WO2018171620A1 - 一种机械手装置和码垛设备及码垛方法 - Google Patents

一种机械手装置和码垛设备及码垛方法 Download PDF

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Publication number
WO2018171620A1
WO2018171620A1 PCT/CN2018/079793 CN2018079793W WO2018171620A1 WO 2018171620 A1 WO2018171620 A1 WO 2018171620A1 CN 2018079793 W CN2018079793 W CN 2018079793W WO 2018171620 A1 WO2018171620 A1 WO 2018171620A1
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WO
WIPO (PCT)
Prior art keywords
fork plate
palletizing
gripping portion
gripping
telescopic
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Application number
PCT/CN2018/079793
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English (en)
French (fr)
Inventor
高国武
娄柱
Original Assignee
大连富地重工机械制造有限公司
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Application filed by 大连富地重工机械制造有限公司 filed Critical 大连富地重工机械制造有限公司
Publication of WO2018171620A1 publication Critical patent/WO2018171620A1/zh

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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
    • 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
    • B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for

Definitions

  • the invention relates to the field of palletizing machinery technology, in particular to a robot apparatus, a palletizing device and a palletizing method.
  • the fork plate type robot is used in the market to shape the slender material in a certain order.
  • the fork plate of the fork plate type robot is fixed relative to the mechanical arm.
  • the robot carries the material to the placement point and the material is moved.
  • the fork plate needs to be extracted, and the whole moving robot is required to fork and carry the material, instead of simply extracting the fork plate by moving the fork plate.
  • the entire robot is involved in the movement, and in a space limited environment.
  • the use of such a robot is limited; at the same time, the palletizer using such a robot has a long stroke in the direction in which the robot moves as a whole, occupies unnecessary space, and the structure of the palletizing machine is more complicated and wasteful.
  • the existing palletizing equipment can meet the requirements of two processes of inserting and palletizing slender materials to a certain extent, but the equipment has poor operability and the palletization stability is not ideal, for example, When the slender material is palletized to a certain height, the upper layer of the material will be loose, and the loose upper layer material will affect the stacking of the new layer of material.
  • the elongated material which is palletized may be disordered and superimposed in the longitudinal direction, thereby causing the failure of the palletizing, further causing the interruption of the production line, which is disadvantageous to the orderly and stable production operation. .
  • the present invention provides a robot apparatus and palletizing apparatus and palletizing method.
  • the embodiments of the present invention provide a robot device, a palletizing device, and a palletizing method, which can solve the problems of the prior art that the use of the robot is limited by space, the stroke of the palletizing device is long, the stability of the palletizing is poor, and the efficiency is low.
  • a robot apparatus comprising: a mechanical arm, a first moving mechanism, and a telescopic fork plate, wherein the mechanical arm includes a gripping portion; the first moving mechanism is coupled to and drives the mechanical arm along the predetermined Trajectory movement; the telescopic fork plate is movably connected with the gripping portion, and can linearly move and retract relative to the gripping portion.
  • the gripping portion When the telescopic fork plate is retracted to the gripping portion, the gripping portion is closed to form a receiving space of the material, and the telescopic fork plate When extending away from the gripping portion, the gripping portion opens the material that releases the accommodation space.
  • the telescopic fork plate comprises a connecting telescopic rod and a fork plate, the telescopic rod is movably connected with the gripping portion, and when the fork plate is linearly telescopically moved relative to the gripping portion, the receiving space is opened or closed.
  • the telescopic rod is provided with a rack
  • the gripping portion is provided with a gear
  • the gear meshes with the rack and drives the telescopic rod to linearly reciprocate.
  • the gripping portion includes a gripping body and a baffle, and the gripping body is provided with a guiding rail, and one end of the telescopic rod cooperates with the guiding rail and can linearly move along the guiding rail, and the other end of the telescopic rod and the fork
  • the plates are fixedly connected such that the gripping body, the baffle and the fork plate form a closed receiving space.
  • the guide rail adopts a blind hole structure
  • the telescopic rod protrudes into the cavity of the guide rail, and can linearly reciprocate linearly along the guide rail to linearly move the fork plate linearly with respect to the grasping body.
  • the baffle is disposed on the gripping body through the first hinge point, and the baffle is rotatable about the first hinge point to open and close the receiving space.
  • the gripping portion further includes a first pressure plate and a longitudinal movement mechanism
  • the first pressure plate and the baffle are hingedly coupled with a link
  • the longitudinal movement mechanism is disposed between the first pressure plate and the grasping body, longitudinally
  • the moving mechanism can drive the first pressure plate to move longitudinally relative to the grasping body.
  • the first pressure plate can drive the baffle to rotate around the first hinge point through the connecting rod, so that the receiving space of the gripping portion is opened and closed.
  • the connecting rod and the first pressing plate are connected by a sliding block, and the first pressing plate is provided with a guiding chute, and the sliding block is movably mounted in the guiding chute, so that the first pressing plate can drive the baffle to open and close to accommodate Space and lock the position of the slider when opening and closing.
  • the guide chute is a chute.
  • the guide chute includes a communicating straight groove portion and a chute portion.
  • the gripping body is provided with a lateral slide rail matched with the slider, the slider is connected to the grasping body through the lateral slide rail, the slider moves laterally under the constraint of the lateral slide rail, and the traction flapper is opened. With closed.
  • a rail structure is provided between the bottom of the gripping body and the fork plate, the rail structure connecting the gripping body and the fork plate to move the fork plate relative to the gripping body along the rail structure.
  • the end of the baffle is provided with a card slot, and the card slot can be engaged with the fork plate.
  • a palletizing device includes the robot device of any of the above aspects, a support body, and a second pressing plate and a second moving mechanism disposed on the support body, wherein the second moving mechanism can drive the longitudinal movement and the lateral movement of the second pressing plate relative to the support body,
  • the second pressure plate is used to stabilize the material of the robot device pallet.
  • the second moving mechanism includes a laterally moving pair and a longitudinal moving pair that are connected to each other, the longitudinal moving pair drives the second platen to move longitudinally relative to the support body, and the laterally moving pair drives the second platen relative to the code The material and the support are moved laterally.
  • the longitudinal moving pair and the lateral moving pair are connected by a mounting bracket, the longitudinal moving pair connects the supporting body and the first mounting surface of the mounting bracket, and the lateral moving pair connects the second pressing plate and the second mounting bracket
  • the mounting surface, the first mounting surface of the mounting bracket is perpendicular to the second mounting surface.
  • the palletized material is operated, and the telescopic fork plate is extended laterally to open the receiving space of the gripping portion, and the grasped material is released from the accommodating space to the palletizing position;
  • the material is stabilized, the second moving mechanism is operated, the second platen is moved to the pallet position and pressed against the material of the pallet to stabilize the material.
  • a telescopic fork plate is adopted, and the telescopic fork plate linearly expands and contracts with respect to the mechanical arm, and can form an open or closed state of the gripping portion of the robot, and only requires linear telescopic movement of the telescopic fork plate.
