CN210682408U - Flexible manipulator for grabbing money bag of money box - Google Patents

Abstract

The utility model provides a snatch flexible manipulator of paper money case paper money bag, sucking disc including top frame and frame lower extreme, the frame lower part left and right sides is equipped with respectively and is left jacking hook and right jacking hook of "L" shape, the horizontal limit end of left side jacking hook links to each other with left jacking cylinder end shaft, left side jacking cylinder front end links to each other with frame lower extreme left side corner axis, the horizontal limit end of right side jacking hook links to each other with right jacking cylinder end shaft, right side jacking cylinder front end links to each other with frame lower extreme right side corner axis, left side jacking hook and right jacking hook lower extreme are hub connection "L" shape left side support hook and right support hook respectively, be equipped with left support hook cylinder between left support hook top and the left jacking hook corner, be equipped with right support hook cylinder between right support hook top and the right jacking hook, each cylinder trachea is connected with compressed air, seal the solenoid valve and the robot electrical property through tribit is continuous simultaneously. The utility model discloses the dead weight is light, and the size is little, and is with low costs, and is more high-efficient, and the material of absorption can not drop when outage or cutting off the gas.

Description

Flexible manipulator for grabbing money bag of money box

Technical Field

The utility model relates to a robotic arm field for the warehouse, concretely relates to snatch flexible manipulator of paper money case paper money bag.

Background

With the improvement of automation level, the automatic control technology is widely applied to the field of stereoscopic warehouses, meets the requirements of people on speed, precision, height, repeated storage, carrying and the like, and greatly improves the overall benefit and the operational strain capacity of the warehouse. The manipulator plays a key role in the goods storing, taking and carrying process of the stereoscopic warehouse, and meanwhile, a Programmable Logic Controller (PLC) has a series of advantages of strong function, high reliability, flexible and convenient use, easy programming and the like and is widely applied to industrial control. Compared with other types of manipulators, the pneumatic manipulator has the characteristics of simple structure, lower manufacturing cost, convenience in maintenance, high speed and the like.

However, in the manipulator in the prior art, when the manipulator is actually used, the material units which can be grabbed by the manipulator are single, and different materials have different sizes, different packaging materials and the like, so that the existing manipulator cannot meet the stacking requirements of the materials with different specifications. Inconvenience is brought to work and cost of purchase of the robot is increased.

The utility model discloses a grant publication number of my department's application is CN208070815U, the patent name is a flexible manipulator's that can snatch multiple specification material unit utility model patent, a flexible manipulator that can snatch multiple specification material unit is provided, including fixing the step motor at the motor support board upper surface, the step motor lower extreme passes the motor support board and connects vertical ball screw pair, and can drive ball screw pair and rotate, lift clamping mechanism is connected to the vice lower extreme of ball screw, lift clamping mechanism contains the horizontal lift backup pad with ball screw pair fixed connection again, the equal fixed connection horizontal clamping cylinder in the lift backup pad lower surface left and right sides, the perpendicular both sides splint of clamping cylinder end connection, both sides splint outside facade sets up vertical hook cylinder, end shaft connection hook under the hook cylinder, hook and both sides splint have the hook pivot again. The lower plane of the motor supporting plate is fixedly connected with a fixing rod and a guide rod, the lower ends of the fixing rod and the guide rod are fixedly connected with a sucker supporting plate, the sucker supporting plate is located on the lower side of the lifting clamping mechanism in parallel, the lower surface of the sucker supporting plate is connected with a sucker, and a vacuum check valve is arranged at the upper end of the sucker. The utility model discloses a can snatch multiple not unidimensional specification material.

However, the patent still has three disadvantages:

1. the manipulator has many parts, resulting in a large self weight. Particularly, the sucker is driven by the stepping motor, the motor is heavy, the load of the robot is increased, the weight of the grabbed goods is limited, and the cost for manufacturing the manipulator is high due to more parts;

2. the speed that the manipulator snatched the goods is low, leads to the robot work inefficiency. When the manipulator absorbs the packaging box, the sucker firstly descends through the descending of the stepping motor and the ball screw, the sucker absorbs goods after contacting the packaging box, then the stepping motor drives the ball screw to retract, and after the sucker drives the goods to be lifted to a certain height, the hooks on the two sides extend inwards to support the goods. The middle process is more, so that the grabbing speed is limited;

3. when there is a manipulator outage or gas cut-off, the danger that the sucked material will fall off leads to a safety problem.

