WO2021022805A1 - 一种条状木料整排搬运机器人 - Google Patents

一种条状木料整排搬运机器人 Download PDF

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Publication number
WO2021022805A1
WO2021022805A1 PCT/CN2020/077291 CN2020077291W WO2021022805A1 WO 2021022805 A1 WO2021022805 A1 WO 2021022805A1 CN 2020077291 W CN2020077291 W CN 2020077291W WO 2021022805 A1 WO2021022805 A1 WO 2021022805A1
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WIPO (PCT)
Prior art keywords
robot arm
strip
shaped wood
clamping
clamping mechanism
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PCT/CN2020/077291
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English (en)
French (fr)
Inventor
姚遥
陈金鼎
丁仁杰
陆春伟
吴伯余
刘送永
江红祥
Original Assignee
南通跃通数控设备股份有限公司
中国矿业大学
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Application filed by 南通跃通数控设备股份有限公司, 中国矿业大学 filed Critical 南通跃通数控设备股份有限公司
Publication of WO2021022805A1 publication Critical patent/WO2021022805A1/zh

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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
    • 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
    • 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
    • B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
    • B65G47/912—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems with rectilinear movements only
    • 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
    • B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02—Articles
    • B65G2201/0282—Wooden articles, e.g. logs, trunks or planks

