CN114476658A

CN114476658A - A transport manipulator for intelligent manufacturing line

Info

Publication number: CN114476658A
Application number: CN202210199591.4A
Authority: CN
Inventors: 何斌
Original assignee: Individual
Current assignee: Sichuan Huida Future Technology Co ltd
Priority date: 2022-03-02
Filing date: 2022-03-02
Publication date: 2022-05-13
Anticipated expiration: 2042-03-02
Also published as: CN114476658B

Abstract

The invention relates to the technical field of mechanical equipment, in particular to a carrying manipulator for an intelligent manufacturing production line, which comprises a rotary seat and a plurality of sections of adjusting arms arranged on the rotary seat, wherein a driving component is arranged at the working end of each adjusting arm, two clamping plates capable of moving relative to each other are vertically arranged on the working end of each driving component, a clamping plate positioning component used for determining the bottom position of each driving component is arranged at the bottom of each clamping plate, a slide-off detection component is arranged at one side opposite to each clamping plate, the slide-off detection component is in contact with the surface of a cargo through a rotating wheel arranged on each clamping plate, a rotating shaft of each rotating wheel is horizontally arranged, a convex block is arranged at one side of each rotating wheel and rotates along with the rotating wheel, a second sensing unit is arranged at the upper end of each convex block, the second sensing unit is in signal connection with a receiving component used for receiving the slide-off cargo, and the receiving component is arranged at the bottom of each clamping plate positioning component, the technical scheme solves the problem of how to quickly reflect the situation that the goods slide downwards and prevent the goods from falling.

Description

A transport manipulator for intelligent manufacturing line

Technical Field

The invention relates to the technical field of mechanical equipment, in particular to a carrying manipulator for an intelligent manufacturing production line.

Background

Intelligent manufacturing stems from the study of artificial intelligence. Generally, intelligence is considered to be the sum of knowledge and intelligence, an intelligent manufacturing system not only can continuously enrich a knowledge base in practice, but also has a self-learning function, and also has the capability of collecting and understanding environmental information and self information, analyzing, judging and planning self behaviors, and intelligent manufacturing is derived from artificial intelligence research. Artificial intelligence is the intelligence that is implemented on a computer using manual methods. With the improvement of product performance, the complication and refinement of the structure and the diversification of functions, the design information and process information contained in the product are increased dramatically, the information flow in a production line and production equipment is increased, and the information amount of the manufacturing process and management work is increased dramatically, so that the hot spot and the front edge of the development of the manufacturing technology are promoted, and the capability, the efficiency and the scale of the manufacturing system for processing the explosively increased manufacturing information are improved. Advanced manufacturing equipment is not operational without the input of information and the flexible manufacturing system stops operating once the source of information is cut off. Experts believe that manufacturing systems are transitioning from the original energy-driven to information-driven type, which requires that the manufacturing systems not only be flexible, but also exhibit intelligence that would otherwise be difficult to handle with such a large and complex information workload.

When the existing carrying manipulator carries heavy goods, the goods are often fixed by clamping at two sides, and when the manipulator cannot bear the weight of the goods, the goods can slide off, so that the goods are damaged, the resource waste is caused, the economic loss is increased, the damage to the manipulator is caused, and the service life of the manipulator is shortened.

Chinese patent application No. CN202110112895.8 discloses a cargo handling manipulator based on artificial intelligence, including the dead lever, the outside swing joint of dead lever has the casing, the inner wall swing joint of casing has the carousel, the inner wall of carousel is seted up flutedly, the inner wall fixedly connected with spring of recess, the inboard swing joint of recess has the pressure ball, the outside swing joint of pressure ball has the electrical contact, the carousel inner wall just is close to the outer fixedly connected with conductor rail of recess, the spout has been seted up to the inner wall of dead lever.

But the detection of this equipment makes the electric contact and the electric connection of conductor rail thereby make corresponding reaction and avoid the quick whereabouts of manipulator based on the removal of pressure ball when manipulator whereabouts in the twinkling of an eye, nevertheless goods whereabouts instantaneous position has appeared changing, and reaction rate is slower, and the protection to the goods is not all round, and follow-up placing the in-process of goods stack can't go on smoothly, still influences subsequent continuation work.

Disclosure of Invention

Based on this, it is necessary to provide a transport manipulator for intelligent manufacturing production line to the prior art problem, and this technical scheme has solved how to react the condition that the goods appears gliding fast and to the problem of the trend that prevents the goods whereabouts.

