanical manipulator 2 arranged on the transportation bracket 1, and a plurality of groups of fastening devices 3, wherein the plurality of groups of fastening devices 3 are sequentially arranged at intervals along the length direction of the transportation bracket 1, and the fastening devices 3 are used for bundling objects; the mechanical manipulator 2 is used for realizing the locking and unlocking of the fastening device 3.
In the embodiment of the invention, the transportation bracket 1 comprises an upper platform and a lower platform which are arranged in parallel, and the upper platform and the lower platform are connected through a plurality of connecting plates. The fastening devices 3 can be arranged in a plurality according to the length of the transported object, and the fastening devices 3 are respectively arranged at the lower part of the upper platform of the transportation bracket 1 at intervals. The manipulator 2 is placed on either side of the transport carriage 1.
As shown in fig. 2, in the embodiment of the present invention, the fastening device 3 includes a strap fastening device 4, a two-way locking device 5, and a locking hook 6, wherein the two-way locking device 5 is disposed on the transportation bracket 1 along the width direction of the transportation bracket 1, the strap fastening device 4 and the locking hook 6 are respectively disposed at two ends of the two-way locking device 5, and the strap fastening device 4 and the locking hook 6 are driven by the two-way locking device 5 to translate in the opposite direction or in the opposite direction. When in use, the binding band screwing device 4 and the locking hook 5 are respectively arranged at two sides of the transportation bracket 1. Through the connection of the binding band screwing device 4 and the locking hook 6, the object is bound.
As shown in fig. 3 to 5, in the embodiment of the present invention, the strap fastening device 4 includes a housing 7, an outer hexagonal rotary input shaft 8, a strap 9, a strap buckle 10, a gear transmission mechanism, a ratchet mechanism, and a strap winding shaft 15, wherein the outer hexagonal rotary input shaft 8 and the strap winding shaft 15 are vertically disposed in the housing 7, and the outer hexagonal rotary input shaft 8 is in transmission connection with the strap winding shaft 15 through the gear transmission mechanism; one end of the bandage 9 is fixed on the bandage winding shaft 15 and is wound on the bandage winding shaft 15, the other end of the bandage is led out from the guide outlet on the shell 7, the other end of the bandage 9 is connected with the bandage buckle 10, and the bandage buckle 10 is provided with a through hole for connecting with the latch hook 6, as shown in fig. 7; the ratchet mechanism is disposed on the housing 7 and the strap winding shaft 15, and is configured to control the strap winding shaft 15 to rotate in one direction.
Specifically, the gear transmission mechanism includes a bevel pinion 16 and a bevel bull gear 17, wherein the bevel pinion 16 is keyed on the hexagonal male rotation input shaft 8, the bevel bull gear 17 is keyed on the strap winding shaft 15, and the bevel bull gear 17 is engaged with the bevel pinion 16. The outer hexagonal rotary input shaft 8 is rotated by the manipulator 2 through the engagement of the bevel pinion 16 and the bevel bull gear 17 to effect rotation of the strap winding shaft 15.
As shown in fig. 6, in the embodiment of the present invention, the ratchet mechanism includes a ratchet 13, a ratchet pawl 14, a shaft 19, a tightening assembly and a button assembly, wherein the ratchet 13 is keyed to a strap winding shaft 15; the ratchet claw 14 is of a bending structure, two ends of the ratchet claw are respectively an occlusion end and a pressing end, and the bending part of the ratchet claw 14 is rotatably arranged on the shell 7 through a shaft 19; the jacking assembly and the button assembly are both mounted on the shell 7, the jacking assembly is abutted against the occlusion end of the ratchet claw 14, so that the occlusion end of the ratchet claw 14 is occluded with the ratchet 13, and the one-way rotation of the binding band winding shaft 15 is realized, and the rotation direction is shown as an arrow in fig. 6. The button assembly corresponds to the pressing end of the ratchet pawl 14, and the ratchet pawl 14 is driven to rotate around the shaft 19 through the button assembly, so that the meshing end of the ratchet pawl 14 is separated from the ratchet wheel 13.
In the embodiment of the invention, the tightening component comprises a guide pin and a pressure spring I18, wherein the guide pin is arranged at the top of the shell 7, the pressure spring I18 is sleeved on the guide pin, two ends of the pressure spring I18 are respectively abutted against the occlusion ends of the shell 7 and the ratchet pawl 14, and the occlusion end of the ratchet pawl 14 is occluded with the ratchet 13 under the action of the elastic force of the pressure spring I18, so that the binding band winding shaft 15 can only rotate in a single direction, and the binding band 9 is further tightened around the shaft.