Definitions

  • the invention relates to the technical field of wood handling equipment, and in particular to a strip-shaped wood handling robot for whole rows.
  • the purpose of the present invention is to provide an entire row of strip-shaped wood transporting robot.
  • a strip-shaped wood whole-row handling robot comprising a left support and a right support, a crossbeam arranged between the left support and the right support, and a support that reciprocates along the crossbeam
  • the board moves up and down the column along the supporting plate
  • the movable robot arm bending and clamping mechanism arranged at the bottom of the vertical moving column is arranged on the supporting plate and is used to drive the movable robot arm bending and clamping mechanism
  • a horizontal power component that moves the picking mechanism horizontally, and a driving mechanism located on the pallet for driving the movable robot arm bending and stretching clamping mechanism to move up and down.
  • the mobile robot arm bending and gripping mechanism includes a connecting plate connected to the bottom of the vertical moving column, and is arranged side by side on the connecting plate
  • the transverse profiles on the upper section are respectively arranged at two sets of connecting frames at both ends of the transverse profile, and the two sides of each set of connecting frames are respectively connected with the robot arm side gripping component and the robot arm suction assembly, and are arranged on the robot arm
  • the floating actuator on the top surface of the suction cup of the suction assembly.
  • the inner surface of the vertical support plate of the connecting frame is provided with a vertical guide rail that cooperates with the horizontal profile.
  • the gripping part on the side of the robot arm includes two gripping arms arranged at the end of the transverse profile, and the gripping arm is arranged between the two gripping arms.
  • the robot arm suction component is a vacuum suction cup fixed on the connecting frame.
  • the upper pressure floating execution member includes a buffer plate respectively connected between the two transverse profiles, and the driving rod penetrates the middle of the buffer plate to guide
  • the upper pressure floating cylinder of the hole is connected to the connecting seat on the end of the driving rod of the upper pressure floating cylinder, and the connecting seat is fixedly connected to the top surface of the vacuum suction cup.
  • the horizontal power component includes a horizontal drive motor arranged on the pallet, and a drive gear arranged on the output shaft of the horizontal drive motor , The driving gear meshes with the guide rack on the horizontal moving rail.
  • the driving mechanism includes an up and down moving power motor arranged on the pallet, and a meshing gear arranged on the up and down moving power motor, The meshing gear abuts against the vertical rack on the up-and-down moving column.
  • the pallet is provided with a guide sliding block that is slidingly matched with the horizontal moving guide rail.
  • the side clamping cylinder of the robot arm side gripping part of the strip wood handling robot of the present invention pushes the gripping arm to move along the rail beam to determine the width of the strip wood to be gripped, and the connecting frame
  • the suction cup is connected with the clamping arm.
  • the inner side of the vertical support plate of the connecting frame is provided with a vertical guide rail that is slidingly matched with the moving sliding blocks of the two transverse profiles.
  • the driving end of the power rod of the upper pressure floating cylinder of the upper pressure floating actuator is fixed
  • the connecting seat is fixed on the suction cup, which acts as a buffer up and down; the side gripping part of the robot arm and the suction component of the robot arm are used to grab a row of strips of wood, avoiding the strips of wood from being adsorbed firmly and falling, ensuring the strips The wood is safely placed on the workbench of the processing equipment.
  • Figure 1 is a schematic diagram of the overall structure of an embodiment of the present invention.
  • Figure 2 is a schematic diagram of the overall structure of an embodiment of the present invention.
  • Figure 3 is a schematic diagram of the overall structure of an embodiment of the present invention.
  • FIG. 4 is a schematic diagram of a partial enlarged structure of area A in FIG. 3.
  • Fig. 5 is a schematic diagram of a partial enlarged structure of area A in Fig. 3.
  • Fig. 6 is a schematic diagram of the structure of the mobile robot arm bending and clamping mechanism in the embodiment of the present invention.
  • Fig. 7 is a schematic diagram of the structure of the mobile robot arm bending and clamping mechanism in the embodiment of the present invention.
  • the reference signs are: 1. support; 2. support column; 3. cross beam; 4. support plate; 5. up and down moving column; 6. mobile robot arm bending and clamping mechanism; 60. connecting plate; 61. Transverse profile; 62, connecting frame; 620, vertical support plate; 621, vertical rail; 63, side gripping parts of the robot arm; 630, clamping arm; 631, rail beam; 632, side clamping cylinder; 633, side To the slider; 64, the robot arm suction assembly; 65, the upper pressure floating actuator; 650, the buffer plate; 651, the upper pressure floating cylinder; 652, the connecting seat; 7, the horizontal power component; 8, the drive mechanism.
  • the present invention is: a strip-shaped wood whole row handling robot, including a support 1 and a support column 2, a beam 3 arranged between the support 1 and the support column 2, and a support that reciprocates along the beam 3
  • the board 4 moves the column 5 up and down along the pallet 4, and the mobile robot arm bending and clamping mechanism 6 arranged at the bottom of the vertical moving column 5 is set on the pallet 4 to drive the mobile robot arm bending and clamping mechanism 6
  • a horizontal power component 7 that moves horizontally
  • a driving mechanism 8 that is located on the pallet 4 and is used to drive the curved extension and gripping mechanism 6 of the mobile robot arm to move up and down.
  • the mobile robot arm bending and stretching and clamping mechanism 6 includes a connecting plate 60 connected to the bottom of the up and down moving column 5, a horizontal profile 61 arranged side by side on the connecting plate 60, and two sets of connecting frames respectively arranged at both ends of the horizontal profile 61 62.
  • the two sides of each group of connecting frames 62 are respectively connected with the robot arm side gripping part 63 and the robot arm suction assembly 64, and the upper pressure floating execution member 65 arranged on the top surface of the suction cup of the robot arm suction assembly 64.
  • the inner surface of the vertical support plate 620 of the connecting frame 62 is provided with a vertical guide rail 621 slidably engaged with the moving sliding blocks of the two transverse profiles 61.
  • the gripping part 63 on the side of the robot arm includes two gripping arms 630 arranged at the end of the transverse profile 61, a rail beam 631 arranged between the two gripping arms 630, a clamping cylinder 632 arranged on the bottom surface of the end of the transverse profile 61, and
  • the lateral sliding block 633 respectively connected to the two clamping arms 630 and driven by the two clamping cylinders 632, the lateral sliding block 633 and the guide rail beam 631 are slidingly fitted with each other.
  • the robot arm suction assembly 64 is a vacuum suction cup fixed on the connecting frame 62.
  • the upper pressure floating actuator 65 includes a buffer plate 650 respectively connected between the two transverse profiles 61, the driving rod penetrates the upper pressure floating cylinder 651 of the guide hole in the middle of the buffer plate 650, and is connected to the end of the upper pressure floating cylinder 651 driving rod
  • the upper connecting seat 652 is fixedly connected to the top surface of the vacuum chuck.
  • the horizontal power component 7 includes a horizontal driving motor arranged on the pallet 4, a driving gear arranged on the output shaft of the horizontal driving motor, and the driving gear meshes with a guide rack on the horizontal moving guide 3.
  • the driving mechanism 8 includes a power motor for moving up and down on the pallet 4, a meshing gear provided on the power motor for moving up and down, and the meshing gear abuts against the vertical rack on the up and down column 5.
  • the pallet 4 is provided with a guide sliding block which is slidingly matched with the horizontal moving guide 3. .
  • the side clamping cylinder 632 of the robot arm side gripping part 63 of the strip-shaped wood whole-row handling robot of the present invention pushes the gripping arm to move along the guide rail 631 to determine the width of the strip-shaped wood to be clamped
  • the connecting frame 62 connects the suction cup with the clamping arm
  • the vertical support plate 620 of the connecting frame 63 is provided with a vertical guide rail 621 slidingly fitted with the moving slider of the transverse profile 61 to press up the floating actuator 65
  • the connecting seat 652 fixed at the driving end of the power rod of the floating cylinder 651 is fixed on the suction cup, and the robot arm side gripping part 63 and the robot arm suction assembly 64 are used in conjunction with the robot arm suction assembly 64 to grab a row of square wooden strips, avoiding square strips.
  • the square wooden bar cannot be grasped firmly and fall, and the power motor is moved up and down to drive the side gripping part 63 of the robot arm to press down on the strip-shaped square wooden bar to be grasped, and the floating cylinder 651 floats to ensure that the two sets of clamping arms are upward. Drive the two clamping arms to move horizontally, and place the strip of square wood on the workbench of the processing equipment.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)

