CN117921725B - Wardrobe plate carrying mechanical arm and use method thereof - Google Patents
Wardrobe plate carrying mechanical arm and use method thereof Download PDFInfo
- Publication number
- CN117921725B CN117921725B CN202410315787.4A CN202410315787A CN117921725B CN 117921725 B CN117921725 B CN 117921725B CN 202410315787 A CN202410315787 A CN 202410315787A CN 117921725 B CN117921725 B CN 117921725B
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- carrying table
- carrying
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- 238000001514 detection method Methods 0.000 claims description 70
- 230000000694 effects Effects 0.000 claims description 5
- 241000219502 Casuarina glauca Species 0.000 description 1
- 241000158728 Meliaceae Species 0.000 description 1
- 235000008331 Pinus X rigitaeda Nutrition 0.000 description 1
- 235000011613 Pinus brutia Nutrition 0.000 description 1
- 241000018646 Pinus brutia Species 0.000 description 1
- 235000016421 Pinus nigra Nutrition 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000011090 solid board Substances 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
Classifications
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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
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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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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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Accommodation For Nursing Or Treatment Tables (AREA)
Abstract
The invention relates to the technical field of carrying manipulators, in particular to a wardrobe plate carrying manipulator and a using method thereof, wherein the wardrobe plate carrying manipulator comprises a base, a support frame, a controller and a carrying table, the support frame is arranged on the base, the controller is arranged on the support frame, the carrying table is movably arranged on the support frame, and the carrying manipulator further comprises: the positioning assembly is movably arranged on the support frame and connected with the carrying table and used for adjusting the position of the carrying table on the support frame; the clamping assembly is arranged on the carrying table; according to the angle of adjusting the transport platform of gradient control connection structure work in order to make the angle of transport platform and wardrobe panel be in parallel state, then control centre gripping executive structure work to stabilize centre gripping work to wardrobe panel machine case, whole device degree of automation is high, has got rid of traditional manual vision and has judged the angle of wardrobe panel and manual regulation manipulator, has improved the centre gripping stability to the wardrobe panel.
Description
Technical Field
The invention relates to the technical field of carrying manipulators, in particular to a wardrobe plate carrying manipulator.
Background
The wardrobe board is used for making a wardrobe, and comprises a wardrobe body board and a wardrobe door board, wherein the common wardrobe board comprises a shaving board, a density board, a dampproof board, a large core board, a fir board, a multilayer solid board, an Australian pine board, an European pine board, a veneer, a mahogany board and the like.
After the production of wardrobe panel is accomplished, need utilize transport manipulator transport panel, traditional majority is through installing transport manipulator on mobilizable transportation equipment, accomplishes the transport work to the wardrobe panel through transportation equipment and transport manipulator matched with, but current wardrobe panel transport manipulator has following defect:
In order to ensure stability of the wardrobe board in placing, the traditional wardrobe board is inclined in a manner of being inclined, a worker is generally required to judge the inclination of the board and adjust the angle of the manipulator through naked eyes, otherwise, the phenomenon that the manipulator and the board are not tightly contacted and are unstable in clamping and fall off easily occurs, and manual adjustment is very inconvenient and the accuracy is low.
Disclosure of Invention
The invention aims to provide a wardrobe board conveying manipulator which is used for solving the problems in the background technology.
In order to achieve the above purpose, the present invention provides the following technical solutions:
The utility model provides a wardrobe panel transport manipulator, includes base, support frame, controller and transport platform, the support frame sets up on the base, the controller sets up on the support frame, the transport platform activity sets up on the support frame, transport manipulator still includes: the positioning assembly is movably arranged on the support frame and connected with the carrying table and used for adjusting the position of the carrying table on the support frame; the clamping assembly is arranged on the carrying table and used for clamping and fixing the wardrobe plate; wherein the clamping assembly comprises: the clamping plates are symmetrically and movably arranged on the carrying table in a group; the cushion seat is arranged on the carrying table and is positioned at one side of the carrying table; the connecting structure is arranged between the carrying table and the positioning assembly and is used for adjusting the angle between the carrying table and the supporting frame; the detection modules are symmetrically arranged on the carrying table in a plurality of groups and are used for detecting the inclination angle of the wardrobe boards and controlling the connection structure to work, and the detection modules and the clamping plates are vertically arranged relative to the center of the carrying table; and the clamping execution structures are symmetrically arranged on the carrying table in two groups and are used for executing clamping and fixing work on the wardrobe boards.