  • the utility model can be used for grasping and palletizing materials without the whole robot participating in the movement, and is not limited to use in a space limited environment;
  • the palletizing device of the invention adopts the above-mentioned manipulator device for grasping and palletizing materials, and passes
  • the second pressure plate stabilizes the material of the palletizing material, so that the palletizing material is regular and compact, the moving distance of the whole machine is short, and the stability and economy of the material palletizing are improved;
  • the palletizing method of the invention can be realized accordingly
  • the operation requirements of grabbing materials, palletizing materials and pressure-stabilizing materials are flexible and convenient, and the automation and integration of production are improved.
  • FIG. 1 is a schematic view showing a state in which a fork plate is opened when a mechanical device is grasped by a material according to a first embodiment of the present invention
  • FIG. 2 is a schematic view showing the closed state of the fork plate when the grasping portion grasps the material according to the first embodiment of the present invention
  • FIG. 3 is a schematic view showing the state in which the fork plate is opened when the robot device picks up the material according to the second embodiment of the present invention
  • FIG. 4 is a schematic view showing the closed state of the fork plate when the grasping portion grasps the material according to the second embodiment of the present invention
  • Figure 5 is a schematic view showing the installation of the slider and the lateral rail according to the second embodiment of the present invention.
  • Figure 6 is a schematic view showing the structure of the guide rail between the fork plate of the present invention and the main body of the gripping portion;
  • Figure 7 is a schematic view showing the position of the end plate of the baffle of the present invention.
  • FIG. 8 is a schematic diagram of a palletizing device palletizing and compressing a material according to an embodiment of the present invention.
  • FIG. 9 is a schematic diagram of a palletizing device palletizing material according to an embodiment of the present invention.
  • the robot apparatus of the present invention is used for grasping materials and placing the grasped materials at a palletizing position.
  • the robot apparatus includes a robot arm 2, a first moving mechanism 1, and a telescopic fork plate 10.
  • the robot arm 2 includes a gripping portion 22.
  • the gripping portion 22 and the telescopic fork plate 10 can form an accommodation space for gripping the material 14.
  • the first moving mechanism 1 is coupled to the robot arm 2 and drives the entire robot arm 2 to move along a predetermined trajectory.
  • the telescopic fork plate 10 is movably coupled to the gripping portion 22, and the telescopic fork plate 10 is linearly retractable relative to the gripping portion 22, and only the telescopic movement of the telescopic fork plate 10 is operated to cause the gripping portion 22 to be opened and Closed state.
  • the grip portion 22 can be closed to form an accommodation space for the material 14.
  • the material 14 is forked into the accommodating space, and the operation requirements of grasping and transporting the material to the pallet position can be realized.
  • the gripping portion 22 When the telescopic fork plate 10 is extended away from the gripping portion 22, the gripping portion 22 can be opened and the material 14 of the accommodating space can be released, and the grasped material 14 can be placed at a predetermined pallet position to realize the palletizing material. Operational requirements.
  • the robot arm 2 can also be provided with a moving arm portion 21 connected to the grip portion 22.
  • the first moving mechanism 1 can drive the gripping portion 22 to move by connecting and driving the moving arm portion 21.
  • the first moving mechanism 1 can be driven by using electric power, hydraulic force or mechanical force as a power source, and the first moving mechanism 1 is connected and driven by the first moving mechanism 1 to drive the gripping portion 22 to at least according to the actual pallet position requirement.
  • Two degrees of freedom move in-plane, such as lateral movement and/or longitudinal movement.
  • the first moving mechanism 1 can employ a cross slide or the like. As long as it is possible to move the gripping portion 22 freely between the gripping position and the pallet position of the material 14.
  • the robot apparatus of the embodiment of the present invention by providing the structure of the telescopic fork plate 10, it is only necessary to drive the telescopic fork plate 10 to linearly expand and contract with respect to the gripping portion 22 when grasping and palletizing materials, without It is necessary for the entire robot arm 2 to participate in the movement, shortening the moving distance, and in the case of limited space, it can also meet the requirements of grasping and palletizing, and save energy.
  • the manipulator device of the invention has the advantages of compact structure, simple operation, energy saving and consumption reduction.
  • the telescopic fork plate 10 includes a telescopic rod 11 and a fork plate 12 that are connected.
  • the telescopic rod 11 is movably connected to the gripping portion 22 and is movable relative to each other.
  • the telescopic rod 11 can drive a linear linear telescopic movement of the fork plate 12 connected thereto with respect to the grip portion 22, and at the same time, the accommodation space of the gripping portion 22 can be opened and closed. status.
  • the connection between the telescopic rod 11 and the gripping portion 22 may be a contact type sliding connection or an engagement connection, or may be a non-contact type induction connection or an electronically controlled connection, which are all within the protection scope of the present invention.
  • the telescopic rod 11 and the gripping portion 22 are connected by sliding, and can be driven by hydraulic force, electric power or mechanical power.
  • the specific connection structure is as follows:
  • the gripping portion 22 includes a gripping body 6 and a flapper 9.
  • a guide rail 13 is provided on the grip body 6.
  • One end of the telescopic rod 11 is engaged with the guide rail 13, and the telescopic rod 11 is linearly movable along the guide rail 13.
  • the other end of the telescopic rod 11 is fixedly coupled to the fork plate 12 such that the gripping body 6, the shutter 9 and the fork plate 12 can form a closed receiving space.
  • the telescopic rod 11 can be disposed in parallel with the fork plate 12, and the interval between the two is greater than the height of the material 14 to be forked.
  • the fork plate 12 adopts an L-shaped structure, and one end is connected with the telescopic rod 11, and the other end is a steel plate for the fork portion.
  • the telescopic rod 11 can also be designed in an L shape such that one end of the L-shaped telescopic rod 11 cooperates with the guide rail 13 on the grip portion 22 to movably connect the telescopic rod 11 with the grip portion 22.
  • the fork plate 12 can be driven to open and close with respect to the grip portion 22.
  • the fork plate 12 is moved to realize the linear telescopic movement of the fork plate 12, and the opening and closing state of the fork plate 12 relative to the gripping portion 22 is further realized.
  • the baffle 9 is adjacent to the forked end of the fork plate 12 so that the baffle 9 can form a closed receiving space with the fork plate 12 and the grip portion 22.
  • the baffle 9 can be fixedly disposed relative to the grip portion 22, and can also be movably disposed.
  • the baffle 9 can be integrally formed with the gripping portion 22, or can be fixedly connected by a connecting member.
  • the baffle 9 and the gripping portion 22 can be articulated in an articulated manner.
  • the guide rail 13 adopts a blind hole structure.
  • the telescopic rod 11 extends into the bore of the guide rail 13, and the telescopic rod 11 can reciprocate linearly along the guide rail 13, thereby driving the fork plate 12 to linearly move relative to the gripping body.
  • different power sources may be used depending on whether the telescopic rod 11 and the guide rail 13 are connected or contactless.
  • the present invention preferably employs a contact type sliding connection in which the telescopic rod 11 projects into the bore of the guide rail 13, and a plunger type hydraulic pump can be formed, and the telescopic rod 11 can be pushed by the hydraulic pressure on the guide rail 13 Telescopic movement within the cavity.
  • the specific structure of the telescopic rod 11 and the guide rail 13 can be designed with reference to the structural form of the plunger type hydraulic pump, and a control valve can be provided for adjusting the hydraulic flow rate so that the compression rod 11 is guided along the guide rail 13 under the action of the hydraulic pressure.
