CN118003302A - Six-axis intelligent carrying manipulator capable of automatically positioning at fixed point - Google Patents
Six-axis intelligent carrying manipulator capable of automatically positioning at fixed point Download PDFInfo
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- CN118003302A CN118003302A CN202410350186.7A CN202410350186A CN118003302A CN 118003302 A CN118003302 A CN 118003302A CN 202410350186 A CN202410350186 A CN 202410350186A CN 118003302 A CN118003302 A CN 118003302A
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- 238000001125 extrusion Methods 0.000 claims abstract description 12
- 230000005540 biological transmission Effects 0.000 claims description 42
- 238000000034 method Methods 0.000 description 8
- 230000001360 synchronised effect Effects 0.000 description 8
- 238000003860 storage Methods 0.000 description 6
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000002349 favourable effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 229910052799 carbon Inorganic materials 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012994 industrial processing Methods 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 238000003466 welding Methods 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
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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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)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of six-axis intelligent carrying manipulators and discloses an automatic fixed-point positioning six-axis intelligent carrying manipulator which comprises a main body and a six-axis manipulator, wherein a module track is arranged on the main body, a movable seat is slidably arranged on the module track, the six-axis manipulator is arranged on the movable seat, a plurality of groups of conveying roller groups and first signal generators are arranged on the main body, a plurality of groups of conveying roller groups are arranged at the conveying tail ends, a multi-contact pressure sensor is arranged at the conveying tail ends, a first linkage rod is arranged on the movable seat, a signal sensor is arranged on the first linkage rod, a second signal generator is arranged on the main body, the module track is started through extrusion of a workpiece on the multi-contact pressure sensor, the movable seat drives the six-axis manipulator and the signal sensor to synchronously move, and the signal sensor moves to a first signal generator position which operates, so that the quick fixed-point positioning is realized, and the whole carrying efficiency can be improved.
Description
Technical Field
The invention relates to the technical field of six-axis intelligent carrying manipulators, in particular to an automatic fixed-point positioning six-axis intelligent carrying manipulator.
Background
At present, technological innovation and autonomous innovation become main flows of industrial development in China, and the industrial development in China is intensive, energy-saving, emission-reducing and low-carbon directions. The mechanical arm provides an ideal power-assisted carrying and assembling tool for material loading and unloading and production article assembling, and can finish three-dimensional space transfer actions such as heavy object grabbing, carrying, overturning, butting, angle fine adjustment and the like, so that the mechanical arm is widely applied to industrial production. The robot can partially replace heavy labor of people to realize mechanization and automation of production, under the easy operation of operators, a plurality of complex works of the robot can be completed, the production and use cost is greatly reduced, the application range is wide, the flexibility and the maneuverability are larger, and the six-axis robot is a common industrial robot which is a tool consisting of a control system, a driving system and a mechanical arm system and can be used for various industrial processing tasks with high difficulty, high precision and high repeatability, such as welding, cutting, assembling, clamping, carrying and the like.
When carrying the work piece, current six intelligent transport manipulators are fixed in a position and are operated, but the operating range is not big, and functions such as unable complete completion transport do not possess long-range transport and automatic fixed point locate function, lead to transport inefficiency, influence the transportation efficiency of work piece.
Disclosure of Invention
The invention aims to provide an automatic fixed-point positioning six-axis intelligent carrying manipulator so as to solve the problems in the background technology.
In order to solve the technical problems, the invention provides the following technical scheme: the utility model provides an automatic six intelligent handling manipulators of fixed point location, this automatic six intelligent handling manipulators of fixed point location includes main part and six manipulators, install the module track in the main part, slidable mounting has the removal seat on the module track, install six manipulators on the removal seat, install multiunit conveying roller group and first signal generator in the main part, first signal generator and conveying roller group's position one-to-one, multiunit conveying roller group's conveying end installs multi-contact pressure sensor, install first gangbar on the removal seat, install signal inductor on the first gangbar, install the layer board in the main part, place the thing frame on the layer board, install second signal generator in the main part, second signal generator corresponds with the position of putting the thing frame, when carrying the work piece, carry the work piece to main part department through conveying roller group, through the extrusion of work piece to multi-contact pressure sensor, make first signal generator move, start the module track, make and remove the signal generator and carry out the signal generator to the six handles through the signal generator to the six, carry out the signal generator to the position of the six handles to the position of the manipulator, can carry out the efficiency to the manipulator through the synchronous movement to the six handles, can carry out the manipulator to the position sensor to the six, can carry out the manipulator to the distance to the position of the work piece.