In the embodiment of the invention, the button assembly comprises a button shaft 20, a pressure spring II 21 and a manual button 12, wherein the button shaft 20 is connected with the shell 7 in a sliding manner, a pressing block corresponding to the pressing end of the ratchet pawl 14 is arranged at the inner side end of the button shaft 20, the manual button 12 is arranged at the outer side end of the button shaft 20, the pressure spring II 21 is sleeved on the button shaft 20, and two ends of the pressure spring II are respectively abutted against the shell 7 and the manual button 12. The manual button 12 is pressed to move the button shaft 20 relative to the shell 7, and the pressing block at the inner end pushes the ratchet pawl 14 to rotate around the shaft 19, so that the meshing end of the ratchet pawl 14 is separated from the ratchet 13, and the unlocking is realized.
Further, the outlet is arranged at the top of the casing 7, a guide wheel is arranged at the outlet, and the binding band 9 is guided by the guide wheel; the top of shell 7 still is equipped with the bandage buckle slot 11 that is used for pegging graft with bandage buckle 10, and during non-operating condition, on bandage 9 accomodates the bandage winding axle 15 in shell 7, bandage buckle 10 pegs graft in bandage buckle slot 11, realizes accomodating of bandage buckle 10.
Specifically, before use, the strap 9 is previously set in a relaxed state in the strap fastening device 4 so that the strap 9 can be kept in a sufficient length when the manipulator 2 grips the strap buckle 10 across the object, as shown in fig. 5.
In the embodiment, the ratchet pawl 14 is made into an L shape and freely rotates around a shaft 19, and a pressure spring I18 is arranged at the upper part of the occlusion end of the ratchet pawl 14 so as to ensure that the ratchet pawl 14 can be always occluded with the ratchet wheel 13. The pressing part at the other end of the L shape of the ratchet claw 14 is provided with a button shaft 20, the manual button 12 is fixedly connected with the button shaft 20, and the button shaft 20 cannot be contacted with the pressing end of the ratchet claw 14 on the premise that the manual button 12 is not subjected to external force through a pressure spring II 21. After the manual button 12 is used for a task, a worker manually presses the manual button 12, so that the button shaft 20 pushes the pressing end of the ratchet claw 14, the ratchet claw 14 rotates clockwise around the shaft 19, the ratchet claw 14 is separated from the ratchet 13, and the binding band 9 is loosened by the binding band winding shaft 15.
As shown in fig. 8, in the embodiment of the present invention, the bidirectional locking device 5 includes a mounting frame 22, a motor 23, a belt transmission assembly 24, a right slider 25, a right-handed screw 26, a bidirectional screw rod, a latch hook mounting plate 27, a guide rail 29, a strap fastening device mounting plate 33, a left-handed screw 34, and a left slider 35, wherein the mounting frame 22 is connected to the transport bracket 1, the bidirectional screw rod and the guide rail 29 are arranged in parallel on the mounting frame 22, and the bidirectional screw rod is rotatable; the right-handed screw 26 and the left-handed screw 34 are in threaded connection with the bidirectional screw rod, the motor 23 is arranged on the mounting rack 22, and the output end of the motor is connected with the bidirectional screw rod through the belt transmission assembly 24; the right slider 25 and the left slider 35 are slidably connected to the guide rail 29, the latch hook mounting plate 27 is connected to the right slider 25 and the right screw 26, the band tightening device mounting plate 33 is connected to the left slider 35 and the left screw 34, and the latch hook mounting plate 27 and the band tightening device mounting plate 33 are used for mounting the latch hook 6 and the band tightening device 4, respectively.
Specifically, the bidirectional screw rod comprises a right-handed screw rod 28, a coupler 30 and a left-handed screw rod 32 which are connected in sequence, and two ends of the right-handed screw rod 28 and two ends of the left-handed screw rod 32 are supported through bearing seats. Furthermore, two limit blocks 31 located at two sides of the left slider 35 are arranged on the guide rail 29, and the two limit blocks 31 are used for limiting the left slider 35 to slide out of the guide rail 29. Because the right slider 25 and the left slider 35 synchronously and reversely slide on the guide rail 29, the two limit blocks 31 arranged beside the guide rail 29 are used for preventing the left slider 35 from sliding out of the guide rail 29 and also preventing the right slider 25 from sliding out of the guide rail 29. When the binding band fixing device works, the motor 23 drives the right-handed screw rod 28 and the left-handed screw rod 32 to synchronously rotate, and the right-handed screw nut 26 and the left-handed screw nut 34 respectively drive the locking hook mounting plate 27 and the binding band screwing device mounting plate 33 to relatively or reversely move along the guide rail 29.
