CN108584450A - A kind of manipulator with feeding and heap azido functional - Google Patents
A kind of manipulator with feeding and heap azido functional Download PDFInfo
- Publication number
- CN108584450A CN108584450A CN201810387290.8A CN201810387290A CN108584450A CN 108584450 A CN108584450 A CN 108584450A CN 201810387290 A CN201810387290 A CN 201810387290A CN 108584450 A CN108584450 A CN 108584450A
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- China
- Prior art keywords
- groups
- motor
- manipulator
- feeding
- guide rail
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of manipulators with feeding and heap azido functional, including U-shaped pedestal, the upper vertical of the U-shaped pedestal is equipped with two groups of supporting rods, controller is installed on one of which supporting rod, the two groups of one end of supporting rod far from U-shaped pedestal are vertically installed with cross bar, the side central vertical of cross bar is equipped with guide rail, and guide rail is equipped with laser range sensor on the downside of one end of cross bar, moving sliding base is slidably connected on guide rail.Stable drive of the present invention, according to the cooperation of transmission device, laser range sensor, lap count, the falling head that suction plate stacks plank every time can accurately be controlled, the plank stacked is avoided to be scratched by clamping jaw, it also avoids the plank caused by dropping distance deficiency to fall the irregular situation of stacking simultaneously, ensure that the safety of plank and neat stacking, do not need manual control adjusting, the workload for reducing staff, improves work efficiency.
Description
Technical field
The present invention relates to manipulator field more particularly to a kind of manipulators with feeding and heap azido functional.
Background technology
Manipulator is recursive to do same action will not always feel tired under normal circumstances in machinery, and manipulator is usual
Attachment device as lathe or other machines, handling and transferring work piece, are being processed such as on automatic machine tool or automatic assembly line
Cutter etc., typically no independent control device are replaced in center.Some operating devices needs are directly manipulated by people, such as original
The master-slave mode manipulator that Zi Neng departments manage dangerous goods is also commonly referred to as manipulator.Application of the manipulator in forging industry can be into
One step develops the production capacity of forging equipment, improves the working conditions such as heat, tired
Currently, during sheet fabrication, when carrying out feeding using manipulator and stack, plank heap poststack height increases,
Again stack when need staff adjust manually mechanical arm decline stack height, working efficiency is low, thus we
A kind of manipulator with feeding and heap azido functional is had devised to solve problem above.
Invention content
The purpose of the present invention is to solve disadvantages existing in the prior art, and the one kind proposed has feeding and stacking
The manipulator of function.
To achieve the goals above, present invention employs following technical solutions：
A kind of manipulator with feeding and heap azido functional, including U-shaped pedestal, the upper vertical installation of the U-shaped pedestal
There are two groups of supporting rods, controller, one end right angle setting of two groups of supporting rods far from U-shaped pedestal are installed on one of which supporting rod
There are cross bar, the side central vertical of cross bar that guide rail is installed, guide rail is equipped with laser ranging sensing on the downside of one end of cross bar
Device slidably connects moving sliding base on guide rail, and the inside of guide rail is equipped with and the matched guide chute of moving sliding base, is oriented to and slides
Be rotatably connected to lead screw in slot, moving sliding base be equipped with the matched threaded hole of lead screw, the both sides of guide rail are equipped with to be set vertically
The lift lever set, and the top of two groups of lift levers is connected by horizon bar, is equipped between two groups of lift levers and is mounted on moving sliding base
On transmission device, the bottom end of two groups of lift levers is vertically connected with suction plate, and side of the suction plate far from two groups of lift levers is equipped with
The sucker of equidistantly distributed, and the both ends of suction plate are equipped with two groups of clamping jaws.
Preferably, the lead screw passes through one end of cross bar to be connected with first motor, and first motor is mounted on by screw
On cross bar.
Preferably, the moving sliding base is I-shaped sliding block, and the upper end both sides of moving sliding base are equipped with connection deckle board, even
Connect the outside that deckle board is socketed in lift lever.