Further, the multi-contact pressure sensor is electrically connected with the corresponding first signal generator, and when the multi-contact pressure sensor is extruded by a workpiece, the corresponding first signal generator is controlled to operate.
Further, the main body is provided with a carrying first-stage utilization assembly and a carrying second-stage utilization assembly, the movement of the movable seat on the module track is utilized to provide operation driving force for the carrying first-stage utilization assembly and the carrying second-stage utilization assembly, and the cooperative operation of the carrying first-stage utilization assembly and the carrying second-stage utilization assembly is realized.
Further, the carrying primary utilization component comprises a second linkage rod, a toothed plate, a fixed plate, a rotating shaft, a transmission gear, a screw rod, a sliding seat, a slot, a fixed rod, a moving block, a linkage plate, a transmission rod and a driving ring;
Install the second gangbar on the removal seat, install the pinion rack on the second gangbar, the fixed plate is installed to the main part, and the fixed plate is corresponding with the position of second signal generator, install the pivot on the fixed plate, drive gear is installed to the upper end of pivot, the lead screw is installed to the lower extreme of pivot, slidable mounting has the slide on the lead screw, the fluting is seted up to one side that the main part is close to the fixed plate, fixed mounting has the dead lever in the fluting, slidable mounting has the movable block on the dead lever, install the gangbar on the movable block, the gangbar is connected with the slide through the transfer line, install the drive ring on the gangbar, when moving the seat to second signal generator department and remove, the movable seat can drive the pinion rack through the second gangbar and carry out synchronous movement, can drive the lead screw through the transmission cooperation that pinion rack and drive the drive gear formed in the removal process of pinion rack, make the drive gear can drive the lead screw through the pivot and carry out synchronous rotation simultaneously to let down along the lead screw, can drive the slide and reset along the lead screw and move along the synchronous moving along the lead screw in the transmission process when moving down the movable plate and can reset the drive the reset ring and then carry out the counter-rotating along the drive screw.
Further, the carrying primary utilization assembly further comprises a bottom plate, a driving wheel, a rotating column, a curved slideway, a vertical slideway, a driving rod, a driven wheel, a turntable, a passage hole and a transmission belt;
A bottom plate is fixedly arranged at the bottom of one side of the main body, a driving wheel is rotatably arranged on the bottom plate, a rotating column is arranged on the driving wheel, four groups of curved slide ways and four groups of vertical slide ways are arranged on the side wall of the rotating column, the lowest point of the front curved slide way is connected with the highest point of the rear curved slide way through the vertical slide ways, a driving rod is arranged on the inner wall of the driving ring, the driving rod is inserted at the highest point of the vertical slide way, a driven wheel is rotatably arranged on the supporting plate, a rotary table is arranged on the driven wheel, a storage frame is arranged on the rotary table, a passage hole is formed in the main body, a transmission belt is sleeved on the driving wheel and the driven wheel, the driving belt penetrates through the aisle holes, when the driving ring moves downwards, the driving ring can extrude the curved slideway through the driving rod, the driving rod can move to the lowest point of the vertical slideway, the rotating column rotates 90 degrees under extrusion acting force, the rotating column drives the driving wheel to synchronously rotate, the driving wheel can drive the driven wheel to synchronously rotate through the driving belt, the rotating disc can drive the object placing frame to synchronously rotate 90 degrees, uniform placing in the object placing frame in the workpiece carrying process is realized, and when the driving ring moves upwards to reset, the driving rod can move in the vertical slideway, so that the rotating column can be prevented from rotating.