As shown in fig. 9, in the embodiment of the present invention, the locking hook 6 includes a fixed hook 36, a movable locking nose 37, a torsion spring 38 and a locking hook shaft 39, wherein the fixed hook 36 and the mounting seat are made into an integral structure, the fixed hook 36 is connected with the locking hook mounting plate 27 through the mounting seat, the locking hook shaft 39 is mounted on the mounting seat of the fixed hook 36, one end of the movable locking nose 37 is rotatably mounted on the locking hook shaft 39, and the other end of the movable locking nose 37 corresponds to the end of the fixed hook 36; the torsion spring 38 is sleeved on the latch shaft 39, and two ends of the torsion spring are respectively abutted against the movable latch nose 37 and the fixed hook 36, and the torsion spring 38 enables the movable latch nose 37 and the fixed hook 36 to form a closed loop.
Specifically, the torsion spring 38 ensures that the movable lock nose 37 is engaged with the fixed hook 36 by torsion. When in use, the mechanical manipulator 2 clamps the bandage buckle 10 connected with the bandage 9 to contact the movable lock nose 37 and press down, and the movable lock nose 37 rotates downwards around the lock hook shaft 39 and is separated from the fixed hook 36; in the process that the strap buckle 10 is pressed down, the movable locking nose 37 enters the central square hole of the strap buckle 10, automatically bounces under the torsion action of the torsion spring 38, and is attached to the fixed hook 36, so that the locking action is completed.
As shown in fig. 10, in the embodiment of the present invention, the manipulator 2 includes a seven-dof robot arm installed at a middle position of the transport carriage 1, a holding jaw 40, and a hexagon socket head rotator 41, and an execution end of the seven-dof robot arm is connected to the holding jaw 40 and the hexagon socket head rotator 41. The mechanical operator 2 clamps the bandage buckle 10 through the clamping jaw 40, and drives the exposed outer hexagonal rotary input shaft 8 on the bandage screwing device 4 to rotate through the inner hexagonal rotary device 41.
The invention provides a method for bundling by a fastening manipulator suitable for flexible bundling transportation, which comprises the following steps:
s1, a mechanical manipulator 2 clamps a bandage buckle 10 on a bandage screwing device 4, pulls a bandage 9 over a transported object, and then inserts the bandage buckle 10 into a lock hook 6;
s2, the mechanical operator 2 rotates the input shaft 8 through an exposed outer hexagonal head on the bandage screwing device 4, screws the bandage 9, and stops screwing until the bandage 9 is in a state of being attached to an object;
s3, the motor 23 on the bidirectional locking device 5 operates, the binding band screwing device 4 and the locking hook 6 synchronously move oppositely under the stretcher, and the binding band 9 is tensioned to fasten an object on the stretcher;
s4, repeating the steps S1-S3 to finish fastening a plurality of positions of the object;
s5, after transportation is finished, the worker manually presses the exposed manual button 12 on the binding band screwing device 4 to loosen the binding band 9, then takes out the binding band buckle 10 from the locking hook 6, and waits for further carrying of the worker after loosening of multiple positions.
In the embodiment of the invention, the bidirectional locking device 5 is used for driving the binding belt 9 to simultaneously adjust the tightness in the bilateral symmetry direction of the object, so that the problem that the surface of the object is scratched under the action of the unidirectional tightening force of the binding belt 9 and the outer surface is possibly scratched when only the binding belt screwing device 4 is used can be solved. For the bulk rodlike materials, the phenomenon of falling of the rodlike materials caused by asymmetric left and right stress can be avoided. The bidirectional locking device 5 is driven by a motor, is convenient to operate, and avoids the condition that the lower hand weight of a worker varies from person to person. The use of the two-way locking device 5 and the binding band tightening device 4 at the same time provides dual security for unmanned fastening.