The application further adopts the technical scheme that: the surface equidistance of splint is provided with a plurality of rubber strip.
The application further adopts the technical scheme that: the connecting structure comprises a movable seat, a fixed seat, a sleeve seat and a second hydraulic cylinder; the fixing seat is arranged on the carrying table, the movable seat is movably arranged on the supporting frame and connected with the positioning assembly, the sleeve seat is sleeved on the outer wall of the movable seat, the second hydraulic cylinder is movably connected between the sleeve seat and the carrying table, and the second hydraulic cylinder is electrically connected with the detection module.
The application further adopts the technical scheme that: each set of the detection modules comprises: the guide box is arranged on the carrying table; the detection rod is movably arranged on the guide box and is elastically connected with the guide box; and the detection execution unit is arranged at one end of the detection rod, far away from the carrying table, and is used for measuring the interference force generated when the detection rod is contacted with the wardrobe board and controlling the expansion of the second hydraulic cylinder.
The application further adopts the technical scheme that: the detection execution unit comprises a wheel seat, a roller, a detection box, a first conducting strip and a second conducting strip; the detection box is arranged on the detection rod, the wheel seat is movably arranged on the detection box and connected with the detection box through an elastic piece, the elastic force between the detection rod and the guide box is larger than that between the detection box and the wheel seat, the first conductive sheet and the second conductive sheet are respectively arranged on the wheel seat and the detection box, the second conductive sheet is positioned on the moving path of the first conductive sheet, and the roller is movably arranged on the wheel seat.
The application further adopts the technical scheme that: the clamping execution structure comprises: the carrying arm is provided with a first guide groove in a forming mode, the pad seat penetrates through the first guide groove and is in sliding fit with the first guide groove, and the clamping plate is arranged at one end of the carrying arm; and the driving unit is arranged on the carrying table and connected with the carrying arm and is used for adjusting the position of the carrying arm.
The application further adopts the technical scheme that: the driving unit includes: the movable seat is movably arranged on the carrying table; the sliding seat is movably arranged in a guide rail formed on the movable seat, and the sliding seat is movably connected with the carrying arm through the pushing arm; the first electric telescopic rod is arranged on the carrying table through the mounting seat, and the movable end of the first electric telescopic rod is connected with the movable seat; the second electric telescopic rod is arranged on the movable seat, and the movable end of the second electric telescopic rod is connected with the sliding seat; and the limiting piece is arranged between the movable seat and the carrying arm and used for limiting the position of the carrying arm on the sliding seat.
The application further adopts the technical scheme that: the limiting piece comprises a group of limiting heads and a group of second guide grooves, wherein the limiting heads are symmetrically arranged on the movable seat, the second guide grooves are formed on the carrying arm, and the second guide grooves are in sliding fit with the limiting heads.
The application further adopts the technical scheme that: the positioning assembly comprises a base, a connector, a first hydraulic cylinder and a power element; the machine seat and the connector are movably arranged on the supporting frame, the movable seat is movably arranged on the machine seat through the connector, the power element is arranged on the machine seat, the output end of the power element is connected with the connector, and the first hydraulic cylinder is movably connected between the base and the machine seat.