Further, the upper portion of vertical slide articulates there is the baffle, the baffle overlap joint is on curved slide, the bottom of baffle is connected through the elastic cord with vertical slide, when the actuating lever moves up in vertical slide, the actuating lever can promote the tensile elastic cord of baffle and upwards swing, makes things convenient for the actuating lever to remove to vertical slide's peak department, after the actuating lever passes through, the baffle can carry out quick reset under the elastic cord effect, can ensure that the actuating lever moves down in the curved slide when moving down.
Further, install multiunit electric telescopic handle on the lateral wall of carousel, multiunit electric telescopic handle is last to be installed and to press from both sides tight fixed plate, when putting the thing frame and place on the carousel, through starting electric telescopic handle, can drive to press from both sides tight fixed plate and fix the thing frame, can ensure to put the stability of thing frame in the rotation in-process.
Further, the carrying secondary utilization assembly comprises a connecting rod, an extruding plate, an upper inclined plane, a chute, a sliding block, a connecting spring, a stress plate, a lower inclined plane, a jacking rod, a linkage disc, a clamping block and a clamping groove;
install the connecting rod on the pinion rack, install the stripper plate on the connecting rod, the tip of stripper plate is equipped with the inclined plane, the spout has been seted up in the main part, sliding mounting has the slider in the spout, the slider is connected through connecting spring with the bottom of spout, install the atress board on the slider, be equipped with down the inclined plane on the atress board, install the jacking rod on the atress board, install the gangway on the jacking rod, the fixture block is installed to the bottom of gangway, the draw-in groove has been seted up on the drive gear, when moving the seat and moving towards second signal generator department, it carries out synchronous movement to drive the stripper plate through the connecting rod, can let the stripper plate jack-up the atress board, let the atress board drive slider extension connection spring and upwards move in step through the jack-up rod, be favorable to follow drive gear's draw-in groove, can avoid driving the rotation of transfer gear to cause negative influence, after the stripper plate resets, the gangway can drive the fixture block down and change in can be favorable to the drive the fixture block to change under the action of connecting spring and take place the transmission groove.
Compared with the prior art, the invention has the following beneficial effects:
When carrying the work piece, carry the main part department with the work piece through carrying roller group, through the extrusion of work piece to multi-contact pressure sensor, make first signal generator operation, start the module track, make and remove seat drive six manipulators and signal sensor and carry out synchronous movement, remove to the first signal generator department of operation through signal sensor, realize the quick fixed point location to six manipulators, make things convenient for six manipulators to carry out the centre gripping to the work piece according to multi-contact pressure sensor.
When the movable seat moves towards the second signal generator, the sliding seat drives the driving ring to move downwards through the transmission fit formed by the toothed plate and the transmission gear, so that the driving rod can conveniently extrude the curved slideway, the rotary column can rotate 90 degrees under extrusion acting force, the driving wheel can drive the driven wheel to synchronously rotate through the transmission belt, and the rotary disc can drive the storage frame to synchronously rotate 90 degrees, so that the workpiece is uniformly placed in the storage frame in the carrying process.
When the movable seat moves towards the second signal generator, the clamping block can be pulled out of the clamping groove of the transmission gear by utilizing the matching of the upper inclined surface and the lower inclined surface, and the negative influence on the rotation of the transmission gear can be avoided.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention. In the drawings:
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of a partial structure of the present invention;
FIG. 3 is a schematic view of the present invention in partial cutaway;
FIG. 4 is a schematic view of the structure of the rotary column of the present invention;
FIG. 5 is an enlarged schematic view of the structure at A in FIG. 2;
FIG. 6 is an enlarged schematic view of the structure at B in FIG. 3;
Fig. 7 is an enlarged schematic view of the structure at C in fig. 6.