  • the reciprocating linear motion moves the fork plate 12 to reciprocate telescopic movement with respect to the grip portion 22.
  • the structure of the plunger type hydraulic pump makes the movement process more stable and reliable.
  • the telescopic rod 11 and the gripping portion 22 are connected by a meshing manner of a gear and a rack.
  • the telescopic rod 11 is provided with a rack
  • the gripping portion 22 is provided with a gear.
  • the gear on the gripping portion 22 engages with the rack on the telescopic rod 11 and drives the linear reciprocating motion of the telescopic rod 11.
  • the telescopic rod 11 drives the fork plate 12 to move, and the opening and closing of the gripping portion 22 is realized.
  • the gear is driven to rotate in the forward and reverse directions, and the rack meshing with the gear can be reciprocated linearly, thereby realizing the telescopic movement of the fork plate 12.
  • the robot apparatus of the second embodiment of the present invention is used for grasping materials and placing the grasped materials at the palletizing position.
  • the second embodiment is different from the structure of the manipulator device of the first embodiment in that the baffle plate 9 is disposed on the gripping body 6 through the first hinge point 19, and the baffle plate 9 is rotatable about the first hinge point 19 as long as the baffle plate is controlled. 9 With respect to the rotation of the gripping body 6, the accommodation space of the gripping portion 22 can be opened and closed.
  • the gripping portion 22 further includes a first platen 4 and a longitudinal moving mechanism.
  • the grasping body 6 is connected to the moving arm portion 21, and the two may be integrally formed or may be a separate fixed connection.
  • a link 3 is hingedly coupled between the first pressure plate 4 and the baffle 9.
  • the first platen 4 drives the link 3 to move laterally.
  • the connecting rod 3 drives the baffle 9 to rotate around the first hinge point 19, so that the receiving space of the gripping portion 22 is opened and closed.
  • the baffle 9, the first platen 4 of the link 3, and the gripping body 6 constitute a link mechanism.
  • the traction link 3 is laterally moved relative to the grasping body 6, and the drive shutter 9 is rotated relative to the grasping body 6.
  • the baffle 9 When the first platen 4 is lowered and the material 14 is lowered, the baffle 9 is gradually closed, and the material 14 can be firmly grasped and transported to the pallet position. When the first platen 4 is lifted to release the material 14, the baffle 9 is gradually opened, and the grasped material 14 can be released and placed in the pallet position. Synchronous movement of the baffle 9 and the first platen 4 is achieved by the principle of force and motion transmission in the link mechanism. In the process of stably grasping the materials and palletizing materials, the first pressure plate 4 realizes the stability of the material while simultaneously pressing and discharging, and simultaneously realizes the function of automatically opening and closing the driving baffle 9 to make the material accommodating space. Being closed and opened increases the stability and automation of the process of grabbing materials and palletizing materials.
  • the connecting rod 3 is connected to the first pressure plate 4 via a slider 5.
  • the first pressure plate 4 is provided with a guiding chute 23, and the slider 5 is movably mounted in the guiding chute 20.
  • the first pressure plate 4 restrains the slider 5 from moving laterally by the guide groove 20, and the traction shutter 9 opens and closes, and locks the position of the slider 5 when opening and closing. Due to the limitation of the longitudinal movement mechanism in the longitudinal direction and the guiding and lateral restriction of the guide chute 20, the movement path of the slider 5 is limited, and the slider 5 is locked at the extreme position.
  • the shutter 9 can be locked when opened and closed, improving the stability of the operation.
  • the slider 5 and the connecting rod 3 and the connecting rod 3 and the first pressing plate 4 are respectively movably connected.
  • the slider 5 may also be a part of the connecting rod 3, and specifically, a part matching the guiding chute 20 may be bent at the end of the connecting rod 3, which is in the solution of the present invention.
  • the guiding chute 20 is a chute, and the slider 5 is decomposed by the oblique force of the guiding chute 20, and the slider 5 is laterally movable relative to the first pressing plate 4. Since the first pressure plate 4 is restricted by the longitudinal movement mechanism, the first pressure plate 4 is laterally fixed with respect to the grasping body 6, that is, the slider 5 is laterally moved relative to the grasping body 6, and the slider 5 drives the link 3 relative to the catching member. The main body 6 is moved laterally to rotate the baffle 9 around the first hinge point 19 to realize opening and closing of the baffle.
  • the guiding chute 20 is designed as a chute structure, so that the device of the invention can automatically open and close the baffle with a simple structure, and lock the position in the corresponding state, and the overall operation is simple and the reliability is high.
  • the guiding chute 20 includes a communicating straight groove portion and a chute portion.
  • the first pressure plate 4 is pressed down to the material 14 by the longitudinal moving mechanism, and the slider 5 is pressed by the pressure of the inclined groove portion to the straight groove portion with respect to the first pressure plate 4, the shutter 9 gradually reaches the closed state.
  • the slider 5 is limited by the lateral movement of the guide chute 20, and is limited by the longitudinal movement of the longitudinal mechanism, and can be locked in the closed state in the straight groove portion. Since the first platen 4 presses the material 14, the material 14 is gripped more firmly and can be stably transported to the pallet position by the robot arm 1.
  • the slider 5 When the first pressure plate 4 is lifted by the longitudinal movement mechanism to the detachment material 14, the slider 5 first enters the slant groove portion through the straight groove portion of the guide chute 20. When the slider 5 is pressed by the pressure of the inclined groove portion to the inclined groove portion with respect to the first pressure plate 4, the shutter 9 gradually reaches the open state. The slider 5 is restricted by the lateral direction of the guiding chute 20, and is restricted by the longitudinal movement. The slider 5 can be locked in the open state of the chute portion, so that the first platen 4 is automatically separated from the material while the baffle plate 4 is detached from the material, so that the material 14 is placed in the code.
  • the ⁇ position, the operating condition is stable, and has good operability and automation.
  • the gripping body 6 is provided with a lateral rail 8 matched with the slider 5.
  • the slider 5 is connected to the gripping body 6 via a lateral rail 8.
  • the slider 5 is moved laterally under the constraint of the transverse rail 8, and the traction shutter 9 is opened and closed.
  • a rail structure is provided between the bottom of the gripping body 6 of the grip portion 22 and the fork plate 12.
  • the rail structure connects the gripping body 6 of the gripping portion 22 and the fork plate 12 to move the fork plate 12 relative to the grip portion 22 along the rail structure, further moving the fork plate 12 smoothly and telescopically relative to the grip portion 22.
  • the rail structure acts as a connection support, so that the fork plate 12 and the gripping portion 22 form a stable structure, which is favorable for grasping the stability of the material.
  • the rail structure may adopt a guide rail and a guide groove structure, for example, a convex guide rail is disposed on the fork plate, and a guide groove matching the protrusion is disposed at a bottom of the grip portion 22, and the fork plate 12 is convex.
  • the guide rail can smoothly slide along the guide groove of the grip portion 22.
  • the shutter 9 is provided with a card slot 23 at an end portion adjacent to the fork plate 12.
  • the forked end of the fork plate 12 is engaged with the slot 23, which further strengthens the closed state and stability of the baffle, so that the material 14 is more stable and reliable to be grasped and transported.
  • a palletizing apparatus for mainly grasping and transporting the material 14 to a palletizing position, and then compressing the palletized material 14 stably, as shown in Figs. 8 and 9.