The using method of the wardrobe plate conveying manipulator comprises the following specific steps of the conveying manipulator in the technical scheme:
s100: the whole carrying manipulator is arranged on movable transportation equipment through a base, and is driven to be close to the wardrobe board through the movement of the transportation equipment;
s200: according to the height of the wardrobe boards, a worker can control the position adjusting assembly to work through the controller, and the position of the carrying table is adjusted, so that the carrying table and the wardrobe are identical in height;
S300: when the carrying table is close to the wardrobe plate, the angle of placing the wardrobe plate can be detected through the detection module, and according to the measured angle, the detection module controls the connecting structure to work and adjusts the angle between the carrying table and the supporting frame, so that the carrying table is parallel to the placed wardrobe plate;
s400: after the angle adjustment of waiting to carry the platform is accomplished, carry out the structure work through the control centre gripping, the structure work is carried out in the centre gripping can carry out the centre gripping to the wardrobe panel and is fixed, finally through connection structure and positioning subassembly work for wardrobe panel and ground are perpendicular and raise, thereby realize the transport work to the wardrobe panel.
Compared with the prior art, the technical scheme provided by the embodiment of the invention has the following beneficial effects:
According to the embodiment of the invention, the inclination of the wardrobe plate placed on the ground can be detected by the detection module by arranging the detection module and the clamping execution structure, the connection structure is controlled to work according to the inclination of the wardrobe plate so as to adjust the angle of the carrying table, so that the angle of the carrying table and the wardrobe plate are in a parallel state, then the clamping execution structure is controlled to work for stably clamping the wardrobe plate case, the whole device is high in automation degree, the traditional manual vision is eliminated, the wardrobe plate is judged, the angle of the mechanical arm is manually adjusted, and the clamping stability of the wardrobe plate is improved.
Drawings
FIG. 1 is a schematic view of a cabinet board handling robot in an embodiment of the invention;
FIG. 2 is a schematic structural view of a positioning assembly of a cabinet panel handling robot in an embodiment of the present invention;
FIG. 3 is a schematic view of a clamping assembly of a cabinet panel handling robot according to an embodiment of the present invention;
FIG. 4 is an exploded view of the connection structure of the chest panel handling robot in accordance with an embodiment of the present invention;
FIG. 5 is a schematic structural view of a detection module in a cabinet board handling robot according to an embodiment of the present invention;
FIG. 6 is a schematic structural diagram of a detection execution unit in a cabinet board handling robot according to an embodiment of the present invention;
FIG. 7 is a schematic view of a structure of a clamping and executing mechanism in a cabinet board handling manipulator according to an embodiment of the present invention;
fig. 8 is an exploded view of a drive unit of a chest panel handling robot in accordance with an embodiment of the present invention.
Reference numerals in the schematic drawings illustrate:
1-base, 2-support frame, 3-controller, 4-pneumatic cylinder, 5-frame, 6-connector, 7-step motor, 8-transfer platform, 9-splint, 10-handling arm, 11-pad seat, 12-guide slot, 13-guide slot No. two, 14-rubber strip, 15-fixing base, 16-movable seat, 17-cover seat, 18-pneumatic cylinder No. two, 19-guide box, 20-detecting rod, 21-wheel seat, 22-gyro wheel, 23-detecting box, 24-spring, 25-conducting strip No. one, 26-conducting strip No. two, 27-electric telescopic rod No. one, 28-mount pad, 29-slide seat, 30-push arm, 31-connecting arm, 32-electric telescopic rod No. two, 33-limit head, 34-guide rail.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art without making any inventive effort, based on the embodiments of the present invention are within the scope of the present invention, and the present invention is further described below with reference to the embodiments.