Preferably, the transmission device includes the second motor, the first angular wheel, the second angular wheel, fixed link, transmission
Bar and transmission spur gear, the second motor are mounted on moving sliding base, and the output end of the second motor is equipped with the first angular wheel, and first
Side engagement rotation of the angular wheel far from the second motor has two group of second angular wheel, and two group of second angular wheel is about
One angular wheel is symmetrical, and the both sides of the second motor are equipped with the fixed link on moving sliding base, two group of second angular wheel
Center be equipped with drive link, drive link is rotatedly connected by bearing and fixed link, drive link pass through fixed link one end be equipped with
It is driven spur gear.
Preferably, lift lever described in two groups is equipped with matched with transmission spur gear along its length close to the side of guide rail
Tooth socket.
Preferably, lap count is installed on the upside of first angular wheel.
Preferably, the output end of the controller is electrical connected with first motor, the second motor and clamping jaw, lap count
It is electrical connected with the output end of laser range sensor and the input terminal of controller.
Preferably, the model of the laser range sensor：GP2Y0D02YK0.
Compared with prior art, the beneficial effects of the invention are as follows：
1, moving sliding base is realized by the rotation transmission of lead screw and is moved horizontally, the gear drive that lifting plate passes through transmission device
It achives up and down, connection deckle board can avoid lifting plate lifting direction offset, ensure that the numerical value lifting of lifting plate, screw-driven
Transmission between gear is more steady, while promptly being adsorbed to plank using the clamping jaw at suction plate both ends cooperation sucker,
It ensure that steady in plank moving process；
2, lap count sends the turnning circle of the first angular wheel to controller, and controller passes through the first cone of control
The dropping distance of the number of turns control lift lever of shape gear rotation；
3, when plank is adsorbed and is moved to the surface for stacking plank, laser range sensor is stacked by detecting distance
The distance of plank, and controller is passed information to, controller is according to the distance detected, the circle of control the second motor rotation
Number, to control the falling head of suction plate, the plank that can avoid stacking is scratched by clamping jaw, while also being avoided because of dropping distance not
Foot causes plank to fall and stacks irregular situation, ensure that the safety of plank and neat stacking, does not need manual adjustment suction
The falling head of flitch reduces the workload of staff, improves work efficiency.
Description of the drawings
Fig. 1 is a kind of structural schematic diagram of manipulator with feeding and heap azido functional proposed by the present invention；
Fig. 2 is a kind of side view of manipulator with feeding and heap azido functional proposed by the present invention；
Fig. 3 is a kind of vertical view of manipulator with feeding and heap azido functional proposed by the present invention.
In figure：1 U-shaped pedestal, 2 supporting rods, 3 cross bars, 4 guide rails, 5 moving sliding bases, 6 lead screws, 7 lift levers, 8 transmission devices,
81 second motors, 82 first angular wheels, 83 second angular wheels, 84 fixed links, 85 drive links, 86 transmission spur gears, 9 suctions
Plate, 10 suckers, 11 clamping jaws, 12 controllers, 13 first motors, 14 laser range sensors, 15 connection deckle boards, 16 number of turns count
Device.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.
Referring to Fig.1-3, a kind of manipulator with feeding and heap azido functional, including U-shaped pedestal 1, the upside of U-shaped pedestal 1
Two groups of supporting rods 2 are vertically installed with, controller 12 are installed, two groups of supporting rods 2 are far from U-shaped pedestal 1 on one of which supporting rod 2
One end be vertically installed with cross bar 3, the side central vertical of cross bar 3 is equipped with guide rail 4, and guide rail 4 is on the downside of one end of cross bar 3
Laser range sensor 14, the model of laser range sensor 14 are installed：GP2Y0D02YK0 is slidably connected on guide rail 4
Moving sliding base 5, and the inside of guide rail 4 be equipped with 5 matched guide chute of moving sliding base, be rotatably connected to silk in guide chute
Bar 6, lead screw 6 passes through one end of cross bar 3 to be connected with first motor 13, and first motor 13 is mounted on by screw on cross bar 3, moves
Dynamic slide 5 be equipped with 6 matched threaded hole of lead screw, the both sides of guide rail 4 are equipped with the lift lever 7 being vertically arranged, and two groups
The top of lift lever 7 is connected by horizon bar, and moving sliding base 5 is I-shaped sliding block, and the upper end both sides of moving sliding base 5 are equipped with
Deckle board 15 is connected, connection deckle board 15 is socketed in the outside of lift lever 7, is equipped with and is mounted on moving sliding base 5 between two groups of lift levers 7
Transmission device 8, transmission device 8 include the second motor 81, the first angular wheel 82, the second angular wheel 83, fixed link 84, pass
Lever 85 and transmission spur gear 86, the second motor 81 are mounted on moving sliding base 5, and the output end of the second motor 81 is equipped with the first cone
The upside of shape gear 82, the first angular wheel 82 is equipped with lap count 16, and the first angular wheel 82 is far from the second motor 81
Side engagement rotation have two group of second angular wheel 83, and two group of second angular wheel 83 is right about the first angular wheel 82
Claim, the both sides of the second motor 81 are equipped with the fixed link 84 on moving sliding base 5, the center of two group of second angular wheel 83
It is equipped with drive link 85, drive link 85 is rotatedly connected by bearing and fixed link 84, and drive link 85 passes through one end of fixed link 84
Equipped with transmission spur gear 86, two groups of lift levers 7 are equipped with close to the side of guide rail 4 and are matched with transmission spur gear 86 along its length
Tooth socket, the bottom ends of two groups of lift levers 7 is vertically connected with suction plate 9, and side of the suction plate 9 far from two groups of lift levers 7 is equipped with etc.