In the figure: 1. a main body; 2. a six-axis manipulator; 3. a module rail; 4. a movable seat; 5. a conveying roller set; 6. a first signal generator; 7. a multi-contact pressure sensor; 8. a first linkage rod; 9. a signal sensor; 10. a second signal generator; 11. a supporting plate; 12. a storage frame;
13. Carrying a primary utilization component; 1301. a second linkage rod; 1302. a toothed plate; 1303. a fixing plate; 1304. a rotating shaft; 1305. a transmission gear; 1306. a screw rod; 1307. a slide; 1308. slotting; 1309. a fixed rod; 1310. a moving block; 1311. a linkage plate; 1312. a transmission rod; 1313. a drive ring; 1314. a bottom plate; 1315. a driving wheel; 1316. a rotating column; 1317. a curved slideway; 1318. a vertical slideway; 1319. a driving rod; 1320. a baffle; 1321. an elastic rope; 1322. driven wheel; 1323. a turntable; 1324. a passageway hole; 1325. a transmission belt; 1326. an electric telescopic rod; 1327. clamping the fixing plate;
14. Carrying a secondary utilization assembly; 1401. a connecting rod; 1402. an extrusion plate; 1403. an upper inclined plane; 1404. a chute; 1405. a slide block; 1406. a connecting spring; 1407. a force-bearing plate; 1408. a lower inclined plane; 1409. a lifting rod; 1410. a linkage disc; 1411. a clamping block; 1412. a clamping groove.
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 based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Examples: as shown in fig. 1-3, the present invention provides the following technical solutions: the automatic fixed point positioning six-axis intelligent carrying manipulator comprises a main body 1 and a six-axis manipulator 2, wherein a module track 3 is arranged on the main body 1, a movable seat 4 is slidably arranged on the module track 3, the six-axis manipulator 2 is arranged on the movable seat 4, a plurality of groups of conveying roller groups 5 and first signal generators 6 are arranged on the main body 1, the first signal generators 6 are in one-to-one correspondence with the positions of the conveying roller groups 5, a plurality of groups of conveying tail ends of the conveying roller groups 5 are provided with multi-contact pressure sensors 7, a first linkage rod 8 is arranged on the movable seat 4, a signal sensor 9 is arranged on the first linkage rod 8, a supporting plate 11 is arranged on the main body 1, a material placing frame 12 is arranged on the supporting plate 11, a second signal generator 10 is arranged on the main body 1, the second signal generator 10 corresponds to the position of the material placing frame 12, when a workpiece is carried by the conveying roller groups 5, the workpiece is conveyed to the main body 1, the signal generator 2 is clamped by the first signal generator 6, the workpiece is pressed by the first signal generator 6, the mechanical arm 2 is clamped by the first signal generator 6, the signal generator 2 is pressed by the second signal generator 2, the six-axis manipulator 2 is moved by the signal sensor 2, the signal sensor 9 is moved by the signal sensor 2, and the six-axis manipulator 2 is moved by the signal sensor 2, the signal sensor 2 is moved by the signal sensor 2, and the signal sensor 2 is moved by the signal sensor 2 rapidly, and the signal sensor 2 is moved by the signal sensor 2, and the signal sensor 2 is moved by the second sensor 2, and the signal sensor 2 is moved by the six-fast sensor 2 and the signal sensor 2, the overall carrying efficiency of the workpiece can be improved.
The multi-contact pressure sensor 7 is electrically connected with the corresponding first signal generator 6, and when the multi-contact pressure sensor 7 is extruded by a workpiece, the corresponding first signal generator 6 is controlled to operate.
The main body 1 is provided with a carrying primary utilization assembly 13 and a carrying secondary utilization assembly 14, the movement of the movable seat 4 on the module track 3 is utilized to provide operation driving force for the carrying primary utilization assembly 13 and the carrying secondary utilization assembly 14, and the cooperative operation of the carrying primary utilization assembly 13 and the carrying secondary utilization assembly 14 is realized.