In order to solve the problems of the prior art, the invention adopts the technical scheme that:

the utility model provides a transport manipulator for intelligent manufacturing production line, include the roating seat and install the multisection regulating arm on the roating seat, drive assembly is installed to the work end of regulating arm, the vertical grip block of installing two relative movements on drive assembly's the work end, the bottom of grip block is provided with the grip block locating component who is used for confirming drive assembly bottom position, the relative one side of grip block is provided with the landing detection subassembly, the landing detection subassembly is through installing runner and the surperficial contact of goods on the grip block, the rotation axis level of runner sets up, one side of runner is provided with the lug, the lug is rotatory along with the runner, the upper end of lug is provided with second induction element, second induction element signal connection is used for accepting the subassembly of accepting the landing goods, accept the bottom of unit mount at grip block locating component.

Preferably, the driving assembly comprises two first linear driving devices arranged in parallel, the working ends of the first linear driving devices are respectively provided with a mounting plate, the bottom of the mounting plate is provided with a second linear driving device, the working end of the second linear driving device is arranged to move in the vertical direction, and the working end of the second linear driving device is fixedly connected with one side of the clamping plate.

Preferably, a plurality of guide posts which vertically extend upwards are arranged above the clamping plate, and the guide posts are limited and inserted into guide sleeves which are arranged on the mounting plate and are matched with the guide posts in size and position.

Preferably, one side of each of the two clamping plates, which is opposite to the other side of each of the two clamping plates, is provided with a first groove extending horizontally, the height of the first groove is matched with the diameter of the rotating wheel, two ends of the first groove are provided with limit grooves extending horizontally in the extending direction of the first groove, the width of each limit groove is matched with the diameter of each insertion column, two ends of the rotating wheel are provided with insertion column limiting insertion parts which are inserted into the limit grooves, moving blocks are installed in the limit grooves in a limiting mode and are arranged on the inner sides of the insertion columns, first springs are installed on the limit grooves and the moving blocks in a straight line, a second groove avoiding the convex blocks is arranged in the first groove, and the convex blocks are inserted into the second groove.

Preferably, the upper side of the projection is provided with a contact block for horizontally contacting the working end of the second sensing unit.

Preferably, the two sides of the contact block are provided with two parallel limiting sliding grooves, the limiting sliding grooves are used for being connected with a reset unit in a sliding mode, the reset unit comprises a sliding block which is installed in the limiting sliding grooves in a limiting mode, the sliding block is hinged to the bottom end of a vertically arranged straight rod, the upper end of the straight rod is inserted into a jack which is arranged in a second groove of the clamping plate, and a second spring is sleeved on the limiting sliding grooves.

Preferably, the clamping plate positioning assembly comprises a bottom contact plate arranged below the clamping plate, a guide rod extending vertically upwards is arranged on the upper side of the bottom contact plate, the guide rod is inserted into a limiting cavity arranged at the bottom of the clamping plate, a spring is sleeved on the guide rod and elastically connected with the bottom contact plate and the clamping plate, a first sensing unit is arranged between the bottom contact plate and the clamping plate and is in signal connection with a driving assembly, and the first sensing unit is used for detecting the contact between the bottom contact plate and the clamping plate.

Preferably, the receiving assembly comprises a first hinged plate and a second hinged plate which are hinged, the free end of the first hinged plate is hinged with the bottom contact plate of the clamping plate positioning assembly, the first hinged plate is hinged and installed on one side opposite to the two bottom contact plates, a placing cavity for accommodating the second hinged plate is arranged on one side of the first hinged plate away from the bottom contact plate, the second hinged plate is hinged and installed at the bottom end of the placing cavity, and the receiving assembly is further provided with two elastic units which are respectively arranged at the hinged positions of the first hinged plate and the second hinged plate.

Preferably, one side that two grip blocks are relative is provided with a plurality of horizontally extending's antislip strip, and the antislip strip is equidistant vertical distribution in the surface side in spacing chamber.

The periphery of the guide post is provided with a plurality of convex strips which are distributed around the rotating shaft of the guide post at equal intervals, and the extending direction of the convex strips is parallel to the axial direction of the rotating wheel.