  • An embodiment of the palletizing apparatus of the present invention when palletizing and compressing the material 14 is shown.
  • a palletizing apparatus provided by the present invention includes the robot apparatus of the above aspect.
  • the support body 1 is provided with a second pressure plate 15 and a second moving mechanism.
  • the second moving mechanism drives the second platen 15 to move longitudinally and laterally relative to the support body 1, and the second platen 15 is used to pressurize the material 14 palletized by the robot device.
  • the second platen 15 is moved to the pallet position and the palletized material 14 is subjected to a pressure stabilization operation.
  • the material 14 of the palletizing material can be stabilized and arranged regularly, so that the material 14 of the final palletizing material is more tidy and stable, avoiding The problem that the production line is interrupted due to the failure of the material 14 due to the looseness of the material 14 is caused.
  • the palletizing device of the invention has high automation and integration, and improves the palletizing efficiency.
  • the second moving mechanism includes a laterally moving pair 17 and a longitudinal moving pair 18 that are connected to each other and are perpendicular.
  • the longitudinal moving pair 18 drives the second platen 15 to move longitudinally relative to the support body 1.
  • the lateral moving pair 17 drives the second platen 15 to telescopically move relative to the material 14 of the pallet and the support body 1.
  • the lateral movement pair 17 and the longitudinal movement pair 18 can adopt the slide rail type moving pair, and can also adopt the rack type transmission, as long as the second pressure plate can be driven to be free in a plane perpendicular to the horizontal and vertical directions. Movement is included within the principles of the solution of the present invention.
  • the longitudinal movement pair 18 and the lateral movement pair 17 are connected by a mounting bracket 16.
  • the longitudinal moving pair 18 connects the first mounting surface of the support body 1 and the mounting frame 16, and the lateral moving pair 17 connects the second pressure plate 15 and the second mounting surface of the mounting frame 16.
  • the first mounting surface of the mounting bracket 16 is perpendicular to the second mounting surface.
  • a palletizing material method comprising the palletizing apparatus using the above inventive solution, and referring to Figures 8 and 9, the method of palletizing materials comprises the following steps:
  • the material is stabilized, the second moving mechanism is operated, the second platen is moved to the pallet position and pressed against the palletized material 14 to stabilize the material 14.
  • the steps of grabbing material 14, including forking the material, closing the baffle 9 and moving the material are as follows:
  • the first moving mechanism drives the robot arm 2 to move laterally and/or longitudinally to the top of the material 14 to be grasped, so that the fork plate 12 is flush with the bottom of the material 14, and the operating fork plate 12 is laterally contracted relative to the grip portion 22. And forking the material 14 into the receiving space of the gripping portion 22;
  • the longitudinal movement mechanism drives the first pressure plate 4 to be pressed down to the material 14 in the longitudinal direction.
  • the slider 5 is restricted by the guide chute 20 and moves laterally relative to the first pressure plate 4 to drive the baffle 9 to rotate and form a closed state with the fork plate 12 to lock.
  • Operating the first moving mechanism drives the robot arm 2 to move, and the forked material 14 moves with the robot arm 2 to the pallet position.
  • the palletizing material 14, including the steps of opening the baffle 9 and placing the material 14 is as follows:
  • the longitudinal movement mechanism drives the first pressure plate 4 to rise longitudinally away from the material 14.
  • the slider 5 is restricted by the guide chute 20, and moves laterally relative to the first pressure plate 4 to drive the baffle 9 to rotate and form an open state with the fork plate 12, and lock the slide plate.
  • the operating fork plate 12 extends laterally relative to the gripping portion 22, the receiving space of the gripping portion 22 is in an open state, and the material 14 is placed in the palletizing area;
  • the material 14 is compressed, and the second moving mechanism is driven to drive the second pressure plate 15 to move to the uppermost portion of the material 14 in the pallet area, and the second pressure plate 15 is pressed to press the second pressure plate 15 to stabilize the material 14 to be
  • the second moving mechanism is operated to drive the second platen 15 away from the pressed material 14.
  • the material grabbing is stable, the palletizing efficiency is high, energy is saved, the moving distance of the whole machine is shortened, the equipment structure is simplified, the energy utilization is saved, and the grabbing and transportation can be stably carried out.
  • the material improves the palletizing efficiency of the material.
  • the material to be palletized is also stabilized, the regularity of the palletized material is ensured, and the palletizing efficiency is further improved. It is suitable for palletizing slender materials, avoiding the problem of palletizing failure caused by the looseness of the slender material in the length direction.
  • the manipulator device of the present invention has a simple structure and convenient operation, and only needs to operate the telescopic movement of the fork plate 12 relative to the mechanical arm when grasping materials, palletizing materials, and compressing materials, thereby effectively shortening the mechanism.
  • the moving distance of the arm and the moving distance of the overall equipment are shortened, the equipment structure is simplified, the energy is saved, and the utility of the environment is strong; further, the palletizing device of the invention can also achieve the effect of compressing and regulating the material. Further improving the palletizing efficiency; finally, the palletizing material method of the invention has the advantages of simple operation, high degree of automation, integration, good applicability, and flexibility for the picking, transportation and palletizing of different kinds of materials on the production line. And regulatory requirements, improve palletizing efficiency and reduce production costs.