Referring to fig. 1-8, in an embodiment of the present application, a wardrobe board handling manipulator includes a base 1, a support frame 2, a controller 3 and a handling table 8, wherein the support frame 2 is disposed on the base 1, the controller 3 is disposed on the support frame 2, the handling table 8 is movably disposed on the support frame 2, and the handling manipulator further includes: the positioning component is movably arranged on the support frame 2 and connected with the carrying table 8 and is used for adjusting the position of the carrying table 8 on the support frame 2; the clamping assembly is arranged on the carrying table 8 and used for clamping and fixing the wardrobe boards; wherein the clamping assembly comprises: the clamping plates 9 are symmetrically and movably arranged on the carrying table 8 in a group; a pad seat 11 provided on the carrying table 8 and located at one side of the carrying table 8;
The connecting structure is arranged between the carrying table 8 and the positioning assembly and is used for adjusting the angle between the carrying table 8 and the supporting frame 2; the detection modules are symmetrically arranged on the carrying table 8 in a plurality of groups and are used for detecting the inclination angle of the wardrobe boards and controlling the connection structure to work, and the detection modules and the clamping plates 9 are vertically arranged relative to the center of the carrying table 8; and the clamping execution structures are symmetrically arranged on the carrying table 8 in two groups and are used for executing clamping and fixing work on the wardrobe boards.
In a specific case of this embodiment, the surface of the clamping plate 9 is provided with several rubber strips 14 at equal distance.
In another specific case of this embodiment, the connection structure includes a movable seat 16, a fixed seat 15, a socket 17, and a hydraulic cylinder No. 18; the fixed seat 15 is arranged on the carrying table 8, the movable seat 16 is movably arranged on the supporting frame 2 and is connected with the positioning assembly, the sleeve seat 17 is sleeved on the outer wall of the movable seat 16, the second hydraulic cylinder 18 is movably connected between the sleeve seat 17 and the carrying table 8, and the second hydraulic cylinder 18 is electrically connected with the detection module.
It should be noted that, as shown in fig. 7, the cross section of the rubber strip 14 is semicircular, and of course, the cross section of the rubber strip 14 in this embodiment is not limited to semicircular, but may be rectangular triangle or oval, and the best effect can be obtained by using semicircular in this embodiment in consideration of the clamping force on the wardrobe plate and the protection on the surface of the wardrobe plate.
In actual application, the whole carrying manipulator is arranged on movable transportation equipment through the base 1, and is driven to be close to the wardrobe board through the movement of the transportation equipment; according to the height of the wardrobe boards, a worker can control the positioning assembly to work through the controller 3 and adjust the position of the carrying table 8, so that the carrying table 8 and the wardrobe boards are identical in height; when the carrying table 8 is close to the wardrobe boards, the angle of placing the wardrobe boards can be detected through the detection module, and the detection module controls the extension of the second hydraulic cylinder 18 according to the measured angle, so that the fixed seat 15 is driven to rotate by an expected angle relative to the movable seat 16, and the angle between the carrying table 8 and the supporting frame 2 is adjusted, so that the carrying table 8 is parallel to the placed wardrobe boards; after the angle adjustment of the carrying table 8 is completed, the clamping execution structure work is controlled by the controller 3, the clamping execution structure work can clamp and fix the wardrobe plate, and finally the wardrobe plate and the ground are vertical and are lifted through the connecting structure and the positioning assembly work, so that the carrying work of the wardrobe plate is realized.
Referring to fig. 1,3, 5 and 6, as another preferred embodiment of the present application, each set of the detection modules includes: a guide box 19 provided on the carrying table 8; the detection rod 20 is movably arranged on the guide box 19 and is elastically connected with the guide box 19; and the detection execution unit is arranged at one end of the detection rod 20 away from the carrying table 8 and is used for measuring the interference force generated when the detection rod 20 contacts with the wardrobe board and controlling the expansion and contraction of the second hydraulic cylinder 18.
In the present embodiment, the detection execution unit includes a wheel seat 21, a roller 22, a detection box 23, a first conductive sheet 25, and a second conductive sheet 26;
The detection box 23 is arranged on the detection rod 20, the wheel seat 21 is movably arranged on the detection box 23 and connected with the detection box 23 through an elastic piece, the elastic force between the detection rod 20 and the guide box 19 is larger than that between the detection box 23 and the wheel seat 21, the first conductive sheet 25 and the second conductive sheet 26 are respectively arranged on the wheel seat 21 and the detection box 23, the second conductive sheet 26 is positioned on the moving path of the first conductive sheet 25, and the roller 22 is movably arranged on the wheel seat 21.