Disclosure of Invention

In order to solve the technical problem, the utility model aims at providing a dead weight is lighter, and the size is littleer, and the cost is lower, accomplishes that whole the pile up neatly spent shorter, and is more efficient, and can ensure when outage or gas cut-off, the flexible manipulator that the material that is absorbed can not drop.

The utility model provides a flexible manipulator for grabbing money case money bag, which comprises a frame and a sucker, wherein the top of the frame is used for connecting a robot flange, the sucker is arranged at the lower end of the frame, the flexible manipulator is characterized in that the left side and the right side of the lower part of the frame are respectively provided with a left jacking hook and a right jacking hook which are L-shaped, the vertical side of the left jacking hook is positioned at the left side of the lower end of the frame, the horizontal side is extended from the left side of the lower end of the frame to the right side and is connected with the right side corner shaft of the lower end of the frame, the vertical side of the right jacking hook is positioned at the right side of the lower end of the frame, the horizontal side is extended from the right side of the lower end of the frame to the left side and is connected with the left side corner shaft of the lower end of the frame, the horizontal side end of the left jacking hook is provided with a left jacking cylinder and, the tail end of the transverse edge of the right jacking hook is provided with a right jacking cylinder and is connected with a tail end shaft of the right jacking cylinder, and the front end of the right jacking cylinder is connected with a right side corner shaft of the lower end of the rack.

The left jacking hook with the lower extreme of right jacking hook still respectively the hub connection have the left of "L" shape hold in the palm hook and the right hook that holds in the palm, the left side holds in the palm the hook and all faces inboard with the "L" shape opening of right hook that holds in the palm, the left side hold in the palm the hook the top with be provided with left support hook cylinder between the corner of left jacking hook, the right side hold in the palm the hook the top with be provided with right support hook cylinder between the corner of right jacking hook.

The length of the sucker is smaller than the length of the vertical edge of the left jacking hook and the length of the vertical edge of the right jacking hook.

The left jacking cylinder, the right jacking cylinder, the left hook supporting cylinder and the right hook supporting cylinder are connected with compressed air through air pipes and are electrically connected with the robot through three-position five-way middle sealing electromagnetic valves.

The frame divide into the flange joint frame on upper portion again and fixes the sucking disc backup pad of flange joint frame bottom, the sucking disc is evenly fixed the bottom surface downside of sucking disc backup pad, the horizontal limit of left side jacking hook terminal with the right side corner shaft of sucking disc backup pad connects, the horizontal limit of right side jacking hook terminal with the left side corner shaft of sucking disc backup pad connects, the front end of left side jacking cylinder with the left side corner shaft of sucking disc backup pad links to each other, the front end of right side jacking cylinder with the right side corner shaft of sucking disc backup pad links to each other.

Left side jacking hook is in by the setting the left front jacking hook and the setting of frame leading flank are in the left back jacking hook of frame trailing flank is constituteed, right side jacking hook is in by the setting the right front jacking hook and the setting of frame leading flank are in the right back jacking hook of frame trailing flank is constituteed, between left front jacking hook and the left back jacking hook between right front jacking hook and the right back jacking hook, through setting up at the corner and erect the terminal connecting axle in limit.

The left side holds in the palm the hook by setting up the left front of frame leading flank holds in the palm the hook and sets up the left back of frame trailing flank holds in the palm the hook and constitutes, the right side holds in the palm the hook by setting up the right front of frame leading flank holds in the palm the hook and sets up the right back of frame trailing flank holds in the palm the hook and constitutes, between left side front ask hook and the left back ask the hook, between right front ask hook and the right back ask the hook, through setting up at the corner and the terminal connecting axle of horizontal limit.