The sucker 10 of spacing distribution, and the both ends of suction plate 9 are equipped with two groups of clamping jaws 11, the output end and first motor of controller 12
13, the second motor 81 and clamping jaw 11 are electrical connected, the output end and controller of lap count 16 and laser range sensor 14
12 input terminal is electrical connected.
Operation principle：When work, supporting plate is placed on U-shaped pedestal 1, device carries out work according to the program in controller 12
Make, first motor 13 is first rotated clockwise with lead screw 6, and moving sliding base 5 is made to be moved to the direction of product, is moved to product conveying
When the surface of platform, the second motor 81 is rotated counterclockwise with the first angular wheel 82, by with two group of second angular wheel 83
Transmission, so that the transmission spur gear 86 of both sides is rotated, transmission spur gear 86 by the cooperation with tooth socket on lift lever 7, make promotion
Bar 7 declines, and lap count 16 sends the turnning circle of the first angular wheel 82 to controller 12, and controller 12 passes through control
The dropping distance of the number of turns control lift lever 7 of first angular wheel 82 rotation, until sucker 10 is adsorbed onto plank, the clamping jaw of both sides
11 clamp plank, prevent it from falling, then the second motor 81 and 13 priority of first motor rotate backward, and lifting plate 7 passes through transmission
The transmission of device 8 rises with suction plate 9 and plank, and moving sliding base 5 moves on guide rail 4 to the direction of supporting rod 2, until plate
Material is moved to the surface of supporting plate, the distance for the plank that laser range sensor 16 is stacked by detecting distance, and information is passed
Controller 12 is passed, controller 12 is according to the distance detected, the number of turns of control the second motor 81 rotation, to control suction plate
9 falling head, the present apparatus is simple in structure, reasonable design, stable drive, according to transmission device, laser range sensor, the number of turns
The cooperation of counter can accurately control the falling head that suction plate stacks plank every time, avoid the plank stacked by clamping jaw
Scratch, while also avoiding caused by dropping distance deficiency plank from falling and stacking irregular situation, ensure that the safety of plank and
Neat stacking does not need manual control adjusting, reduces the workload of staff, improve work efficiency.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Any one skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (8)
1. a kind of manipulator with feeding and heap azido functional, including U-shaped pedestal (1), which is characterized in that the U-shaped pedestal (1)
Upper vertical two groups of supporting rods (2) are installed, controller (12), two groups of supporting rods are installed on one of which supporting rod (2)
(2) one end far from U-shaped pedestal (1) is vertically installed with cross bar (3), and the side central vertical of cross bar (3) is equipped with guide rail (4),
Guide rail (4) is equipped with laser range sensor (14) on the downside of one end of cross bar (3), and guide rail slidably connects movement on (4)
Slide (5), and the inside of guide rail (4) be equipped with moving sliding base (5) matched guide chute, be rotatably connected in guide chute
Lead screw (6), moving sliding base (5) be equipped with lead screw (6) matched threaded hole, the both sides of guide rail (4), which are equipped with, to be vertically arranged
Lift lever (7), and the top of two groups of lift levers (7) by horizon bar be connected, between two groups of lift levers (7) be equipped be mounted on move
Transmission device (8) on dynamic slide (5), the bottom end of two groups of lift levers (7) are vertically connected with suction plate (9), and suction plate (9) is separate
The side of two groups of lift levers (7) is equipped with the sucker (10) of equidistantly distributed, and the both ends of suction plate (9) are equipped with two groups of clamping jaws
(11)。
2. a kind of manipulator with feeding and heap azido functional according to claim 1, which is characterized in that the lead screw
(6) one end of cross bar (3) is passed through to be connected with first motor (13), and first motor (13) is mounted on by screw on cross bar (3).