The fastening manipulator suitable for flexible bundling and transportation provided by the invention is usually used for effectively fastening flexible package goods such as bulk bar-shaped materials, bulk soft objects, cartons and the like in the transportation process, can realize flexible bundling and transportation and always effectively fasten the objects, and avoids crushing and scratching the surfaces of the objects in the transportation process.
The above description is only an embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, extension, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.
Claims (7)
1. A fastening mechanical arm suitable for flexible bundling and transportation is characterized by comprising a transportation bracket (1), a mechanical manipulator (2) arranged on the transportation bracket (1) and a plurality of groups of fastening devices (3), wherein the plurality of groups of fastening devices (3) are sequentially arranged at intervals along the length direction of the transportation bracket (1), and the fastening devices (3) are used for bundling objects; the mechanical operating hand (2) is used for realizing the locking of the fastening device (3);
the fastening device (3) comprises a binding band screwing device (4), a two-way locking device (5) and a locking hook (6), wherein the two-way locking device (5) is arranged on the transportation bracket (1) along the width direction of the transportation bracket (1), the binding band screwing device (4) and the locking hook (6) are respectively arranged at two ends of the two-way locking device (5), and are driven to move oppositely or reversely by the two-way locking device (5), and the binding of objects is realized by the connection of the binding band screwing device (4) and the locking hook (6);
the bandage screwing device (4) comprises a shell (7), an outer hexagonal rotary input shaft (8), a bandage (9), a bandage buckle (10), a gear transmission mechanism, a ratchet mechanism and a bandage winding shaft (15), wherein the outer hexagonal rotary input shaft (8) and the bandage winding shaft (15) are vertically arranged in the shell (7), and the outer hexagonal rotary input shaft (8) is in transmission connection with the bandage winding shaft (15) through the gear transmission mechanism; one end of the binding band (9) is wound on the binding band winding shaft (15), the other end of the binding band (9) is led out from a guide outlet on the shell (7), the end part of the other end of the binding band (9) is connected with a binding band buckle (10), and a through hole used for being connected with the lock hook (6) is formed in the binding band buckle (10);
the ratchet mechanism is arranged on the shell (7) and the bandage winding shaft (15) and is used for controlling the bandage winding shaft (15) to rotate in one direction;
the mechanical manipulator (2) comprises a seven-degree-of-freedom mechanical arm, a clamping jaw (40) and an inner hexagonal rotating device (41), wherein the seven-degree-of-freedom mechanical arm is arranged in the middle of the transportation bracket (1), and the execution tail end of the seven-degree-of-freedom mechanical arm is connected with the clamping jaw (40) and the inner hexagonal rotating device (41); the mechanical manipulator (2) clamps the bandage buckle (10) through the clamping jaw (40), and drives the exposed outer hexagonal rotary input shaft (8) on the bandage screwing device (4) to rotate through the inner hexagonal rotary device (41).
2. The fastening manipulator suitable for flexible bundle transportation according to claim 1, characterized in that the ratchet mechanism comprises a ratchet wheel (13), a ratchet pawl (14), a shaft (19), a tightening component and a button component, wherein the ratchet wheel (13) is fixedly arranged on the binding belt winding shaft (15); the ratchet claw (14) is of a bending structure, two ends of the ratchet claw are respectively an occlusion end and a pressing end, and the bending part of the ratchet claw (14) is rotatably arranged on the shell (7) through a shaft (19);
the jacking assembly and the button assembly are both mounted on the shell (7), the jacking assembly is abutted against the occlusion end of the ratchet claw (14), so that the occlusion end of the ratchet claw (14) is occluded with the ratchet wheel (13), and the binding band winding shaft (15) can only rotate in one direction; the button assembly corresponds to the pressing end of the ratchet pawl (14), and the ratchet pawl (14) is driven to rotate around the shaft (19) through the button assembly, so that the biting end of the ratchet pawl (14) is separated from the ratchet wheel (13).
3. The tightening manipulator suitable for flexible bundle transportation according to claim 2, characterized in that the tightening assembly comprises a guide pin and a compression spring I (18), wherein the guide pin is arranged at the top of the housing (7), the compression spring I (18) is sleeved on the guide pin, and two ends of the compression spring I are respectively abutted against the housing (7) and the engagement end of the ratchet pawl (14).
4. The fastening manipulator suitable for flexible strapping transportation according to claim 2, wherein the button assembly comprises a button shaft (20), a pressure spring II (21) and a manual button (12), wherein the button shaft (20) is slidably connected with the housing (7), a pressing block corresponding to the pressing end of the ratchet pawl (14) is arranged at the inner side end of the button shaft (20), the manual button (12) is arranged at the outer side end of the button shaft (20), the pressure spring II (21) is sleeved on the button shaft (20), and two ends of the pressure spring II are respectively abutted against the housing (7) and the manual button (12).