The sucking disc with be connected with vacuum check valve between the frame, vacuum check valve end is connected with vacuum generator through the trachea.

The sucking discs are more than 2 in number and are evenly arranged on the lower surface of the sucking disc supporting plate. And the left jacking cylinder and the right jacking cylinder are 2 groups.

The principle of the manipulator device is as follows: absorb the material (paper money case or paper money bag) earlier by the sucking disc, in order to prevent that the air leakage of individual sucking disc and lead to whole gas circuit system air leakage, vacuum check valve has been increased on the sucking disc, the sucking disc is fixed in the frame, when needs absorb the material, jacking cylinder (2 group) stretch out, drive the jacking hook and rise, hold in the palm the hook cylinder and be in the withdrawal state simultaneously, then the robot drives the manipulator and removes and absorb the material, after the sucking disc contacts the material upper surface and holds, the robot drives the manipulator and upwards rises to a take the altitude, jacking cylinder withdrawal this moment, and then drive the jacking hook decline, hold in the hook cylinder and stretch out immediately, drive and hold in the hook and rise, hold in the bottom of material, snatch the.

The utility model discloses can realize following function:

a) the flexible manipulator can perform unstacking and stacking operation on 25kg of banknote boxes or banknote bags by a robot, so that automatic warehouse entry and exit are realized;

b) by installing the 3D camera on the robot, the manipulator can automatically identify and verify the type and the position of the material needing to be grabbed at present, so that different stacking programs are called to detach and stack the current material;

c) different materials, package types and package sizes vary. The packaging types are banknote boxes and banknote bags, and the packaging sizes are 10;

d) when the ex-warehouse order is selected, different types of packages can be mixed, and the ex-warehouse efficiency is improved.

The high-efficiency safety of pile removing of the paper money bag of the paper money box is realized, and the safety risk of pile removing is avoided.

Drawings

Fig. 1 is a main schematic view of the present invention;

fig. 2 is a schematic side view of the present invention;

FIG. 3 is a main schematic view of the utility model after the bracket hook is opened;

fig. 4 is a schematic side view of the bracket hook of the present invention after being opened.

The attached drawings are as follows:

1. a frame; 2. a left jacking hook; 3. a right jacking hook; 4. a suction cup; 5. a left jacking cylinder; 6. a right jacking cylinder; 7. a left support hook; 8. a right support hook; 9. a left hook supporting cylinder; 10. a right hook supporting cylinder; 11. a vacuum check valve; 12. a vacuum generator; 13. a three-position five-way middle sealing electromagnetic valve;

1-1, connecting a flange with a frame; 1-2, a sucker supporting plate; 2-1, lifting a hook at the left front part; 2-2, lifting a hook at the left back; 3-1, right front jacking hook; 3-2, lifting the hook at the back right; 7-1, a left front supporting hook; 7-2, a left rear supporting hook; 8-1, right front supporting hook; 8-2, right rear hook (not shown in the figure).

Detailed Description

As shown in fig. 1-4, the utility model provides a snatch flexible manipulator of paper money case paper money bag, be used for connecting frame (1) of robot ring flange and setting including the top and be in sucking disc (4) of frame (1) lower extreme, characterized by, the lower part left and right sides of frame (1) is provided with left jacking hook (2) and right jacking hook (3) that are "L" shape respectively, the vertical limit of left side jacking hook (2) is located the lower extreme left side of frame (1), the horizontal limit by the lower extreme left side of frame (1) is extended to the right side and with the lower extreme right side angular shaft of frame (1) connects, the vertical limit of right side jacking hook (3) is located the lower extreme right side of frame (1), the horizontal limit by the lower extreme right side of frame (1) extend to the left side and with the lower extreme left side angular shaft of frame (1) connects, the horizontal limit end of left side jacking hook (2) be provided with left jacking cylinder (5) and with left side jacking cylinder (5) jacking cylinder ) The end shaft of (2) link to each other, the front end of left side jacking cylinder (5) with the lower extreme left side angle shaft of frame (1) links to each other, the horizontal limit end of right side jacking hook (3) be provided with right jacking cylinder (6) and with the end shaft of right side jacking cylinder (6) links to each other, the front end of right side jacking cylinder (6) with the lower extreme right side angle shaft of frame (1) links to each other.