Compared with the prior art, the invention has the beneficial effects that:

1. according to the invention, the rotating wheel arranged on the clamping plate is contacted with the goods during clamping, so that the goods can generate friction with the surface of the rotating wheel when the goods slide downwards, the rotating wheel is driven to rotate, the convex block arranged on one side of the rotating wheel moves upwards to contact the second sensing unit, the second sensing unit starts the bearing assembly to limit and support the bottom position of the goods, and the slide detection assembly has high reaction speed and can prevent the goods from falling.

2. According to the invention, the reset unit continuously applies downward pressure to the convex block, so that the convex block cannot be contacted with the second sensing unit under the condition of no stress, the reset unit provides continuous downward pressure through the elastic force of the second spring sleeved on the straight rod, the movement of the convex block cannot be blocked, and the contact of the convex block is ensured.

3. According to the goods receiving device, the distance that the second linear driving device of the driving assembly drives the clamping plate to move downwards is controlled through the clamping plate positioning assembly, and the first sensing unit detects whether the bottom of the clamping plate contacts the goods bottom placing platform or not, so that the clamping position of the clamping plate is close to the bottom of goods, stable clamping of the goods is realized, and the goods receiving assembly arranged at the bottom of the clamping plate positioning assembly can receive the bottom of the goods to avoid the goods from falling.

4. The receiving assembly is arranged at the bottom of the bottom contact plate of the clamping plate positioning assembly, so that when the first hinged plate and the bottom contact plate are in an open state, the hinged opening of the first hinged plate and the second hinged plate faces the lower part of the goods, and the goods can directly fall down on the second hinged plate after sliding to ensure the position of the goods, thereby ensuring that the receiving assembly supports the bottom of the goods after being started.

5. The anti-slip strip is horizontally arranged to improve the friction force on the surface of the goods so as to prevent the goods from falling off, and the anti-slip strip also has certain compressibility so as to ensure that the clamping force of the clamping plate is larger.

Drawings

FIG. 1 is a perspective view of an embodiment;

FIG. 2 is a perspective view of the embodiment with the swivel base and the adjustment arm removed;

FIG. 3 is a front view of the drive assembly of the embodiment;

FIG. 4 is a perspective view of the clamping plate, clamping plate positioning assembly, slide down detection assembly, and receiving assembly of the embodiments from a first perspective;

FIG. 5 is an exploded perspective view of the clamping plate, clamping plate positioning assembly, slide down detection assembly, and receiving assembly of the embodiment from a second perspective;

FIG. 6 is an enlarged view of a portion of FIG. 5 at A;

FIG. 7 is a perspective view of a clamping plate of an embodiment and an enlarged partial view thereof;

FIG. 8 is a side view of the clamping plate, clamping plate positioning assembly, slip detection assembly, and receiving assembly of an embodiment;

FIG. 9 is a cross-sectional view taken at B-B of FIG. 8;

FIG. 10 is a cross-sectional view taken at C-C of FIG. 9;

FIG. 11 is an enlarged view of a portion of FIG. 8 at D;

FIG. 12 is a perspective view of the clamping plate positioning assembly and the receiving assembly in an operational state;

the reference numbers in the figures are:

1-a rotating base;

2-adjusting the arm;

3-a drive assembly; 3 a-a first linear drive; 3 b-a mounting plate; 3b 1-guide sleeve; 3 c-a second linear drive;

4-clamping the plate; 4 a-a guide post; 4 b-first grooving; 4b 1-limit groove; 4b 2-moving block; 4b3 — first spring; 4 c-second grooving; 4c 1-jack; 4 d-a limiting cavity; 4 e-antislip strips;

5-clamping plate positioning component; 5 a-bottom contact plate; 5 b-a guide bar; 5 c-a spring; 5 d-a first sensing unit;

6-a slip detection component; 6 a-a wheel; 6a 1-stake; 6a 2-Ribs; 6 b-a bump; 6b 1-contact block; 6b 2-limit runner; 6 c-a second sensing unit; 6 d-a reset unit; 6d 1-slide; 6d 2-straight rod; 6d3 — second spring;

7-a receiving assembly; 7 a-a first hinge plate; 7a 1-placing chamber; 7 b-a second hinge plate; 7 c-elastic unit.

Detailed Description

For further understanding of the features and technical means of the present invention, as well as the specific objects and functions attained by the present invention, the present invention will be described in further detail with reference to the accompanying drawings and detailed description.