As shown in fig. 1 to 7, the carrying primary utilization assembly 13 includes a second linkage rod 1301, a toothed plate 1302, a fixed plate 1303, a rotating shaft 1304, a driving gear 1305, a screw 1306, a slide 1307, a slot 1308, a fixed rod 1309, a moving block 1310, a linkage plate 1311, a driving rod 1312, and a driving ring 1313;
Install the second gangbar 1301 on the movable seat 4, install the pinion rack 1302 on the second gangbar 1301, install fixed plate 1303 on the main part 1, and fixed plate 1303 is corresponding with the position of second signal generator 10, install pivot 1304 on the fixed plate 1303, transmission gear 1305 is installed to the upper end of pivot 1304, lead screw 1306 is installed to the lower extreme of pivot 1304, slidable mounting has slide 1307 on the lead screw 1306, the fluting 1308 is seted up to one side that main part 1 is close to fixed plate 1303, fixed mounting has fixed lever 1309 in the fluting 1308, slidable mounting has movable block 1310 on the fixed lever 1309, install gangbar 1311 on the movable block 1310, gangbar 1311 is connected through the transfer line 1312 with slide 1307, install driving ring 1313 on the gangbar 1311, when movable seat 4 moves towards second signal generator 10 department, movable seat 4 can drive pinion rack 1302 through second link 1306 and carry out synchronous movement, can drive down along the lead screw 1306 through the cooperation that pinion rack 1302 and drive gear 1306 forms, can drive down along the transmission ring 1305 and move along with the transmission gear 1305 and drive down along with the transmission rod 1307 and drive down the transmission ring 1305, thereby can drive down along with the transmission gear 1307 and drive down the transmission ring 1307 and move along with the transmission gear 1307 and drive down along with the transmission rod 1307, thereby can drive down the transmission rod along with the transmission gear along with the transmission line 1307 and drive along the transmission line 1301.
The carrying primary utilization assembly 13 further comprises a bottom plate 1314, a driving wheel 1315, a rotating column 1316, a curved slide 1317, a vertical slide 1318, a driving rod 1319, a driven wheel 1322, a turntable 1323, a passageway hole 1324, and a driving belt 1325;
The bottom plate 1314 is fixedly arranged at the bottom of one side of the main body 1, the driving wheel 1315 is rotatably arranged on the bottom plate 1314, the rotary table 1323 is arranged on the driving wheel 1315, the object placing frame 12 is placed on the rotary table 1323, the passageway holes 1324 are formed in the main body 1, the lowest point of the front curved slide 1317 is connected with the highest point of the rear curved slide 1317 through the vertical slide 1318, the driving rod 1319 is arranged on the inner wall of the driving ring 1313, the driving rod 1319 is inserted at the highest point of the vertical slide 1318, the driven wheel 1322 is rotatably arranged on the supporting plate 11, the rotary table 1323 is arranged on the driven wheel 1323, the driving wheel 1315 and the driven wheel 1322 are sleeved with the driving belt 1325, the driving belt 1324 penetrates through the passageway holes 1324, when the driving ring 1313 moves downwards, the driving ring 1313 can squeeze the curved rod 1319 to enable the driving rod 1319 to move to the position of the driven wheel 1316, and accordingly the rotary table 1323 can be rotated by the driving wheel 1316, and the driving rod 1316 can be rotated by the driving rod 1316 to enable the driving wheel 1313 to move around the driving rod 1316, and the driving rod 1316 can be rotated by the driving rod 1316 to move around the driving rod 1313, and the driving rod 1316 can be rotated by the driving rod 1316 to move around the driving rod 1316, and the driving rod 1313 can be rotated by the driving rod 1326, and the driving rod 1324 can be rotated by the driving rod 1325, and the driving rod 1325 can be moved by the driving rod 1325, and the driving rod can be moved by the driving rod 1325.
The upper portion of vertical slide 1318 articulates there is baffle 1320, baffle 1320 overlap joint is on curved slide 1317, the bottom of baffle 1320 is connected through elastic cord 1321 with vertical slide 1318, when actuating lever 1319 moves up in vertical slide 1318, actuating lever 1319 can promote baffle 1320 tensile elastic cord 1321 and upwards swing, make things convenient for actuating lever 1319 to remove to the highest point department of vertical slide 1318, after actuating lever 1319 passes through, baffle 1320 can carry out quick reset under the action of elastic cord 1321, can ensure that actuating lever 1319 moves down in curved slide 1317 when moving down.