Left side jacking hook (2) with the lower extreme of right side jacking hook (3) still respectively the hub connection have left support hook (7) and right support hook (8) of "L" shape, left side support hook (7) all towards inboard with the "L" shape opening of right support hook (8), are bilateral symmetry structure, the top of left side support hook (7) with be provided with left support hook cylinder (9) between the corner of left side jacking hook (2), the top of right side support hook (8) with be provided with right support hook cylinder (10) between the corner of right side jacking hook (3).

The length of the sucker (4) is smaller than the length of the vertical edge of the left jacking hook (2) and the right jacking hook (3).

The robot is characterized in that the left jacking cylinder (5), the right jacking cylinder (6), the left hook supporting cylinder (9) and the right hook supporting cylinder (10) are connected with compressed air through air pipes and are electrically connected with the robot through three-position five-way middle sealing electromagnetic valves (13).

Frame (1) divide into flange joint frame (1-1) on upper portion again and fix sucking disc backup pad (1-2) of flange joint frame (1-1) bottom, sucking disc (4) are evenly fixed the bottom surface downside of sucking disc backup pad (1-2), the horizontal limit end of left side jacking hook (2) with the right side angular shaft of sucking disc backup pad (1-2) connects, the horizontal limit end of right side jacking hook (3) with the left side angular shaft of sucking disc backup pad (1-2) connects, the front end of left side jacking cylinder (5) with the left side angular shaft of sucking disc backup pad (1-2) links to each other, the front end of right side jacking cylinder (6) with the right side angular shaft of sucking disc backup pad (1-2) links to each other.

Left side jacking hook (2) are in by the setting frame (1) front side's left front jacking hook (2-1) and setting are in the left back jacking hook (2-2) of frame (1) trailing flank are constituteed, right side jacking hook (3) are in by the setting frame (1) front side's right front jacking hook (3-1) and setting are in right back jacking hook (3-2) of frame (1) trailing flank are constituteed, between left front jacking hook (2-1) and the left back jacking hook (2-2), between right front jacking hook (3-1) and right back jacking hook (3-2), through setting up at the corner and the terminal connecting axle in vertical edge.

The left supporting hook (7) is composed of a left front supporting hook (7-1) arranged on the front side face of the rack (1) and a left rear supporting hook (7-2) arranged on the rear side face of the rack (1), the right supporting hook (8) is composed of a right front supporting hook (8-1) arranged on the front side face of the rack (1) and a right rear supporting hook (8-2) arranged on the rear side face of the rack (1), and the connection between the left front supporting hook (7-1) and the left rear supporting hook (7-2), the connection between the right front supporting hook (8-1) and the right rear supporting hook (8-2) is realized through connecting shafts arranged at corners and the tail ends of transverse edges.

The vacuum sucker (4) is connected with a vacuum check valve (11) between the rack (1), and the tail end of the vacuum check valve (11) is connected with a vacuum generator (12) through an air pipe.

The number of the suckers (4) is more than 2, and the suckers are uniformly arranged on the lower surface of the sucker supporting plate (1-2). And the left jacking cylinder (5) and the right jacking cylinder (6) are 2 groups.