Abstract

一种条状木料整排搬运机器人，包括支架（1）和支撑柱（2），设置在支架与支撑柱之间的水平移动导轨横梁（3），沿水平移动导轨横梁（3）往复移动的托板（4），沿贯穿托板的上下移动立柱（5）布置的上下移动导轨，设置在上下移动立柱（5）底部的移动式机器人手臂曲伸夹取机构（6），设置在托板上，用于驱动移动式机器人手臂曲伸夹取机构水平移动的水平动力部件（7），以及位于托板上，用于驱动移动式机器人手臂曲伸夹取机构上下移动的驱动机构（8）。本机器人采用机器人手臂侧夹取部件与机器人手臂吸取组件配合抓取一排条状方木条，避免了因方条状方木条抓取不牢靠而掉落的问题。

Description

一种条状木料整排搬运机器人 技术领域
本发明涉及木料搬运设备技术领域，尤其涉及一种条状木料整排搬运机器人。
背景技术
木料在搬运过程中，采用吸附式整排木料搬运，吸附面积窄，导致木料在搬运过程中容易出现掉落的现象，存在极大的安全隐患，极大地影响了工作效率。
如何解决上述技术问题为本发明面临的课题。
发明内容
本发明的目的在于提供一种条状木料整排搬运机器人。
本发明是通过如下措施实现的：一种条状木料整排搬运机器人，包括左支架和右支架，设置在所述左支架与所述右支架之间的横梁，沿所述横梁往复移动的托板，沿所述托板上下移动立柱，设置在所述上下移动立柱底部的移动式机器人手臂曲伸夹取机构，设置在所述托板上，用于驱动所述移动式机器人手臂曲伸夹取机构水平移动的水平动力部件，以及位于所述托板上，用于驱动所述移动式机器人手臂曲伸夹取机构上下移动的驱动机构。
作为本发明提供的一种条状木料整排搬运机器人的进一步优化方案，所述移动式机器人手臂曲伸夹取机构包括连接在所述上下移动立柱底部的连接板，并排设置在所述连接板上的横向型材，分别设置在所述横向型材两端的两组连接架，每组所述连接架的两侧分别连接有机器人手臂侧夹取部件和机器人手臂吸取组件，以及设置在所述机器人手臂吸取组件吸盘顶面的浮动执行构件。
作为本发明提供的一种条状木料整排搬运机器人的进一步优化方案，所述连接架的竖直支撑板内侧面设有与所述横向型材相互配合的竖直导轨。
作为本发明提供的一种条状木料整排搬运机器人的进一步优化方案，所述机器人手臂侧夹取部件包括设置在所述横向型材端部两夹臂，设置在两所述夹臂之间的导轨梁，设置在所述横向型材端部底面的夹紧气缸，以及分别连接在两所述夹臂上，且由两所述夹紧气缸驱动的侧向滑块，所述侧向滑块与所述导轨梁相互滑动配合。
作为本发明提供的一种条状木料整排搬运机器人的进一步优化方案，所述机器人手臂吸取组件为固定在所述连接架上的真空吸盘。
作为本发明提供的一种条状木料整排搬运机器人的进一步优化方案，所述上压浮动执行构件包括分别连接在两所述横向型材之间的缓冲板，驱动杆贯穿所述缓冲板中部导向孔的上压浮动气缸，连接于所述上压浮动气缸驱动杆端部上的连接座，所述连接座固定连接在所述真空吸盘顶面。
作为本发明提供的一种条状木料整排搬运机器人的进一步优化方案，所述水平动力部件包括设置在所述托板上的水平驱动电机，置在所述水平驱动电机输出轴上的驱动齿轮，所述驱动齿轮与所述水平移动导轨上的导向齿条啮合。
作为本发明提供的一种条状木料整排搬运机器人的进一步优化方案，所述驱动机构包括设置在所述托板上的上下移动动力电机，设置在所述上下移动动力电机上的啮合齿轮，所述啮合齿轮与所述上下移动立柱上的竖直齿条相靠接。
作为本发明提供的一种条状木料整排搬运机器人的进一步优化方案，所述托板上设有与所述水平移动导轨相互滑动配合的导向滑块。
本发明的有益效果为：本发明的条状木料整排搬运机器人的机器人手臂侧夹取部件的侧夹紧气缸推动夹臂沿导轨梁移动，确定夹取的条状木料的宽度，连接架将吸盘与夹臂连接，连接架的竖直支撑板内侧面设有与两横向型材的移动滑块相互滑动配合的竖直导轨，上压浮动执行构件的上压浮动气缸的动力杆的驱动端固定的连接座固定在吸盘上，起到上下缓冲作用；采用机器人手臂侧夹取部件与机器人手臂吸取组件配合抓取一排条状木料，避免了因条状木料吸附不牢靠掉落，确保条状木料安全放置到加工设备工作台上。