The side wall of the rotary disk 1323 is provided with a plurality of groups of electric telescopic rods 1326, a plurality of groups of electric telescopic rods 1326 are provided with clamping fixing plates 1327, when the object placing frame 12 is placed on the rotary disk 1323, the clamping fixing plates 1327 can be driven to fix the object placing frame 12 by starting the electric telescopic rods 1326, and the stability of the object placing frame 12 in the rotating process can be ensured.
As shown in fig. 1-3 and 5-7, the carrying secondary usage assembly 14 includes a connecting rod 1401, a squeeze plate 1402, an upper inclined surface 1403, a chute 1404, a slider 1405, a connecting spring 1406, a force plate 1407, a lower inclined surface 1408, a lifting rod 1409, a linkage disc 1410, a clamping block 1411, and a clamping groove 1412;
The connecting rod 1401 is installed on the toothed plate 1302, the extruding plate 1402 is installed on the connecting rod 1401, the upper inclined surface 1403 is arranged at the end part of the extruding plate 1402, the sliding plate 1405 is installed in the sliding groove 1404, the sliding plate 1405 is connected with the bottom of the sliding groove 1404 through the connecting spring 1406, the stress plate 1407 is installed on the sliding plate 1405, the lower inclined surface 1408 is arranged on the stress plate 1407, the lifting rod 1409 is installed on the stress plate 1407, the linkage disc 1410 is installed on the lifting rod 1409, the clamping block 1411 is installed at the bottom of the linkage disc 1410, the clamping groove 1412 is formed in the transmission gear 1305, when the moving seat 4 moves towards the second signal generator 10, the moving seat 4 can drive the extruding plate 1402 to synchronously move through the connecting rod 1401, the pressing plate 1402 can be pushed up against the stress plate 1407 through the inclined surface of the upper inclined surface 1403 and the lower inclined surface 1408, the stress plate 1407 can be driven by the stress plate 1407 to be pushed up through the stretching connecting spring 1406, the linkage disc 1407 can be driven by the lifting plate 1407 to be driven by the sliding plate 1405 to move up, the linkage disc 1412 can be prevented from being influenced by the clamping block 1412, and the clamping block 1412 can be driven by the clamping block 1412 to rotate in the transmission gear 1305, and the clamping block is prevented from being influenced by the clamping block 1412.
The working principle of the invention is as follows:
When carrying the work piece, carry the main part 1 department with the work piece through carrying roller group 5, through the extrusion of work piece to multi-contact pressure sensor 7, make first signal generator 6 operation, start module track 3, make and remove seat 4 drive six manipulators 2 and signal sensor 9 and carry out synchronous movement, remove to the first signal generator 6 departments of operation through signal sensor 9, realize the quick fixed point location to six manipulators 2, make things convenient for six manipulators 2 to carry out the centre gripping to the work piece according to multi-contact pressure sensor 7, after six manipulators 2 centre gripping work piece, remove to the position department of second signal generator 10 through removing seat 4, make things convenient for six manipulators 2 to carry out long distance transport, carry the work piece to put in the thing frame 12, can improve the holistic transport efficiency to the work piece.
When the movable seat 4 moves towards the second signal generator 10, the movable seat 4 can drive the toothed plate 1302 to synchronously move through the second linkage rod 1301, and drive the transmission gear 1305 to rotate through the transmission fit formed by the toothed plate 1302 and the transmission gear 1305 in the moving process of the toothed plate 1302, so that the transmission gear 1305 can drive the screw rod 1306 to synchronously rotate through the rotating shaft 1304, and therefore the sliding seat 1307 can move downwards along the screw rod 1306, meanwhile, the sliding seat 1307 can drive the linkage plate 1311 to move downwards through the transmission rod 1312 in the moving downwards process, and further can drive the driving ring 1313 to synchronously move downwards, and when the toothed plate 1302 resets along with the movable seat 4, the transmission gear 1305 is driven to reversely rotate, and accordingly the sliding seat 1307 can move upwards along the screw rod 1306 to reset.