It should be noted that, in the present embodiment, the position of the wheel seat 21 on the detection box 23 is not limited to the first conductive sheet 25 and the second conductive sheet 26, but may be replaced by an infrared ranging sensor or a laser ranging sensor, which are not specifically described herein.
In addition, the elastic member may be a spring, a spring sheet or an elastic steel plate structure, in this embodiment, the elastic member is preferably a spring 24, and the spring 24 is connected between the detection box 23 and the wheel seat 21, so that the specific model parameter of the spring 24 may be selected optimally according to the actual situation, which is not limited herein.
When the transport manipulator is driven to move towards the obliquely placed wardrobe plate through the transport equipment, as shown in the state of fig. 1, the roller 22 at the lower side of the transport table 8 is preferentially in contact with the surface of the wardrobe plate, because the elastic force between the detection rod 20 and the guide box 19 is larger than the elastic force between the wheel seat 21 and the detection rod 20, at the moment, under the action of the collision force between the roller 22 and the wardrobe plate, the wheel seat 21 moves relative to the detection box 23, the first conducting plate 25 at the lower side of the transport table 8 is in contact with the second conducting plate 26, feedback is given to the controller 3, the controller 3 controls the second hydraulic cylinder 18 to stretch, so that the fixed seat 15 and the transport table 8 rotate relative to the movable seat 16, further the angle of the transport table 8 is adjusted until the roller 22 on the detection rod 20 at the upper side of the transport table 8 is in contact with the surface of the wardrobe plate and the first conducting plate 26 is enabled to be in contact with the second conducting plate 26, at the moment, the second hydraulic cylinder 18 can be fed back to the controller 3 and control the second conducting plate 18 to stop stretching, the transport table 8 and the wardrobe plate can be in a parallel state, the transport table 8 is controlled to move towards the detection rod 20, the surface of the wardrobe plate can be kept in contact with the wardrobe plate is kept in contact with the surface of the wardrobe plate, and the plate is kept in contact with the control rod, and the plate is kept in contact with the stable state, and the plate is kept in contact with the control rod is kept stable with the plate through the control rod and the control rod.
Referring to fig. 1,3, 7 and 8, as another preferred embodiment of the present application, the clamping executing structure includes: the carrying arm 10 is provided with a first guide groove 12 formed on the carrying arm 10, the pad seat 11 passes through the first guide groove 12 and is in sliding fit with the clamping plate 9, and the clamping plate 9 is arranged at one end of the carrying arm 10; and a driving unit provided on the transfer table 8 and connected to the transfer arm 10 for adjusting the position of the transfer arm 10.
In a specific case of the present embodiment, the driving unit includes: the movable seat is movably arranged on the carrying table 8; the sliding seat 29 is movably arranged in a guide rail 34 formed on the movable seat, and the sliding seat 29 is movably connected with the carrying arm 10 through the pushing arm 30; the first electric telescopic rod 27 is arranged on the carrying table 8 through a mounting seat 28, and the movable end of the first electric telescopic rod 27 is connected with the movable seat; the second electric telescopic rod 32 is arranged on the movable seat, and the movable end of the second electric telescopic rod is connected with the sliding seat 29; and a stopper provided between the movable seat and the arm 10 for restricting the position of the arm 10 on the slide seat 29.
In another specific case of this embodiment, the limiting member includes a set of limiting heads 33 and a second guiding groove 13, the set of limiting heads 33 are symmetrically disposed on the moving seat, the second guiding groove 13 is formed on the carrying arm 10, and the second guiding groove 13 is slidably engaged with the limiting heads 33.