As shown in fig. 1 to 4:

the utility model provides a transport manipulator for intelligent manufacturing production line, include roating seat 1 and install multisection regulating arm 2 on roating seat 1, drive assembly 3 is installed to the work end of regulating arm 2, vertically install two relative movement's grip block 4 on drive assembly 3's the work end, the bottom of grip block 4 is provided with the grip block locating component 5 that is used for confirming 3 bottom positions of drive assembly, the one side that grip block 4 is relative is provided with landing detection subassembly 6, landing detection subassembly 6 is through installing runner 6a and the contact of goods surface on grip block 4, the rotation axis level of runner 6a sets up, one side of runner 6a is provided with lug 6b, lug 6b follows runner 6a rotatory, lug 6 b's upper end is provided with second induction element 6c, second induction element 6c signal connection is used for accepting the subassembly 7 and installing in the bottom of grip block locating component 5.

Based on the above embodiments, the present application realizes that the manipulator can rotate and move at multiple angles through the rotating base 1 and the multiple sections of adjusting arms 2, so as to ensure that the device can position, grab and move goods at multiple positions, the rotation angle and the telescopic distance between the rotating base 1 and the adjusting arms 2 are set by programmer programming, and the number and the installation connection of the adjusting arms 2 can be designed according to the actual production requirements, and will not be described herein, the adjusting arms 2 move to make the two clamping plates 4 respectively located at two sides of the goods, the driving component 3 installed at the working end of the adjusting arms 2 can drive the two clamping plates 4 to move relatively to clamp two sides of the goods, the clamping plate positioning component 5 is arranged at the bottom of the clamping plates 4, the clamping plate positioning component 5 is used for detecting whether the bottom of the clamping plate 4 contacts with a goods bottom placing platform, so as to ensure that the clamping position of the clamping plates 4 is close to the bottom of the goods, one side that two grip blocks 4 are relative is provided with landing detection subassembly 6, and landing detection subassembly 6 contacts with the goods through runner 6a of installing on grip block 4 when the centre gripping, and in case the trend of downward landing appears can produce the friction with runner 6a surface in the removal in-process of goods, drives runner 6a rotatory for set up lug 6b rebound contact second induction element 6c in runner 6a one side, second induction element 6c can be contact sensor, and second induction element 6c signal connection accepts subassembly 7 and makes and accept subassembly 7 and start and carry on spacingly and support the goods bottom position, guarantees that the goods can not drop from grip block 4, does not influence subsequent steps such as stack placing when having carried out the protection to the goods.

Further, in order to solve the problem of how the clamping plate 4 drives the clamping plate 4 to move to a proper position for clamping the goods, as shown in fig. 3:

the driving assembly 3 comprises two first linear driving devices 3a arranged in parallel, mounting plates 3b are respectively mounted on the working ends of the first linear driving devices 3a, second linear driving devices 3c are mounted at the bottoms of the mounting plates 3b, the working ends of the second linear driving devices 3c move in the vertical direction, and the working ends of the second linear driving devices 3c are fixedly connected with one side of a clamping plate 4.

Based on above-mentioned embodiment, the drive assembly 3 that this application provided is including controlling two first linear drive device 3a of two grip block 4 relative movement, and first linear drive device 3 a's working end setting is moved up in the horizontal direction and is used for controlling the horizontal position of grip block 4 in the both sides of goods, guarantees the centre gripping and the release to the goods, first linear drive device 3a can be ball sliding table, and mounting panel 3b is installed respectively to two first linear drive device 3 a's working end, and second linear drive device 3c that mounting panel 3b bottom set up is used for controlling grip block 4 at the ascending removal of vertical side, makes grip block 4's bottom can be close to the goods bottom, guarantees the area of centre gripping, improves stability, second linear drive device 3c can be sharp cylinder.

Further, in order to solve the problem of how to ensure the stable moving direction of the clamping plate 4 when driven by the moving end of the second linear driving device 3c, as shown in fig. 3 and 4:

a plurality of guide posts 4a extending vertically upwards are arranged above the clamping plate 4, and the guide posts 4a are limited and inserted into guide sleeves 3b1 which are arranged on the mounting plate 3b and are matched with the guide posts 4a in size and position.

Based on the above embodiment, the clamping plate 4 upside that this application provided is provided with a plurality of vertical guide posts 4a that upwards extend, and the stability when the clamping plate 4 moves in the vertical direction can be guaranteed to the guide pin bushing 3b1 of mounting panel 3b in the cartridge of guide post 4a, can set up the maximum shift position that the stopper guaranteed clamping plate 4 at the top of guide post 4a simultaneously, avoids guide post 4a to break away from guide pin bushing 3b 1.