When the driving ring 1313 moves downwards, the driving ring 1313 can extrude the curved slide 1317 through the driving rod 1319, so that the driving rod 1319 moves to the lowest point of the vertical slide 1318, the rotary column 1316 rotates 90 degrees under extrusion acting force, so that the rotary column 1316 drives the driving wheel 1315 to synchronously rotate, the driving wheel 1315 can drive the driven wheel 1322 to synchronously rotate through the driving belt 1325, the rotating disc 1323 can further drive the storage frame 12 to synchronously rotate 90 degrees, uniform placement in the storage frame 12 in the workpiece conveying process is realized, and when the driving ring 1313 moves upwards and resets, the rotary column 1316 can be prevented from rotating due to the fact that the driving rod 1319 can move in the vertical slide 1318.
When the movable seat 4 moves towards the second signal generator 10, the movable seat 4 can drive the extrusion plate 1402 to synchronously move through the connecting rod 1401, and the extrusion plate 1402 can lift the force-bearing plate 1407 through the matching of the upper inclined surface 1403 and the lower inclined surface 1408, so that the force-bearing plate 1407 drives the sliding block 1405 to stretch the connecting spring 1406 to move upwards, and the force-bearing plate 1407 drives the linkage disc 1410 to synchronously move upwards through the lifting rod 1409, so that the clamping block 1411 is facilitated to be pulled out from the clamping groove 1412 of the transmission gear 1305, negative influence on the rotation of the transmission gear 1305 can be avoided, and after the extrusion plate 1402 resets, the force-bearing plate 1407 can drive the linkage disc 1410 to move downwards under the action of the connecting spring 1406, so that the clamping block 1411 is facilitated to be inserted into the clamping groove 1412, and the transmission gear 1305 can be prevented from rotating by mistake.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (8)
1. Six intelligent transport manipulators of automatic fixed point location, its characterized in that: this six intelligence handling machines of automatic fixed point location includes main part (1) and six mechanical arms (2), install module track (3) on main part (1), slidable mounting has on module track (3) and removes seat (4), remove and install six mechanical arms (2) on seat (4), install multiunit conveying roller group (5) and first signal generator (6) on main part (1), first signal generator (6) and conveying roller group (5) position one-to-one, multiunit conveying roller group (5) carry the end and install multicontact pressure sensor (7), remove and install first gangbar (8) on seat (4), install signal inductor (9) on first gangbar (8), install layer board (11) on main part (1), place on layer board (11) and put thing frame (12), install second signal generator (10) on main part (1), second signal generator (10) and the position that puts thing frame (12) correspond.
2. The automatic fixed point positioning six-axis intelligent handling manipulator according to claim 1, wherein: the multi-contact pressure sensor (7) is electrically connected with the corresponding first signal generator (6), and when the multi-contact pressure sensor (7) is extruded by a workpiece, the corresponding first signal generator (6) is controlled to operate.
3. The automatic fixed point positioning six-axis intelligent handling manipulator according to claim 1, wherein: the main body (1) is provided with a carrying primary utilization assembly (13) and a carrying secondary utilization assembly (14), the movement of the movable seat (4) on the module track (3) is used for providing operation driving force for the carrying primary utilization assembly (13) and the carrying secondary utilization assembly (14), and the cooperative operation of the carrying primary utilization assembly (13) and the carrying secondary utilization assembly (14) is realized.
4. A six-axis intelligent handling manipulator capable of automatically positioning and fixing points according to claim 3, wherein: the carrying primary utilization assembly (13) comprises a second linkage rod (1301), a toothed plate (1302), a fixed plate (1303), a rotating shaft (1304), a transmission gear (1305), a screw rod (1306), a sliding seat (1307), a slot (1308), a fixed rod (1309), a moving block (1310), a linkage plate (1311), a transmission rod (1312) and a driving ring (1313);
Install second gangbar (1301) on movable seat (4), install pinion rack (1302) on second gangbar (1301), fixed plate (1303) are installed to main part (1), and fixed plate (1303) are corresponding with the position of second signal generator (10), install pivot (1304) on fixed plate (1303), drive gear (1305) are installed to the upper end of pivot (1304), lead screw (1306) are installed to the lower extreme of pivot (1304), slidable mounting has slide (1307) on lead screw (1306), fluting (1308) are seted up to one side that main part (1) is close to fixed plate (1303), fixed mounting has dead lever (1309) in fluting (1308), slidable mounting has movable block (1310) on dead lever (1309), install gangbar (1311) on movable block (1310), movable block (1311) are connected through transfer line 1312 (1312), install drive ring (1313) on gangbar (1311).