The position adjusting assembly comprises a base 5, a connector 6, a first hydraulic cylinder 4 and a power element;
The machine seat 5 and the connector 6 are both movably arranged on the support frame 2, the movable seat 16 is movably arranged on the machine seat 5 through the connector 6, the power element is arranged on the machine seat 5, the output end of the power element is connected with the connector 6, and the first hydraulic cylinder 4 is movably connected between the base 1 and the machine seat 5.
The power element may be, without limitation, a stepper motor or a servo motor, in this embodiment, the power element is preferably a stepper motor 7, the stepper motor 7 is disposed on the stand 5, and the output end of the stepper motor 7 is connected with the connector 6, and as for the specific model of the stepper motor 7, the best choice can be made according to the actual situation, which is not limited herein.
When moving the position of wardrobe panel through transportation equipment with transport manipulator, the staff is flexible through the hydraulic cylinder 4 of controller 3 control, can drive frame 5 and connector 6 along vertical direction removal, thereby realize carrying out the height adjustment work to platform 8, make platform 8 and wardrobe panel be in same height, and after the angle modulation of platform 8 is accomplished, control electric telescopic handle 27 and No. two electric telescopic handle 32 through staff operation controller 3 flexible, when electric telescopic handle 27 shrink, can drive the removal seat, carrier arm 10 and splint 9 remove towards the direction of wardrobe panel, through No. two electric telescopic handle 32 shrink, drive sliding seat 29 along guide rail 34 removal, thereby under the effect of arm pushing 30 and locating part, can drive carrier arm 10 and splint 9 remove towards the wardrobe panel, thereby realize the fixed work of centre gripping to wardrobe panel, then make wardrobe panel and ground perpendicular through connection structure reset, and lift up through hydraulic cylinder 4, finally, rotate through control step motor 7, drive platform 8 and thereby realize that the wardrobe panel takes place to take place to the fixed plate phenomenon of the wardrobe panel of falling in vertical direction, thereby realize the fixed plate to take place to the wardrobe panel and take place to the effect of the fixed plate of the phenomenon of falling.
Referring to fig. 1 to 8, in another embodiment of the present application, a method for using a wardrobe board handling manipulator includes the handling manipulator described in the above embodiment, where the method specifically includes the following steps:
s100: the whole carrying manipulator is arranged on movable transportation equipment through a base 1, and is driven to be close to the wardrobe board through the movement of the transportation equipment;
s200: according to the height of the wardrobe board, a worker can control the position adjusting assembly to work through the controller 3 and adjust the position of the carrying table 8, so that the carrying table 8 and the wardrobe board are identical in height;
S300: when the carrying table 8 is close to the wardrobe boards, the angle of placing the wardrobe boards can be detected through the detection module, and according to the measured angle, the detection module controls the connection structure to work and adjusts the angle between the carrying table 8 and the support frame 2, so that the carrying table 8 is parallel to the placed wardrobe boards;
S400: after the angle adjustment of the carrying table 8 is completed, the clamping execution structure work is controlled by the controller 3, the clamping execution structure work can clamp and fix the wardrobe plate, and finally the wardrobe plate and the ground are vertical and are lifted through the connecting structure and the positioning assembly work, so that the carrying work of the wardrobe plate is realized.
The invention and its embodiments have been described above by way of illustration and not limitation, and the invention is illustrated in the accompanying drawings and described in the drawings in which the actual structure is not limited thereto. Therefore, if one of ordinary skill in the art is informed by this disclosure, the structural mode and the embodiments similar to the technical scheme are not creatively designed without departing from the gist of the present invention.
Furthermore, it should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is provided for clarity only, and that the disclosure is not limited to the embodiments described in detail below, and that the embodiments described in the examples may be combined as appropriate to form other embodiments that will be apparent to those skilled in the art.