5. The fastening manipulator for flexible strapping transportation according to claim 1, wherein the lead-out opening is provided at the top of the housing (7) and a guide wheel is provided at the lead-out opening;
the top of the shell (7) is also provided with a bandage buckle slot (11) which is used for being connected with the bandage buckle (10) in an inserting mode.
6. The fastening manipulator suitable for flexible strapping transportation according to claim 1, wherein the bidirectional locking device (5) comprises a mounting frame (22), a motor (23), a belt transmission assembly (24), a right slider (25), a right screw nut (26), a bidirectional screw rod, a latch hook mounting plate (27), a guide rail (29), a strap screwing device mounting plate (33), a left screw nut (34) and a left slider (35), wherein the mounting frame (22) is connected with the transportation bracket (1), the bidirectional screw rod and the guide rail (29) are arranged on the mounting frame (22) in parallel, and the bidirectional screw rod is rotatable; the right-handed screw (26) and the left-handed screw (34) are in threaded connection with the bidirectional screw rod, the motor (23) is arranged on the mounting frame (22), and the output end of the motor is connected with the bidirectional screw rod through the belt transmission assembly (24); the right slider (25) and the left slider (35) are connected with the guide rail (29) in a sliding manner, the latch hook mounting plate (27) is connected with the right slider (25) and the right-handed screw nut (26), and the binding band screwing device mounting plate (33) is connected with the left slider (35) and the left-handed screw nut (34).
7. The fastening manipulator suitable for flexible strapping transportation according to claim 6, wherein the latch hook (6) comprises a fixed hook (36), a movable latch nose (37), a torsion spring (38) and a latch hook shaft (39), wherein the fixed hook (36) is connected with the latch hook mounting plate (27), the latch hook shaft (39) is mounted on the fixed hook (36), one end of the movable latch nose (37) is rotatably mounted on the latch hook shaft (39), and the other end of the movable latch nose (37) corresponds to the end of the fixed hook (36); the torsion spring (38) is sleeved on the lock hook shaft (39), two ends of the torsion spring are respectively abutted against the movable lock nose (37) and the fixed hook (36), and the torsion spring (38) enables the movable lock nose (37) and the fixed hook (36) to form a closed ring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211365133.XA CN115401717B (en) | 2022-11-03 | 2022-11-03 | Fastening manipulator suitable for transportation is tied up to flexibility |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211365133.XA CN115401717B (en) | 2022-11-03 | 2022-11-03 | Fastening manipulator suitable for transportation is tied up to flexibility |
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| Publication Number | Publication Date |
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| CN115401717A CN115401717A (en) | 2022-11-29 |
| CN115401717B true CN115401717B (en) | 2023-01-24 |
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Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108621188A (en) * | 2018-07-26 | 2018-10-09 | 燕山大学 | The redundancy self-locking mechanical pawl that clamping force accurately controls |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101602412B (en) * | 2008-06-11 | 2012-01-25 | Poscom-科技 | Robot binding apparatus for coil packaging |
| US9447849B1 (en) * | 2013-04-19 | 2016-09-20 | Redwood Robotics, Inc. | Robot manipulator with modular torque controlled links |
| CN204094789U (en) * | 2014-07-09 | 2015-01-14 | 何继瑗 | A kind of automatic binding machinery hand system produced for hairbrush |
| CN105416679A (en) * | 2015-12-25 | 2016-03-23 | 贵州慧联科技有限公司 | Continuous stacking and bundling production line for special-shaped cigarettes and production method |
| CN106450414A (en) * | 2016-10-25 | 2017-02-22 | 东莞市大族骏卓自动化科技有限公司 | Aluminum-casing battery module assembly line and assembling process |
| CN210100043U (en) * | 2019-03-13 | 2020-02-21 | 广东长盈精密技术有限公司 | Manipulator and material taking and placing mechanism |
| CN111702784A (en) * | 2020-07-20 | 2020-09-25 | 上海电气集团股份有限公司 | Motion-assisted robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108621188A (en) * | 2018-07-26 | 2018-10-09 | 燕山大学 | The redundancy self-locking mechanical pawl that clamping force accurately controls |
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