Abstract

一种机械手装置和码垛设备及码垛方法。该机械手装置包括：机械臂(2)，包括抓取部(22)；第一移动机构(1)，与机械臂相连，驱动机械臂沿预定轨迹运动；以及，伸缩式叉板(10)，与抓取部活动连接，相对于抓取部可线性伸缩运动，伸缩式叉板缩向抓取部时，抓取部闭合形成物料的容纳空间，伸缩式叉板向远离抓取部伸出时，抓取部开启释放容纳空间的物料。该装置有效缩短了机械臂的整体移动距离，对空间的利用率高，采用该装置的码垛设备及码垛方法能实现抓取、码垛和压稳物料的操作，码垛效率高，自动化、集成化程度高。

Description

一种机械手装置和码垛设备及码垛方法
相关申请的交叉引用
本申请要求享有于2017年03月23日提交的名称为“一种机械手装置和码垛设备及码垛方法”的中国专利申请201710177865.9的优先权，该申请的全部内容通过引用并入本文中。
技术领域
本发明涉及码垛机械技术领域，具体涉及一种机械手装置和码垛设备及码垛方法。
背景技术
目前，市场上多采用叉板式机械手将细长物料按照一定的顺序码垛成型，现有技术中，叉板式机械手的叉板相对机械臂固定，使用时，机械手将物料搬运到放置点并将物料堆垛后需抽取叉板，需整体移动机械手进行叉取并搬运物料，而非仅仅通过移动叉板的方式抽取叉板，在抽取叉板时，整个机械手均参与移动，在空间有限的环境下，这种机械手的使用会受限；同时，采用这种机械手的码垛机在机械手整体移动的方向上行程比较长，占用了不必要的空间，导致码垛机械设备的结构更加复杂，且浪费能源；此外，现有的码垛设备虽可在一定程度上满足细长物料的插取、码垛等两道工序的要求，但，设备操作性欠佳，码垛稳定性不理想，例如，当细长物料被码垛到一定高度时物料的上层会比较松散，松散的上层物料又会对新一层物料的堆放造成影响，当细长物料在长度方向上略有倾斜时，也会造成被码垛的细长物料在长度方向出现错乱和叠加，从而造成码垛失败，进一步造成生产线的中断，不利于有序稳定的生产操作。
因此，本发明提供了一种机械手装置和码垛设备及码垛方法。
发明内容
本发明实施例提供了一种机械手装置和码垛设备及码垛方法，能够解决现有技术中机械手使用受空间限制，码垛设备行程较长，码垛稳定性差和效率低的问题。
根据本发明的一个方面，提供了一种机械手装置，其包括：机械臂、第一移动机构和伸缩式叉板，其中，机械臂包括抓取部；第一移动机构相连并驱动机械臂沿预定轨迹运动；伸缩式叉板与抓取部活动连接，并相对于抓取部可线性伸缩运动，伸缩式叉板缩向抓取部时，抓取部闭合形成物料的容纳空间，伸缩式叉板向远离抓取部伸出时，抓取部开启释放容纳空间的物料。
根据本发明的一个方面，伸缩式叉板包括相连接的伸缩杆和叉板，伸缩杆与抓取部活动连接，并带动叉板相对于抓取部线性伸缩运动时，使容纳空间开启或闭合。
根据本发明的一个方面，伸缩杆上设有齿条，抓取部设有齿轮，齿轮与齿条啮合并驱动伸缩杆线性往复运动。
根据本发明的一个方面，抓取部包括抓取主体和挡板，抓取主体上设有导向轨，伸缩杆的一端与导向轨配合且可沿导向轨线性运动，伸缩杆的另一端与叉板固定连接，使抓取主体、挡板和叉板可形成封闭的容纳空间。
根据本发明的一个方面，导向轨采用盲孔结构，伸缩杆伸入导向轨的孔腔内，并可沿导向轨线性的往复直线运动，使叉板相对于抓取主体直线伸缩移动。
根据本发明的一个方面，挡板通过第一铰接点设在抓取主体上，挡板可绕第一铰接点转动，使容纳空间开启与闭合。
根据本发明的一个方面，抓取部还包括第一压板和纵向移动机构，第一压板与挡板之间活动铰接有连杆，纵向移动机构设在第一压板和抓取主体之间，纵向移动机构可驱动第一压板相对于抓取主体纵向移动，第一压板通过连杆可带动挡板绕第一铰接点转动，使抓取部的容纳空间开启与闭合。
根据本发明的一个方面，连杆与第一压板通过滑块连接，第一压板上设有导向滑槽，滑块活动安装在导向滑槽内，使第一压板可带动挡板开启与闭合容纳空间，并在开启和闭合时锁定滑块的位置。
根据本发明的一个方面，导向滑槽为斜槽。
根据本发明的一个方面，导向滑槽包括连通的直槽部和斜槽部。
根据本发明的一个方面，抓取主体上设有与滑块匹配的横向滑轨，滑块通过横向滑轨与抓取主体连接，滑块在横向滑轨的约束下横向移动，牵引挡板开启与闭合。
根据本发明的一个方面，在抓取主体底部和叉板之间设有导轨结构，导轨结构连接抓取主体和叉板，使叉板沿导轨结构相对于抓取主体移动。
根据本发明的一个方面，挡板的端部设有卡槽，卡槽可与叉板卡接。
根据本发明的又一个方面，还提供了一种码垛设备。码垛设备包括以上任一方面的机械手装置、支撑体以及设在支撑体上的第二压板和第二移动机构，第二移动机构可驱动第二压板相对于支撑体纵向移动和横向移动，第二压板用于压稳机械手装置码垛的物料。
根据本发明的又一个方面，第二移动机构包括相互连接且垂直的横向移动副和纵向移动副，纵向移动副驱动第二压板相对于支撑体纵向移动，横向移动副驱动第二压板相对于码垛物料和支撑体横向伸缩移动。
根据本发明的又一个方面，纵向移动副与横向移动副之间通过安装架连接，纵向移动副连接支撑体和安装架的第一安装面，横向移动副连接第二压板和安装架的第二安装面，安装架的第一安装面与第二安装面垂直。
根据本发明的再一个方面，还提供了一种码垛物料方法，使用上述的码垛设备码垛物料的方法，包括以下步骤：
抓取物料，操作第一移动机构驱动机械臂移至待抓取物料处，操作伸缩式叉板缩向抓取部，同时叉取物料进入抓取部的容纳空间，然后关闭容纳空间，将物料移送至码垛位置；
码垛物料，操作伸缩式叉板横向伸出，打开抓取部的容纳空间，将抓取的物料从容纳空间释放至码垛位置；
压稳物料，操作第二移动机构，将第二压板移至码垛位置并压在码垛 的物料上方压稳物料。
综上，本发明的机械手装置中，采用伸缩式叉板，伸缩式叉板相对于机械臂线性伸缩运动，能形成机械手抓取部的开启或关闭状态，只需伸缩式叉板线性伸缩运动，而不需要机械手整体参与移动就可抓取和码垛物料，在空间有限的环境中使用不受限；本发明的码垛设备，采用了上述机械手装置用于抓取和码垛物料，并且通过第二压板将码垛的物料压稳，使码垛物料规整紧凑，该设备的整机移动距离较短，提高了物料码垛的稳定性和经济性；本发明的码垛方法，可相应实现抓取物料、码垛物料和压稳物料的操作要求，操作灵活便捷，提高了生产的自动化、集成化程度。
附图说明
为了更清楚地说明本发明实施例的技术方案，下面将对本发明实施例中所需要使用的附图作简单地介绍，显而易见地，下面所描述的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本发明实施例一的一种机械手装置抓取物料时叉板开启状态的示意图；
图2是本发明实施例一的抓取部抓取物料时叉板闭合状态的示意图；
图3是本发明实施例二的一种机械手装置抓取物料时叉板开启状态的示意图；