5. The automatic fixed point positioning six-axis intelligent handling manipulator according to claim 4, wherein: the carrying primary utilization assembly (13) further comprises a bottom plate (1314), a driving wheel (1315), a rotating column (1316), a curved slide way (1317), a vertical slide way (1318), a driving rod (1319), a driven wheel (1322), a turntable (1323), a passage hole (1324) and a transmission belt (1325);
The utility model discloses a driving wheel drive mechanism for a bicycle, including main part (1), bottom plate (1314), drive wheel (1315) are installed in rotation on bottom plate (1314), install on drive wheel (1315) swivel post (1316), be equipped with four group's curved slide (1317) and four vertical slide (1318) of group on the lateral wall of swivel post (1316), be connected the lowest point of preceding curved slide (1317) and the highest point of following curved slide (1317) through vertical slide (1318), install actuating lever (1319) on the inner wall of actuating ring (1313), actuating lever (1319) alternate in the highest point department of vertical slide (1318), install driven wheel (1322) in rotation on layer board (11), install carousel (1323) on driven wheel (1323), place on carousel (1323) and put thing frame (12), set up hole (4) on main part (1), actuating lever (1313) are equipped with driving wheel (1325) and are equipped with driving strap (1325), run through hole (1325).
6. The automatic fixed point positioning six-axis intelligent handling manipulator according to claim 5, wherein: the upper portion of the vertical slide (1318) is hinged with a baffle plate (1320), the baffle plate (1320) is lapped on the curved slide (1317), and the bottom of the baffle plate (1320) is connected with the vertical slide (1318) through an elastic rope (1321).
7. The automatic fixed point positioning six-axis intelligent handling manipulator according to claim 5, wherein: a plurality of groups of electric telescopic rods (1326) are arranged on the side wall of the rotary table (1323), and clamping fixing plates (1327) are arranged on the plurality of groups of electric telescopic rods (1326).
8. The automatic fixed point positioning six-axis intelligent handling manipulator according to claim 5, wherein: the carrying secondary utilization assembly (14) comprises a connecting rod (1401), an extrusion plate (1402), an upper inclined surface (1403), a sliding chute (1404), a sliding block (1405), a connecting spring (1406), a stress plate (1407), a lower inclined surface (1408), a lifting rod (1409), a linkage disc (1410), a clamping block (1411) and a clamping groove (1412);
Install connecting rod (1401) on pinion rack (1302), install stripper plate (1402) on connecting rod (1401), the tip of stripper plate (1402) is equipped with inclined plane (1403), spout (1404) have been seted up on main part (1), slidable mounting has slider (1405) in spout (1404), slider (1405) are connected through connecting spring (1406) with the bottom of spout (1404), install atress board (1407) on slider (1405), be equipped with inclined plane (1408) down on atress board (1407), install lifter (1409) on atress board (1407), install gangway (1410) on lifter (1409), fixture block (1411) are installed to the bottom of gangway (1410), draw-in groove (1305) have been seted up on drive gear (1305).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202410350186.7A CN118003302A (en) | 2024-03-26 | 2024-03-26 | Six-axis intelligent carrying manipulator capable of automatically positioning at fixed point |
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| CN202410350186.7A CN118003302A (en) | 2024-03-26 | 2024-03-26 | Six-axis intelligent carrying manipulator capable of automatically positioning at fixed point |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN119117706A (en) * | 2024-09-20 | 2024-12-13 | 绍兴尚枫科技有限公司 | Automatic palletizing device with anti-falling function for palletizing robot |
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- 2024-03-26 CN CN202410350186.7A patent/CN118003302A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN119117706A (en) * | 2024-09-20 | 2024-12-13 | 绍兴尚枫科技有限公司 | Automatic palletizing device with anti-falling function for palletizing robot |
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