附图说明
图1为本发明实施例的整体结构示意图。
图2为本发明实施例的整体结构示意图。
图3为本发明实施例的整体结构示意图。
图4为图3的A区局部放大结构示意图。
图5图3的A区局部放大结构示意图。
图6为本发明实施例中移动式机器人手臂曲伸夹取机构的结构示意图。
图7为本发明实施例中移动式机器人手臂曲伸夹取机构的结构示意图。
其中，附图标记为：1、支架；2、支撑柱；3、横梁；4、托板；5、上下移动立柱；6、移动式机器人手臂曲伸夹取机构；60、连接板；61、横向型材；62、连接架；620、竖直支撑板；621、竖直导轨；63、机器人手臂侧夹取部件；630、夹臂；631、导轨梁；632、侧夹紧气缸；633、侧向滑块；64、机器人手臂吸取组件；65、上压浮动执行构件；650、缓冲板；651、上压浮动气缸；652、连接座；7、水平动力部件；8、驱动机构。
具体实施方式
为能清楚说明本方案的技术特点，下面通过具体实施方式，对本方案进行阐述。
参见图1至图7，本发明是：一种条状木料整排搬运机器人，包括支架1和支撑柱2，设置在支架1与支撑柱2之间的横梁3，沿横梁3往复移动的托板4，沿托板4上下移动立柱5，设置在上下移动立柱5底部的移动式机器人手臂曲伸夹取机构6，设置在托板4上，用于驱动移动式机器人手臂曲伸夹取机构6水平移动的水平动力部件7，以及位于托板4上，用于驱动移动式机器人手臂曲伸夹取机构6上下移动的驱动机构8。
其中，移动式机器人手臂曲伸夹取机构6包括连接在上下移动立柱5底部的连接板60，并排设置在连接板60上的横向型材61，分别设置在在横向型材61两端的两组连接架62，每组连接架62的两侧分别连接有机器人手臂侧夹取部件63和机器人手臂吸取组件64，以及设置在机器人手臂吸取组件64吸盘顶面的上压浮动执行构件65。
其中，连接架62的竖直支撑板620内侧面设有与两横向型材61的移动滑块相互滑动配合的竖直导轨621。
其中，机器人手臂侧夹取部件63包括设置在横向型材61端部两夹臂630，设置在两夹臂630之间的导轨梁631，设置在横向型材61端部底面的夹紧气缸632，以及分别连接在两夹臂630上，且由两夹紧气缸632驱动的侧向滑块633，侧向滑块633与导轨梁631相互滑动配合。
其中，机器人手臂吸取组件64为固定在连接架62上的真空吸盘。
其中，上压浮动执行构件65包括分别连接在两横向型材61之间的缓冲板650，驱动杆贯穿缓冲板650中部导向孔的上压浮动气缸651，连接于上压浮动气缸651驱动杆端部上的连接座652，连接座652固定连接在真空吸盘顶面。
其中，水平动力部件7包括设置在托板4上的水平驱动电机，置在水平驱动电机输出轴上的驱动齿轮，驱动齿轮与水平移动导轨3上的导向齿条啮合。
其中，驱动机构8包括设置在托板4上的上下移动动力电机，设置在上下移动动力电机上的啮合齿轮，啮合齿轮与上下移动立柱5上的竖直齿条相靠接。
其中，托板4上设有与水平移动导轨3相互滑动配合的导向滑块。。
本发明在实际使用时：本发明的条状木料整排搬运机器人的机器人手臂侧夹取部件63的侧夹紧气缸632推动夹臂沿述导轨梁631移动，确定夹取的条状木料的宽度，连接架62将吸盘与夹臂连接，连接架63的竖直支撑板620内侧面设有与横向型材61的移动滑块相互滑动配合的竖直导轨621，上压浮动执行构件65的上压浮动气缸651的动力杆的驱动端固定的连接座652固定在吸盘上，采用机器人手臂侧夹取部件63与机器人手臂吸取组件64配合抓取一排条状方木条，避免了因方条状方木条抓取不牢靠掉落，上下移动动力电机驱动机器人手臂侧夹取部件63向下压在待抓取条状方木条上，上压浮动气缸651浮动，确保两组夹臂向上，驱动两夹臂水平移动，将条状方木条放置到加工设备工作台上。
本发明未经描述的技术特征可以通过或采用现有技术实现，在此不再赘述，当然，上述说明并非是对本发明的限制，本发明也并不仅限于上述举例，本技术领域的普通技术人员在本发明的实质范围内所做出的变化、改型、添加或替换，也应属于本发明的保护范围。