3. a kind of manipulator with feeding and heap azido functional according to claim 1, which is characterized in that described mobile sliding
Seat (5) is I-shaped sliding block, and the upper end both sides of moving sliding base (5) are equipped with connection deckle board (15), and connection deckle board (15) is socketed
Outside in lift lever (7).
4. a kind of manipulator with feeding and heap azido functional according to claim 1, which is characterized in that the transmission dress
It includes the second motor (81), the first angular wheel (82), the second angular wheel (83), fixed link (84), drive link (85) to set (8)
With transmission spur gear (86), the second motor (81) is mounted on moving sliding base (5), and the output end of the second motor (81) is equipped with first
Angular wheel (82), side engagement rotation of the first angular wheel (82) far from the second motor (81) have two group of second angular wheel
(83), and two group of second angular wheel (83) about the first angular wheel (82) symmetrically, the both sides of the second motor (81) are equipped with
The center of fixed link (84) on moving sliding base (5), two group of second angular wheel (83) is equipped with drive link (85), passes
Lever (85) is rotatedly connected by bearing and fixed link (84), and it is straight that drive link (85) passes through one end of fixed link (84) to be equipped with transmission
Gear (86).
5. a kind of manipulator with feeding and heap azido functional according to claim 1, which is characterized in that carried described in two groups
Rising stem (7) is equipped with and transmission spur gear (86) matched tooth socket along its length close to the side of guide rail (4).
6. a kind of manipulator with feeding and heap azido functional according to claim 4, which is characterized in that first cone
Lap count (16) is installed on the upside of shape gear (82).
7. a kind of manipulator with feeding and heap azido functional according to claim 1, which is characterized in that the controller
(12) output end is electrical connected with first motor (13), the second motor (81) and clamping jaw (11), lap count (16) and swash
The output end of ligh-ranging sensor (14) and the input terminal of controller (12) are electrical connected.
8. a kind of manipulator with feeding and heap azido functional according to claim 1, which is characterized in that the Laser Measuring
Model away from sensor (14)：GP2Y0D02YK0.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010817920.8A CN111993403A (en) | 2018-04-26 | 2018-04-26 | Control method of manipulator with material taking and stacking functions |
| CN201810387290.8A CN108584450B (en) | 2018-04-26 | 2018-04-26 | Manipulator with get material and pile up function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810387290.8A CN108584450B (en) | 2018-04-26 | 2018-04-26 | Manipulator with get material and pile up function |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010817920.8A Division CN111993403A (en) | 2018-04-26 | 2018-04-26 | Control method of manipulator with material taking and stacking functions |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108584450A true CN108584450A (en) | 2018-09-28 |
| CN108584450B CN108584450B (en) | 2020-10-13 |
Family
ID=63610402
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010817920.8A Withdrawn CN111993403A (en) | 2018-04-26 | 2018-04-26 | Control method of manipulator with material taking and stacking functions |
| CN201810387290.8A Active CN108584450B (en) | 2018-04-26 | 2018-04-26 | Manipulator with get material and pile up function |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010817920.8A Withdrawn CN111993403A (en) | 2018-04-26 | 2018-04-26 | Control method of manipulator with material taking and stacking functions |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN111993403A (en) |
Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109552880A (en) * | 2018-11-29 | 2019-04-02 | 安徽思睿门窗有限公司 | A kind of glass carrier |
| CN109625924A (en) * | 2018-12-01 | 2019-04-16 | 许永刚 | It is a kind of to embrace brick clamper for fixed building brick |
| CN109775606A (en) * | 2019-03-14 | 2019-05-21 | 苏州歌德尔自动化有限公司 | A kind of driving can control the device of two hoistable platforms simultaneously |
| CN109806170A (en) * | 2019-03-07 | 2019-05-28 | 合肥禾成信息科技有限公司 | A kind of Intelligent tablet production inventory system |
| CN110027901A (en) * | 2019-04-29 | 2019-07-19 | 中国工程物理研究院化工材料研究所 | A kind of flexible holding device for more dimensions explosives |
| CN110342251A (en) * | 2019-06-24 | 2019-10-18 | 宁波图锐自动化设备有限公司 | A kind of liquid crystal display feeding device |
| CN110759088A (en) * | 2019-10-28 | 2020-02-07 | 重庆宇心门业有限公司 | Door pocket banding device |
| CN110919808A (en) * | 2019-12-06 | 2020-03-27 | 范自鲁 | Novel hot briquetting machine of wood system knife and fork spoon |
| CN111039016A (en) * | 2019-12-31 | 2020-04-21 | 湖北楚清渔耕农业开发有限公司 | Equipment with rotatable operation hand |
| CN111376460A (en) * | 2018-12-29 | 2020-07-07 | 深圳市远望工业自动化设备有限公司 | Blanking robot and injection molding and stamping equipment with same |
| CN111874564A (en) * | 2019-09-23 | 2020-11-03 | 杨雪白 | Mechanical transfer tool for touch screen processing |
| CN112009765A (en) * | 2020-09-15 | 2020-12-01 | 温州市科泓机器人科技有限公司 | Full-automatic betel nut packaging production line |
| CN112173705A (en) * | 2020-09-22 | 2021-01-05 | 滁州精峰机电科技有限公司 | Full-servo feeding clamping device for sheet processing |
| CN112810350A (en) * | 2021-01-26 | 2021-05-18 | 常熟市新骅印刷有限公司 | Binding production line of hardcover |
| CN112875315A (en) * | 2021-01-13 | 2021-06-01 | 鼎勤科技(深圳)有限公司 | Method for controlling superposition device to automatically adjust superposition height |
| WO2021258839A1 (en) * | 2020-06-24 | 2021-12-30 | 三门三友科技股份有限公司 | Palletizing mechanical claw having neatening function and palletizing method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109552880A (en) * | 2018-11-29 | 2019-04-02 | 安徽思睿门窗有限公司 | A kind of glass carrier |
| CN109625924A (en) * | 2018-12-01 | 2019-04-16 | 许永刚 | It is a kind of to embrace brick clamper for fixed building brick |
| CN111376460A (en) * | 2018-12-29 | 2020-07-07 | 深圳市远望工业自动化设备有限公司 | Blanking robot and injection molding and stamping equipment with same |
| CN111376460B (en) * | 2018-12-29 | 2024-06-04 | 深圳市远望工业自动化设备有限公司 | Blanking robot and injection stamping equipment with same |
| CN109806170A (en) * | 2019-03-07 | 2019-05-28 | 合肥禾成信息科技有限公司 | A kind of Intelligent tablet production inventory system |
| CN109806170B (en) * | 2019-03-07 | 2021-05-04 | 合肥禾成信息科技有限公司 | Intelligent tablet production storage system |
| CN109775606A (en) * | 2019-03-14 | 2019-05-21 | 苏州歌德尔自动化有限公司 | A kind of driving can control the device of two hoistable platforms simultaneously |
| CN110027901A (en) * | 2019-04-29 | 2019-07-19 | 中国工程物理研究院化工材料研究所 | A kind of flexible holding device for more dimensions explosives |
| CN110342251A (en) * | 2019-06-24 | 2019-10-18 | 宁波图锐自动化设备有限公司 | A kind of liquid crystal display feeding device |
| CN111874564A (en) * | 2019-09-23 | 2020-11-03 | 杨雪白 | Mechanical transfer tool for touch screen processing |
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| CN110919808A (en) * | 2019-12-06 | 2020-03-27 | 范自鲁 | Novel hot briquetting machine of wood system knife and fork spoon |
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| CN112810350A (en) * | 2021-01-26 | 2021-05-18 | 常熟市新骅印刷有限公司 | Binding production line of hardcover |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN111993403A (en) | 2020-11-27 |
| CN108584450B (en) | 2020-10-13 |
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