Further, in order to solve the problem that how the rotating wheel 6a of the slip detection assembly 6 is installed on the clamping plate 4 to ensure that both the clamping plate 4 and the rotating wheel 6a can contact with the side surface of the goods to ensure the clamping force, as shown in fig. 4, 5 and 10:

the opposite sides of the two clamping plates 4 are provided with a first open slot 4b extending horizontally, the height of the first open slot 4b is matched with the diameter of the rotating wheel 6a, two ends of the first open slot 4b are provided with limit slots 4b1 arranged in the extending direction of the first open slot 4b and extending horizontally, the width of the limit slot 4b1 is matched with the diameter of the inserted post 6a1, two ends of the rotating wheel 6a are provided with inserted posts 6a1 which are limited and inserted in the limit slots 4b1, a moving block 4b2 is limited and installed in the limit slots 4b1, a moving block 4b2 is arranged at the inner side of the inserted posts 6a1, the limit slots 4b1 and the moving block 4b2 are provided with first springs 4b3 in a straight line, a second open slot 4c avoiding the bump 6b is arranged in the first open slot 4b, and the bump 6b is inserted in the second open slot 4 c.

Based on the above embodiments, the clamping plate 4 provided by the present application is provided with a first open slot 4b for installing the rotating wheel 6a of the slip detection assembly 6 on the side contacting with the goods, the insertion post 6a1 coaxially disposed at both ends of the rotating wheel 6a is inserted into the limit slot 4b1 in the first open slot 4b in a limiting manner, the width of the limit slot 4b1 is matched with the diameter of the insertion post 6a1, so as to ensure that the rotating wheel 6a is stable when moving horizontally in the first open slot 4b, the limit slot 4b1 is provided with a moving block 4b2 connected to the first spring 4b3, the moving block 4b2 can keep pushing the rotating wheel 6a outwards under the elastic force of the first spring 4b3, so that the peripheral side of the rotating wheel 6a is always contacted with the goods, thereby ensuring that the goods will generate friction with the peripheral side of the rotating wheel 6a when sliding, ensuring the accuracy of the slip detection assembly 6 detection, the first open slot 4b is connected to the second slot 4c to conveniently place the lug 6a on the side, also provide certain space for lug 6b follows the runner 6a rotation simultaneously, and second induction element 6c can install the upside at second fluting 4c downwards by the working end, and runner 6a drives lug 6b upward movement contact second induction element 6 c's working end quick start when the goods landing accepts subassembly 7.

Further, in order to solve the problem of how to ensure the contact sensitivity between the bump 6b and the second sensing unit 6c, as shown in fig. 6 and 7:

the upper side of the projection 6b is provided with a contact block 6b1, and the contact block 6b1 is used for horizontally contacting the working end of the second sensing unit 6 c.

Based on the above embodiment, the surface of the bump 6b is relatively horizontal, and the bump 6b has a certain angle when rotating along with the rotating wheel 6a and contacting with the upper side of the second slot 4c, which may result in incomplete contact with the working end of the horizontally installed second sensing unit 6c, the upper surface of the contact block 6b1 can horizontally attach to the upper side plane of the second slot 4c when the bump 6b moves to contact with the upper side of the second slot 4c through the arrangement of the contact block 6b1, so as to ensure complete contact with the second sensing unit 6c, and provide guarantee for quick start of the receiving assembly 7.

Further, in order to solve the problem of how to ensure that the rotating wheel 6a does not rotate randomly and touch the second sensing unit 6c by mistake when the sliding detection assembly 6 does not clamp the goods, as shown in fig. 6 and 7:

the both sides of contact piece 6b1 are equipped with two parallel spacing spout 6b2, spacing spout 6b2 is used for sliding connection reset unit 6d, reset unit 6d includes the slider 6d1 of spacing installation in spacing spout 6b2, slider 6d1 articulates the connection and vertically is provided with straight-bar 6d2 bottom, the cartridge is provided with in jack 4c1 in the second fluting 4c of grip block 4 in straight-bar 6d2 upper end, the cover is equipped with second spring 6d3 on the spacing spout 6b 2.