图4是本发明实施例二的抓取部抓取物料时叉板闭合状态的示意图；
图5是本发明实施例二的滑块与横向滑轨安装示意图；
图6是本发明的叉板与抓取部的主体间的导轨结构示意图；
图7是本发明的挡板端部卡槽位置示意图；
图8是本发明实施例的一种码垛设备码垛并压稳物料时的示意图；
图9是本发明实施例的一种码垛设备码垛物料时的示意图。
标记说明：
1、第一移动机构；2、机械臂；3、连杆；4、第一压板；5、滑块；6、抓取主体；7、纵向滑轨；8、横向滑轨；9、挡板；10、伸缩式叉板； 11、伸缩杆；12、叉板；13、导向轨；14、物料；15、第二压板；16、安装架；17、横向移动副；18、纵向移动副；19、第一铰接点；20、导向滑槽；21、移动臂部；22、抓取部；23、卡槽；24、支撑体。
具体实施方式
下面结合附图和实施例对本发明的实施方式作进一步详细描述。以下实施例的详细描述和附图用于示例性地说明本发明的原理，但不用来限制本发明的范围，即本发明不限于所描述的优选实施例，本发明的范围由权利要求书限定。
在本发明实施例的描述中，需要说明的是，除非另有说明，“垂直”、“平行”不只是数学意义上的绝对意义，可以理解为“大致垂直”、“大致平行”。
图1和图2示意性地显示了本发明实施例一的机械手装置抓取物料时，伸缩式叉板10的开启与闭合状态。本发明的机械手装置，用于抓取物料并将所抓取的物料放置在码垛位置。机械手装置包括机械臂2、第一移动机构1和伸缩式叉板10。机械臂2包括抓取部22。抓取部22和伸缩式叉板10可形成容纳空间，用于抓取物料14。第一移动机构1与机械臂2相连并驱动整个机械臂2沿预定轨迹运动。
伸缩式叉板10与抓取部22活动连接，且伸缩式叉板10相对于抓取部22可线性伸缩运动，仅操作伸缩式叉板10的伸缩运动就可使抓取部22形成开启与闭合状态。当伸缩式叉板10缩向抓取部22时，可使抓取部22闭合，形成物料14的容纳空间。在伸缩式叉板10从伸出到缩回的过程中，将物料14叉取至容纳空间内，可实现抓取并运送物料至码垛位置的操作要求。当伸缩式叉板10向远离抓取部22伸出时，可使抓取部22开启并释放容纳空间的物料14，可将抓取的物料14放在预定的码垛位置，实现码垛物料的操作要求。
可以理解地是，机械臂2还可以设有与抓取部22相连的移动臂部21。具体地，第一移动机构1可通过连接并驱动移动臂部21带动抓取部22运动。可以采用电力、液力或机械力等方式作为动力源来驱动第一移动 机构1运动，并且根据实际码垛位置需求，由第一移动机构1连接并驱动机械臂2带动抓取部22在至少两个自由度平面内移动，如横向移动和/或纵向移动。第一移动机构1可采用十字滑台或者类似机构。只要能实现使抓取部22在物料14的抓取位置和码垛位置之间自由移动即可。
因此，根据本发明实施例的机械手装置，通过设置伸缩式叉板10的结构，在抓取和码垛物料时，只需驱动伸缩式叉板10相对于抓取部22线性伸缩移动，而不需整个机械臂2都参与移动，缩短了移动距离，并且在空间有限的情况下，也能满足抓取和码垛的使用要求，且节省了能源。本发明的机械手装置具有结构紧凑、操作简便、节能降耗的优点。
伸缩式叉板10包括相连接的伸缩杆11与叉板12。伸缩杆11与抓取部22之间活动连接并可相对运动。通过伸缩杆11相对于抓取部22活动运动，伸缩杆11可带动与其相连的叉板12相对于抓取部22做线性的直线伸缩运动，同时使得抓取部22的容纳空间实现开启与闭合状态。具体地，伸缩杆11与抓取部22间的连接方式可以是接触式的滑动连接或啮合连接，也可以是非接触式的感应连接或电控连接，均在本发明方案的保护范围内。
优选地，伸缩杆11与抓取部22之间采用滑动连接的方式，可由液力、电力或者机械动力等驱动方式，具体的连接结构方式如下：
抓取部22包括抓取主体6和挡板9。抓取主体6上设有导向轨13。伸缩杆11的一端与导向轨13配合，且伸缩杆11可沿导向轨13直线运动。伸缩杆11的另一端与叉板12固定连接，使抓取主体6、挡板9和叉板12可形成封闭的容纳空间。具体实施中，伸缩杆11可与叉板12平行设置，且两者之间的间隔大于所叉取的物料14的高度。本实施例中，叉板12采用L型结构，一端连接伸缩杆11，另一端为叉取部分可采用钢板。类似地，也可以将伸缩杆11设计成L型，从而L型的伸缩杆11一端与抓取部22上的导向轨13配合，使伸缩杆11与抓取部22可移动地连接。当伸缩杆11沿导向轨13移动时，可驱动叉板12相对于抓取部22开启与闭合。通过伸缩杆11与导向轨13的导向配合并相对移动，带动叉板12移动，实现了叉板12的直线伸缩式移动，进一步实现了叉板12相对于 抓取部22的开启与闭合状态。
挡板9靠近叉板12的叉取端，使挡板9可与叉板12、抓取部22形成封闭的容纳空间。在具体实施中，挡板9相对于抓取部22可固定设置，也可活动设置。采用固定设置方式时，挡板9可与抓取部22一体成型，也可利用连接件固定连接。采用活动设置方式时，挡板9与抓取部22之间可采用铰接方式活动连接。
导向轨13采用盲孔结构。伸缩杆11伸入导向轨13的孔腔内，伸缩杆11可沿导向轨13往复直线运动，从而带动叉板12相对于抓取主体直线伸缩移动。需要说明的是，可根据伸缩杆11与导向轨13之间是连接方式还是非接触式连接而采用不同的动力源。如图2所示，本发明优选地采用接触式的滑动连接，伸缩杆11伸入导向轨13的孔腔内，可形成柱塞式液压泵，可利用液压力推动伸缩杆11在导向轨13的空腔内伸缩运动。因此，伸缩杆11与导向轨13的具体结构可参照柱塞式液压泵的结构形式设计，同时可设置控制阀，用以调节液压流量，使压缩杆11在液压力的作用下沿导向轨13往复直线运动，从而带动叉板12相对于抓取部22伸直线往复伸缩式移动。采用这种柱塞式液压泵的结构，可使运动过程更加平稳可靠。
可选地，伸缩杆11与抓取部22之间采用齿轮和齿条的啮合方式传动连接，其中，伸缩杆11上设有齿条，抓取部22设有齿轮。抓取部22上的齿轮与伸缩杆11上的齿条啮合并驱动伸缩杆11线性的往复运动。伸缩杆11带动叉板12运动，实现了抓取部22的开启和闭合。操作时，齿轮正反转动的同时驱动与之啮合的齿条能往复直线运动，从而实现了叉板12的伸缩运动。
请一并参阅图3和图4所示，本发明实施例二的机械手装置，用于抓取物料并将所抓取的物料放置在码垛位置。
实施例二与实施例一的机械手装置的结构不同之处在于：挡板9通过第一铰接点19设在抓取主体6上，挡板9可绕第一铰接点19转动，只要控制挡板9相对于抓取主体6转动，就可使抓取部22的容纳空间开启与闭合。