The working principle of the utility model is as follows:

a) banknote cassette handling

i. Grabbing

The intelligent manipulator needs to be installed on a robot for use. After the system receives and snatchs paper money case instruction, the external equipment robot can move to the assigned position, the robot drives the whole downward motion of manipulator and contacts paper money case upper surface to sucking disc (4) bottom, paper money case is absorbed in sucking disc (4), then up to a take the altitude, left jacking cylinder (5) this moment, right jacking cylinder (6) withdrawal, and then drive left jacking hook (2), right jacking hook (3) descend, immediately left support hook cylinder (9), right support hook cylinder (10) stretch out, drive left support hook (7), right support hook (8) are held up, hold paper money bottom of the case portion, snatch the action and finish. And then palletizing or unstacking is carried out according to the requirements of the system along with the conveying of the robot to a specified position.

ii, put down

After the manipulator finishes the grabbing action, the money boxes need to be stacked to a specified tray position or unstacked to a specified position. At the moment, when the robot moves to a stacking or unstacking position, the left hook supporting cylinder (9) and the right hook supporting cylinder (10) retract to drive the left hook supporting cylinder (7) and the right hook supporting cylinder (8) to open, the bottom of the cash box is not supported by the left hook supporting cylinder (7) and the right hook supporting cylinder (8) at the moment, after the left hook supporting cylinder (7) and the right hook supporting cylinder (8) open, the left jacking cylinder (5) and the right jacking cylinder (6) extend out to drive the left jacking hook (2) and the right jacking hook (3) to rise, the robot drives the manipulator to move downwards until the bottom of the cash box contacts the cash box below the manipulator, the vacuum generator (12) breaks vacuum, the sucking disc (4) blows to enable the sucking disc (4) to be separated from the cash box, and the robot drives the manipulator to leave the stacking or unstacking position, and the action is finished.

b) Banknote bag handling

i. Grabbing

After the system receives and snatchs the paper money bag instruction, the external equipment robot can move to the assigned position, the robot drives the whole downward motion of manipulator and contacts paper money bag upper surface to sucking disc (4) bottom, sucking disc (4) are inhaled the paper money bag, then toward rising to a take the altitude, left jacking cylinder (5) this moment, right jacking cylinder (6) withdrawal, and then drive left jacking hook (2), right jacking hook (3) descend, immediately left support hook cylinder (9), right support hook cylinder (10) stretch out, drive left support hook (7), right support hook (8) are held up, hold paper money bag bottom, snatch the paper money bag and finish. And then palletizing or unstacking is carried out according to the requirements of the system along with the conveying of the robot to a specified position.

ii, put down

After the manipulator finishes the grabbing action, the banknote bags need to be stacked to a designated tray position or unstacked to a designated position. At the moment, when the robot moves to a stacking or unstacking position, the left hook supporting cylinder (9) and the right hook supporting cylinder (10) retract to drive the left hook supporting cylinder (7) and the right hook supporting cylinder (8) to open, the bottom of the banknote belt is not supported by the left hook supporting cylinder (7) and the right hook supporting cylinder (8), after the left hook supporting cylinder (7) and the right hook supporting cylinder (8) open, the left jacking cylinder (5) and the right jacking cylinder (6) extend out to drive the left jacking hook (2) and the right jacking hook (3) to rise, the robot drives the manipulator to move downwards until the bottom of the banknote bag contacts the banknote belt below the manipulator, the vacuum generator (12) breaks vacuum, the sucking disc (4) blows to enable the sucking disc (4) to be separated from the banknote bag, and the robot drives the manipulator to leave the stacking or unstacking position, and the action is finished.

The equipment has the following characteristics:

1. this manipulator is lighter than the manipulator of prior application for patent, and the size is littleer, and the cost is lower, and it is shorter to accomplish whole time of breaking a yard buttress, and is more high-efficient. And when the grabbed materials need to be put down, the space occupied by the completely opened hooks is small, and interference collision with the materials of the adjacent trays can be avoided.

2. Because the solenoid valve of control jacking cylinder and support hook cylinder is three-position five-way well-sealed formula, even system outage or outage when the material is transporting the in-process, the material can not drop and produce the incident yet, has guaranteed the security of storehouse operation.