Claims (6)

  1. 一种条状木料整排搬运机器人，包括左支架(1)和右支架(2)，其特征在于，设置在所述左支架(1)与所述右支架(2)之间的横梁(3)，沿所述横梁(3)往复移动的托板(4)，沿所述托板(4)上下移动立柱(5)，设置在所述上下移动立柱(5)底部的移动式机器人手臂曲伸夹取机构(6)，设置在所述托板(4)上，用于驱动所述移动式机器人手臂曲伸夹取机构(6)水平移动的水平动力部件(7)，以及位于所述托板(4)上，用于驱动所述移动式机器人手臂曲伸夹取机构(6)上下移动的驱动机构(8)。
  2. 根据权利要求1所述的条状木料整排搬运机器人，其特征在于，所述移动式机器人手臂曲伸夹取机构(6)包括连接在所述上下移动立柱(5)底部的连接板(60)，并排设置在所述连接板(60)上的型材(61)，分别设置在所述型材(61)两端的两组连接架(62)，每组所述连接架(62)的两侧分别连接有机器人手臂侧夹取部件(63)和机器人手臂吸取组件(64)，以及设置在所述机器人手臂吸取组件(64)吸盘顶面的浮动执行构件(65)。
  3. 根据权利要求1或2所述的条状木料整排搬运机器人，其特征在于，所述连接架(62)的竖直支撑板(620)内侧面设有与所述型材(61)相配合的竖直导轨(621)。
  4. 根据权利要求1-3任一项所述的条状木料整排搬运机器人，其特征在于，所述机器人手臂侧夹取部件(63)包括设置在所述型材(61)端部两夹臂(630)，设置在两所述夹臂(630)之间的导轨梁(631)，设置在所述型材(61)端部底面的夹紧气缸(632)，以及分别连接在所述夹臂(630)上，且由两所述夹紧气缸(632)驱动的侧向滑块(633)，所述侧向滑块(633)与所述导轨梁(631)相互滑动配合。
  5. 根据权利要求1-4任一项所述的条状木料整排搬运机器人，其特征在于，所述机器人手臂吸取组件(64)为固定在所述连接架(62)上的真空吸盘。
  6. 根据权利要求1-5任一项所述的条状木料整排搬运机器人，其特征在于，所述上压浮动执行构件(65)包括分别连接在两所述横向型材(61)之间的缓冲板(650)，驱动杆贯穿所述缓冲板(650)中部导向孔的上压浮动气缸(651)，连接于所述上压浮动气缸(651)驱动杆端部上的连接座(652)，所述连接座(652)固定连接在所述真空吸盘顶面。
PCT/CN2020/077291 2019-08-06 2020-02-28 一种条状木料整排搬运机器人 WO2021022805A1 (zh)

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