抓取部22还包括第一压板4和纵向移动机构。抓取主体6与移动臂部21相连，两者可以是一体成型，也可以是分体固定连接。第一压板4与挡板9之间活动铰接有连杆3。第一压板4驱动连杆3横向移动。连杆3带动挡板9绕第一铰接点19转动，使抓取部22的容纳空间开启与闭合。如图3和图4所示，挡板9、连杆3第一压板4和抓取主体6构成连杆机构。由第一压板4作为主动件，牵引连杆3相对于抓取主体6横向移动，驱动挡板9相对于抓取主体6转动。在第一压板4下降压紧物料14时，挡板9逐渐处于闭合状态，可牢固的抓取物料14并运送至码垛位置。在第一压板4上升松开物料14时，挡板9逐渐处于开启状态，可松开抓取的物料14并放在码垛位置。利用连杆机构中受力和运动传递的原理，实现了挡板9与第一压板4的同步运动。在稳定抓取物料和码垛物料过程中，第一压板4在压料和放料的同时既实现了物料的稳定性还同步实现了驱动挡板9自动开闭的功能，使物料的容纳空间被关闭和开启，提高了抓取物料和码垛物料工序的稳定性和自动化程度。
连杆3与第一压板4通过滑块5连接。第一压板4上设有导向滑槽23，滑块5活动安装在导向滑槽20内。第一压板4通过导向槽20对滑块5约束带动连杆3横向移动，牵引挡板9开启与闭合，并在开启和闭合时锁定滑块5的位置。由于在纵向方向受纵向移动机构限制以及受导向滑槽20的导向和横向限制作用，滑块5的移动轨迹受限，滑块5在极限位置被锁定。在挡板9与连杆的铰接点和第一铰接点的距离一定时，可使挡板9在开启和闭合时被锁定，提高了操作的稳定性。
需要说明的是，本实施例中，滑块5和连杆3之间以及连杆3和第一压板4之间均各自活动连接。在本发明的方案原理下，滑块5也可以是连杆3的一部分，具体可以在连杆3的端部弯折出与导向滑槽20相匹配的一部分即可，均在本发明的方案保护范围内。
可选地，作为一种实施方式，导向滑槽20为斜槽，将滑块5受导向滑槽20的斜向力分解，滑块5可相对于第一压板4横向移动。因为第一压板4受纵向移动机构的限制，使第一压板4相对于抓取主体6横向固定，即，滑块5相对于抓取主体6横向移动，滑块5带动连杆3相对于抓 取主体6横向移动，使挡板9绕第一铰接点19转动，实现挡板的开启和闭合。导向滑槽20设计成斜槽结构，使本发明的装置采用简单的结构就能满足挡板自动开启和闭合，并在相应状态时锁定位置，整体操作简便，可靠性高。
可选地，作为另一种实施方式，导向滑槽20包括连通的直槽部和斜槽部。当第一压板4被纵向移动机构下压至物料14，滑块5受斜槽部的压力作用相对于第一压板4上升至直槽部时，挡板9逐渐达到关闭状态。滑块5受导向滑槽20的横向移动限制，同时受纵向机构的纵向移动限制，可以在直槽部内锁定关闭状态。由于第一压板4压紧物料14，使物料14抓取更牢固，并能通过机械臂1稳定的运送至码垛位置。当第一压板4被纵向移动机构提升至脱离物料14时，滑块5首先通过导向滑槽20的直槽部进入斜槽部。滑块5受斜槽部的压力作用相对于第一压板4下降至斜槽部时，挡板9逐渐达到开启状态。滑块5受导向滑槽20的横向限制，同时受纵向移动限制，滑块5可在斜槽部锁定开启状态，使得第一压板4脱离物料同时自动打开挡板，便于将物料14放置在码垛位置，操作状体稳定，且，具有良好的操作性和自动性。
结合图3、图4和图5所示，抓取主体6上设有与滑块5匹配的横向滑轨8。滑块5通过横向滑轨8与抓取主体6连接。滑块5在横向滑轨8的约束下横向移动，牵引挡板9开启与闭合。
如图6所示，在抓取部22的抓取主体6的底部和叉板12之间设有导轨结构。导轨结构连接抓取部22的抓取主体6和叉板12，使叉板12沿导轨结构相对于抓取部22移动，进一步地使叉板12相对于抓取部22平稳伸缩移动。导轨结构起了连接支撑作用，使叉板12与抓取部22形成稳定结构，有利于抓取物料的稳定性。具体实施中，导轨结构可采用导轨和导槽式结构，例如，在叉板上设置凸起的导轨，在抓取部22的底部设置与凸起相匹配的导槽，叉板12凸起的导轨可沿抓取部22的导槽平缓滑动。
如图7所示，挡板9在靠近叉板12的端部设有卡槽23。挡板9闭合时，叉板12的叉取端部与卡槽23卡接，进一步的加强了挡板闭合状态和稳定性，使物料14抓取和运送更稳定可靠。
根据本发明的又一个方面，还提供了一种码垛设备，主要用于将物料14抓取并运输至码垛位置，并再将码垛好的物料14压稳，图8和图9示意性地显示了本发明码垛设备在码垛与压稳物料14时的实施例。
如图8和图9所示，本发明提供的一种码垛设备，包括上述发明方案的机械手装置。支撑体1上设有第二压板15和第二移动机构。第二移动机构驱动第二压板15相对于支撑体1纵向移动和横向移动，第二压板15用于压稳用机械手装置码垛的物料14。通过第二移动机构在横向和纵向两个自由度平面内移动，带动第二压板15移动至码垛位置并对码垛的物料14进行压稳操作。在实现了物料14抓取和物料14码垛的稳定性、自动性和经济性的同时，还能将码垛的物料14压稳且规整排列，使最终码垛的物料14更整齐稳定，避免了因物料14松散使码垛失败而导致的生产线被中断的问题。本发明的码垛设备自动化和集成度高，提高了码垛效率。
第二移动机构包括相互连接且垂直的横向移动副17和纵向移动副18。纵向移动副18驱动第二压板15相对于支撑体1纵向移动。横向移动副17驱动第二压板15相对于码垛的物料14和支撑体1横向伸缩移动。其中，横向移动副17和纵向移动副18均可采用滑槽滑轨式移动副，也可采用齿条式传动，只要能带动第二压板在横向和纵向两个自由度相互垂直的平面内自由移动，均包含在本发明的方案原理内。
纵向移动副18与横向移动副17之间通过安装架16连接。纵向移动副18连接支撑体1和安装架16的第一安装面，横向移动副17连接第二压板15和安装架16的第二安装面。安装架16的第一安装面与第二安装面垂直。通过垂直的两个安装面，既实现了第二移动机构的固定，也使第二压板15能在相互垂直的两个平面内自由移动到达被码垛的位置，以实现压稳规整的工序，具有操作灵活简单的优点。
根据本发明的再一个方面，还提供了一种码垛物料方法，包括使用上述发明方案的码垛设备，请参阅图8和图9，该码垛物料的方法包括以下步骤：
抓取物料，操作第一移动机构驱动机械臂2移至待抓取物料处，操作伸缩式叉板10直线缩向抓取部22，同时叉取物料进入抓取部22的容纳空 间，然后关闭容纳空间，将物料移送至码垛位置；
码垛物料，操作伸缩式叉板10横向伸出，打开抓取部22的容纳空间，将抓取的物料14从容纳空间释放至码垛位置；
压稳物料，操作第二移动机构，将第二压板移至码垛位置并压在码垛的物料14上方压稳物料14。
如图8所示，抓取物料14，包括叉取物料、闭合挡板9和移动物料的步骤：
第一移动机构驱动机械臂2横向移动和/或纵向移动至待抓取的物料14的上方，使叉板12与物料14的底部平齐，操作叉板12相对于抓取部22横向收缩，并叉取物料14进入抓取部22的容纳空间；
操作纵向移动机构驱动第一压板4纵向下压至物料14，滑块5受导向滑槽20限制，相对于第一压板4横向移动，带动挡板9转动并与叉板12形成闭合状态，锁定滑块5的位置；