The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions, improvements, etc. within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (6)

1. A flexible manipulator for grabbing a money box money bag comprises a rack (1) and a sucker (4), wherein the top of the rack is used for being connected with a robot flange, the sucker (4) is arranged at the lower end of the rack (1), and the flexible manipulator is characterized in that the left side and the right side of the lower portion of the rack (1) are respectively provided with a left lifting hook (2) and a right lifting hook (3) which are L-shaped, the vertical side of the left lifting hook (2) is located on the left side of the lower end of the rack (1), the transverse side of the left lifting hook is extended from the left side of the lower end of the rack (1) to the right side and is in angular shaft connection with the right side of the lower end of the rack (1), the vertical side of the right lifting hook (3) is located on the right side of the lower end of the rack (1), the transverse side of the rack is extended from the right side of the lower end of the rack (1) to the left side and is in shaft connection with the left side of the lower end of the rack (1), the transverse, the front end of the left jacking cylinder (5) is connected with a left side corner shaft at the lower end of the rack (1), the tail end of the transverse edge of the right jacking hook (3) is provided with a right jacking cylinder (6) and is connected with a tail end shaft of the right jacking cylinder (6), and the front end of the right jacking cylinder (6) is connected with a right side corner shaft at the lower end of the rack (1);

the lower ends of the left jacking hook (2) and the right jacking hook (3) are respectively connected with an L-shaped left supporting hook (7) and a L-shaped right supporting hook (8) in a shaft mode, L-shaped openings of the left supporting hook (7) and the right supporting hook (8) face inwards and are of a bilaterally symmetrical structure, a left supporting hook cylinder (9) is arranged between the top of the left supporting hook (7) and a corner of the left jacking hook (2), and a right supporting hook cylinder (10) is arranged between the top of the right supporting hook (8) and the corner of the right jacking hook (3);

the length of the sucker (4) is smaller than the length of the vertical edge of the left jacking hook (2) and the right jacking hook (3);

the robot is characterized in that the left jacking cylinder (5), the right jacking cylinder (6), the left hook supporting cylinder (9) and the right hook supporting cylinder (10) are connected with compressed air through air pipes and are electrically connected with the robot through three-position five-way middle sealing electromagnetic valves (13).

2. The flexible manipulator of claim 1, wherein the flexible manipulator is used for grabbing a currency bag in a currency box, the frame (1) is divided into a flange connecting frame (1-1) at the upper part and a sucker supporting plate (1-2) fixed at the bottom of the flange connecting frame (1-1), the suckers (4) are uniformly fixed on the lower side of the bottom surface of the sucker supporting plate (1-2), the tail end of the transverse edge of the left jacking hook (2) is in shaft connection with the right side angle of the sucker supporting plate (1-2), the tail end of the transverse edge of the right jacking hook (3) is in shaft connection with the left side corner of the sucker supporting plate (1-2), the front end of the left jacking cylinder (5) is connected with a left side angle shaft of the sucker supporting plate (1-2), the front end of the right jacking cylinder (6) is connected with the right side corner shaft of the sucker supporting plate (1-2).

3. The flexible manipulator for grabbing a currency bag of a currency box as claimed in claim 1, wherein the left jacking hook (2) is composed of a left front jacking hook (2-1) arranged on the front side of the frame (1) and a left rear jacking hook (2-2) arranged on the rear side of the frame (1), the right jacking hook (3) is composed of a right front jacking hook (3-1) arranged on the front side of the frame (1) and a right rear jacking hook (3-2) arranged on the rear side of the frame (1), and the connection between the left front jacking hook (2-1) and the left rear jacking hook (2-2), and between the right front jacking hook (3-1) and the right rear jacking hook (3-2) are connected through connecting shafts arranged at corners and the tail ends of vertical sides.

4. The flexible manipulator for grabbing a currency bag of a currency box as claimed in claim 1, wherein a vacuum check valve (11) is connected between the suction cup (4) and the frame (1), and the tail end of the vacuum check valve (11) is connected with a vacuum generator (12) through an air pipe.

5. The flexible manipulator for grabbing banknote bags of a banknote box as claimed in claim 2, wherein the number of the suckers (4) is more than 2, and the suckers are uniformly arranged on the lower surface of the sucker supporting plate (1-2).

6. The flexible manipulator for grabbing a currency bag of a currency box as claimed in claim 1, wherein the left jacking cylinder (5) and the right jacking cylinder (6) are 2 groups.

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