Claims (4)
1. The utility model provides a wardrobe panel transport manipulator, includes base, support frame, controller and transport platform, the support frame sets up on the base, the controller sets up on the support frame, the transport platform activity sets up on the support frame, its characterized in that, transport manipulator still includes: the positioning assembly is movably arranged on the support frame and connected with the carrying table and used for adjusting the position of the carrying table on the support frame; the clamping assembly is arranged on the carrying table and used for clamping and fixing the wardrobe plate; wherein the clamping assembly comprises: the clamping plates are symmetrically and movably arranged on the carrying table in a group; the cushion seat is arranged on the carrying table and is positioned at one side of the carrying table; the connecting structure is arranged between the carrying table and the positioning assembly and is used for adjusting the angle between the carrying table and the supporting frame; the detection modules are symmetrically arranged on the carrying table in a plurality of groups and are used for detecting the inclination angle of the wardrobe boards and controlling the connection structure to work, and the detection modules and the clamping plates are vertically arranged relative to the center of the carrying table; the clamping execution structures are symmetrically arranged on the carrying table in two groups and are used for executing clamping and fixing work on the wardrobe boards;
The connecting structure comprises a movable seat, a fixed seat, a sleeve seat and a second hydraulic cylinder; the fixed seat is arranged on the carrying table, the movable seat is movably arranged on the supporting frame and connected with the positioning assembly, the sleeve seat is sleeved on the outer wall of the movable seat, the second hydraulic cylinder is movably connected between the sleeve seat and the carrying table, and the second hydraulic cylinder is electrically connected with the detection module;
Each set of the detection modules comprises: the guide box is arranged on the carrying table; the detection rod is movably arranged on the guide box and is elastically connected with the guide box; the detection execution unit is arranged at one end of the detection rod far away from the carrying table and is used for measuring the interference force generated when the detection rod is contacted with the wardrobe board and controlling the expansion of the second hydraulic cylinder;
The detection execution unit comprises a wheel seat, a roller, a detection box, a first conducting strip and a second conducting strip; the detection box is arranged on the detection rod, the wheel seat is movably arranged on the detection box and is connected with the detection box through an elastic piece, the elastic force between the detection rod and the guide box is larger than that between the detection box and the wheel seat, the first conducting strip and the second conducting strip are respectively arranged on the wheel seat and the detection box, the second conducting strip is positioned on the moving path of the first conducting strip, and the roller is movably arranged on the wheel seat;
the clamping execution structure comprises: the carrying arm is provided with a first guide groove in a forming mode, the pad seat penetrates through the first guide groove and is in sliding fit with the first guide groove, and the clamping plate is arranged at one end of the carrying arm; the driving unit is arranged on the carrying table and connected with the carrying arm and is used for adjusting the position of the carrying arm;
The driving unit includes: the movable seat is movably arranged on the carrying table; the sliding seat is movably arranged in a guide rail formed on the movable seat, and the sliding seat is movably connected with the carrying arm through the pushing arm; the first electric telescopic rod is arranged on the carrying table through the mounting seat, and the movable end of the first electric telescopic rod is connected with the movable seat; the second electric telescopic rod is arranged on the movable seat, and the movable end of the second electric telescopic rod is connected with the sliding seat; the limiting piece is arranged between the movable seat and the carrying arm and used for limiting the position of the carrying arm on the sliding seat;
The limiting piece comprises a group of limiting heads and a group of second guide grooves, wherein the limiting heads are symmetrically arranged on the movable seat, the second guide grooves are formed on the carrying arm, and the second guide grooves are in sliding fit with the limiting heads.
2. The wardrobe board handling robot of claim 1, wherein the surface of the clamping plate is provided with a plurality of rubber strips at equal intervals.
3. The wardrobe board handling robot of claim 2, wherein the positioning assembly comprises a frame, a connector, a hydraulic cylinder number one, and a power element; the machine seat and the connector are movably arranged on the supporting frame, the movable seat is movably arranged on the machine seat through the connector, the power element is arranged on the machine seat, the output end of the power element is connected with the connector, and the first hydraulic cylinder is movably connected between the base and the machine seat.