操作第一移动机构驱动机械臂2移动，被叉取的物料14随机械臂2移动至码垛位置。
如图9所示，码垛物料14，包括开启挡板9和放置物料14的步骤：
操作纵向移动机构驱动第一压板4纵向上升脱离物料14，滑块5受导向滑槽20限制，相对于第一压板4横向移动，带动挡板9转动并与叉板12形成开启状态，锁定滑块5的位置；
操作叉板12相对于抓取部22横向伸出，抓取部22的容纳空间处于开启状态，物料14被放置在码垛区域；
结合图8和图9，压稳物料14，操作第二移动机构驱动第二压板15移动至码垛区域的物料14最上方，下压第二压板15使第二压板15压稳物料14，待再次放置物料时，操作第二移动机构驱动第二压板15离开被压物料14。
通过采用本发明的码垛物料方法，物料抓取平稳，码垛效率高，节约了能源，既缩短了整机的移动距离，简化了设备结构，节约了能源利用，且能稳定抓取与运送物料，提高物料的码垛效率，另外，在抓取和运送物料同时，还实现了将被码垛的物料压稳，保证被码垛物料的规整性，进一 步提高了码垛效率，该方法尤其适用于码垛细长物料，避免了细长物料在长度方向上码垛松散导致的码垛失败问题。
综上所述，本发明的一种机械手装置具有结构精简，操作便捷，在抓取物料、码垛物料以及压稳物料时，只需操作叉板12相对于机械臂伸缩运动，有效缩短了机械臂的移动距离，整体装备移动距离缩短，使装备结构精简，节约了能源，且对环境的实用性强；再者，本发明的一种码垛设备，还能实现压稳规整物料的效果，进一步提高码垛效率；最后，本发明的一种码垛物料方法，工序操作简便，自动化、集成化程度高，适用性好，能灵活适用于生产线上不同种类物料的抓取、运送、码垛和规整要求，提高码垛效率，降低了生产成本。
虽然已经参考优选实施例对本发明进行了描述，但在不脱离本发明的范围的情况下，可以对其进行各种改进并且可以用等效物替换其中的部件。尤其是，只要不存在结构冲突，各个实施例中所提到的各项技术特征均可以任意方式组合起来。本发明并不局限于文中公开的特定实施例，而是包括落入权利要求的范围内的所有技术方案。

Claims (17)

  1. 一种机械手装置，其中，包括：
    机械臂，所述机械臂包括抓取部；
    第一移动机构，与所述机械臂相连，驱动所述机械臂沿预定轨迹运动；以及，
    伸缩式叉板，与所述抓取部活动连接，相对于所述抓取部线性伸缩运动，所述伸缩式叉板缩向所述抓取部时，所述抓取部闭合形成物料的容纳空间，所述伸缩式叉板向远离所述抓取部伸出时，所述抓取部开启释放所述容纳空间的物料。
  2. 根据权利要求1所述的机械手装置，其中，所述伸缩式叉板包括相连接的伸缩杆和叉板，所述伸缩杆与所述抓取部活动连接，并带动所述叉板相对于所述抓取部线性伸缩运动时，使所述容纳空间开启或闭合。
  3. 根据权利要求2所述的机械手装置，其中，所述伸缩杆上设有齿条，所述抓取部设有齿轮，所述齿轮与所述齿条啮合并驱动所述伸缩杆线性往复运动。
  4. 根据权利要求2所述的机械手装置，其中，所述抓取部包括抓取主体和挡板，所述抓取主体上设有导向轨，所述伸缩杆的一端与所述导向轨配合且可沿所述导向轨线性运动，所述伸缩杆的另一端与所述叉板固定连接，使所述抓取主体、所述挡板和所述叉板可形成封闭的容纳空间。
  5. 根据权利要求4所述的机械手装置，其中，所述导向轨采用盲孔结构，所述伸缩杆伸入所述导向轨的孔腔内，并可沿所述导向轨线性的往复直线运动，使所述叉板相对于所述抓取主体直线伸缩移动。
  6. 根据权利要求4所述的机械手装置，其中，所述挡板通过第一铰接点设在所述抓取主体上，所述挡板绕所述第一铰接点转动时，所述容纳空间开启与闭合。
  7. 根据权利要求6所述的机械手装置，其中，所述抓取部还包括第一压板和纵向移动机构，所述第一压板与所述挡板之间活动铰接有连杆，所述纵向移动机构设在所述第一压板和所述抓取主体之间，所述纵向移动 机构可驱动所述第一压板相对于所述抓取主体纵向移动，所述第一压板通过所述连杆可带动所述挡板绕所述第一铰接点转动，使所述抓取部的容纳空间开启与闭合。
  8. 根据权利要求7所述的机械手装置，其中，所述连杆与所述第一压板通过滑块连接，所述第一压板上设有导向滑槽，所述滑块活动安装在所述导向滑槽内，使所述第一压板可带动所述挡板开启与闭合所述容纳空间，并在开启和闭合时锁定所述滑块的位置。
  9. 根据权利要求8所述的机械手装置，其中，所述导向滑槽为斜槽。
  10. 根据权利要求8所述的机械手装置，其中，所述导向滑槽包括连通的直槽部和斜槽部。
  11. 根据权利要求9或10所述的机械手装置，其中，所述抓取主体上设有与所述滑块匹配的横向滑轨，所述滑块通过所述横向滑轨与所述抓取主体连接，所述滑块在所述横向滑轨的约束下横向移动，牵引所述挡板开启与闭合。
  12. 根据权利要求11所述的机械手装置，其中，在所述抓取主体底部和所述叉板之间设有导轨结构，所述导轨结构连接所述抓取主体和所述叉板，使所述叉板沿所述导轨结构相对于所述抓取主体移动。
  13. 根据权利要求12所述的机械手装置，其中，所述挡板的端部设有卡槽，所述卡槽可与所述叉板卡接。
  14. 一种码垛设备，其中，包括：
    如权利要求1至13任一项所述的机械手装置；
    支撑体以及设在所述支撑体上的第二压板和第二移动机构，所述第二移动机构可驱动所述第二压板相对于所述支撑体纵向移动和/或横向移动，所述第二压板用于压稳所述机械手装置码垛的物料。
  15. 根据权利要求14所述的码垛设备，其中，所述第二移动机构包括相互连接且垂直的横向移动副和纵向移动副，所述纵向移动副驱动所述第二压板相对于所述支撑体纵向移动，所述横向移动副驱动所述第二压板相对于所述码垛物料和支撑体横向伸缩移动。
  16. 根据权利要求15所述的码垛设备，其中，所述纵向移动副与所述横向移动副之间通过安装架连接，所述纵向移动副连接所述支撑体和所述安装架的第一安装面，所述横向移动副连接所述第二压板和所述安装架的第二安装面，所述安装架的第一安装面与第二安装面垂直。
  17. 一种码垛物料方法，其中，使用如权利要求14至16任一项所述的码垛设备码垛物料的方法，包括以下步骤：
    抓取物料，操作所述第一移动机构驱动所述机械臂移至待抓取物料处，操作所述伸缩式叉板缩向所述抓取部，同时叉取所述物料进入所述抓取部的容纳空间，然后关闭所述容纳空间，将所述物料移送至码垛位置；
    码垛物料，操作所述伸缩式叉板横向伸出，打开所述抓取部的所述容纳空间，将抓取的所述物料从所述容纳空间释放至码垛位置；
    压稳物料，操作所述第二移动机构，将所述第二压板移至码垛位置并压在码垛的所述物料上方压稳所述物料。
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