4. The use method of the wardrobe plate conveying manipulator comprises the conveying manipulator disclosed in claim 1, and is characterized by comprising the following specific steps:
s100: the whole carrying manipulator is arranged on movable transportation equipment through a base, and is driven to be close to the wardrobe board through the movement of the transportation equipment;
S200: according to the height of the wardrobe boards, a worker controls the position adjusting assembly to work through the controller, and adjusts the position of the carrying table, so that the carrying table and the wardrobe are identical in height;
S300: when the carrying table is close to the wardrobe plate, the angle of placing the wardrobe plate can be detected through the detection module, and according to the measured angle, the detection module controls the connecting structure to work and adjusts the angle between the carrying table and the supporting frame, so that the carrying table is parallel to the placed wardrobe plate;
s400: after the angle adjustment of waiting to carry the platform is accomplished, carry out the structure work through the control centre gripping, the structure work is carried out in the centre gripping can carry out the centre gripping to the wardrobe panel and is fixed, finally through connection structure and positioning subassembly work for wardrobe panel and ground are perpendicular and raise, thereby realize the transport work to the wardrobe panel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410315787.4A CN117921725B (en) | 2024-03-20 | 2024-03-20 | Wardrobe plate carrying mechanical arm and use method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410315787.4A CN117921725B (en) | 2024-03-20 | 2024-03-20 | Wardrobe plate carrying mechanical arm and use method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN117921725A CN117921725A (en) | 2024-04-26 |
| CN117921725B true CN117921725B (en) | 2024-06-04 |
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Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2002071753A (en) * | 2000-08-30 | 2002-03-12 | Yokogawa Electric Corp | Handler |
| JP2013094951A (en) * | 2011-11-07 | 2013-05-20 | Fujitsu Ltd | Gripping device and robot |
| CN208629425U (en) * | 2018-04-08 | 2019-03-22 | AIrobot株式会社 | Autonomous transfer robot |
| CN111731860A (en) * | 2020-05-29 | 2020-10-02 | 南京阿兹曼电子科技有限公司 | Auxiliary arm set for carrying plates and continuous carrying working method |
| CN113324706A (en) * | 2021-06-30 | 2021-08-31 | 东莞市群立自动化科技有限公司 | Lithium battery leakage detection equipment |
| CN216543381U (en) * | 2021-11-30 | 2022-05-17 | 杭州蓝芯科技有限公司 | Mechanical arm composite robot |
| CN115258673A (en) * | 2022-09-27 | 2022-11-01 | 湖南苋鲜生态科技有限公司 | Mechanical hand of reed processing transport |
| CN116986306A (en) * | 2023-09-12 | 2023-11-03 | 上海宝柏新材料股份有限公司 | Automatic change production line material handling control system |
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- 2024-03-20 CN CN202410315787.4A patent/CN117921725B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002071753A (en) * | 2000-08-30 | 2002-03-12 | Yokogawa Electric Corp | Handler |
| JP2013094951A (en) * | 2011-11-07 | 2013-05-20 | Fujitsu Ltd | Gripping device and robot |
| CN208629425U (en) * | 2018-04-08 | 2019-03-22 | AIrobot株式会社 | Autonomous transfer robot |
| CN111731860A (en) * | 2020-05-29 | 2020-10-02 | 南京阿兹曼电子科技有限公司 | Auxiliary arm set for carrying plates and continuous carrying working method |
| CN113324706A (en) * | 2021-06-30 | 2021-08-31 | 东莞市群立自动化科技有限公司 | Lithium battery leakage detection equipment |
| CN216543381U (en) * | 2021-11-30 | 2022-05-17 | 杭州蓝芯科技有限公司 | Mechanical arm composite robot |
| CN115258673A (en) * | 2022-09-27 | 2022-11-01 | 湖南苋鲜生态科技有限公司 | Mechanical hand of reed processing transport |
| CN116986306A (en) * | 2023-09-12 | 2023-11-03 | 上海宝柏新材料股份有限公司 | Automatic change production line material handling control system |
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| CN117921725A (en) | 2024-04-26 |
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