Based on the above embodiment, the reset unit 6d provided by the present application is configured to continuously apply a downward pressure to the bump 6b, and ensure that the bump 6b cannot contact with the second sensing unit 6c without being stressed, the bump 6b is provided with parallel limiting sliding grooves 6b2 on two sides of the contact block 6b1, the slider 6d1 of the reset unit 6d is installed in the limiting sliding groove 6b2 in a limiting manner and has a certain sliding space, the straight rod 6d2, which is connected by the slider 6d1 in a hinged manner, is inserted into the insertion hole 4c1 provided on the second open slot 4c of the clamping plate 4, and the second spring 6d3, which is sleeved on the straight rod 6d2, provides a continuous downward pressure, and does not block the movement of the bump 6b, thereby ensuring the contact of the bump 6 b.

Further, in order to solve the problem of how the clamping plate positioning assembly 5 detects the position of the bottom plate of the clamping plate 4 close to the workbench for placing the goods, as shown in fig. 8 to 12:

clamping plate locating component 5 is including setting up bottom contact plate 5a in clamping plate 4 below, bottom contact plate 5a upside is provided with vertical upwards extending guide bar 5b, guide bar 5b cartridge is provided with spacing chamber 4d in clamping plate 4 bottom, spring 5c suit is on guide bar 5b, spring 5c elastic connection bottom contact plate 5a and clamping plate 4, be provided with first induction element 5d between bottom contact plate 5a and the clamping plate 4, first induction element 5d signal connection drive assembly 3, first induction element 5d is used for detecting the contact of bottom contact plate 5a and clamping plate 4.

Based on the above embodiments, the clamping plate positioning assembly 5 provided by the present application includes a bottom contact plate 5a inserted in the bottom of the clamping plate 4, the bottom contact plate 5a is inserted in a limiting cavity 4d disposed below the clamping plate 4 through a guide rod 5b to ensure stable vertical movement of the clamping plate positioning assembly 5, wherein the limiting cavity 4d may be provided with two inner cavities with different diameters to match the shape of the guide rod 5b to ensure that the guide rod 5b does not separate from the limiting cavity 4d, the guide rod 5b is sleeved with a spring 5c for buffering the contact pressure between the bottom contact plate 5a and the bottom of the clamping plate 4, a first sensing unit 5d is disposed between the clamping plate 4 and the bottom 5a, in this embodiment, the first sensing unit 5d may be a contact sensor, the first sensing unit 5d is installed at the bottom of the clamping plate 4 and the working end faces the bottom contact plate 5a, when the second linear driving device 3c drives the clamping plate 4 to move downwards to the bottom of the bottom contact plate 5a and contact with a workbench for placing goods, the bottom contact plate 5a is close to the bottom of the clamping plate 4 until contacting with the first sensing unit 5d, the first sensing unit 5d and the driving assembly 3 are in signal connection to control the continuous downward movement of the working end of the second linear driving device 3c and start the first linear driving device 3a to drive the clamping plate 4 to clamp the goods, so that the stable clamping of the goods is realized, and the bottom of the goods can be accepted by the accepting assembly 7 arranged at the bottom of the clamping plate positioning assembly 5 to avoid the goods from falling.

Further, in order to solve the problem of how the receiving assembly 7 receives the bottom of the cargo, as shown in fig. 8 and 12:

the bearing assembly 7 comprises a first hinge plate 7a and a second hinge plate 7b which are hinged, the free end of the first hinge plate 7a is hinged with the bottom contact plate 5a of the clamping plate positioning assembly 5, the first hinge plate 7a is hinged on the opposite side of the two bottom contact plates 5a, a placing cavity 7a1 for accommodating the second hinge plate 7b is arranged on the side of the first hinge plate 7a away from the bottom contact plate 5a, the second hinge plate 7b is hinged on the bottom end of the placing cavity 7a1, the bearing assembly 7 is further provided with two elastic units 7c, and the elastic units 7c are respectively arranged at the hinged positions of the first hinge plate 7a and the second hinge plate 7 b.

Based on the above embodiments, the first hinge plate 7a provided by the present application is hinged to the bottom of the bottom contact plate 5a, when the first hinge plate 7a and the bottom contact plate 5a are in an open state, the hinge openings of the first hinge plate 7a and the second hinge plate 7b are disposed toward the lower side of the goods, the goods will directly fall down on the second hinge plate 7b after sliding to ensure the position, the elastic unit 7c disposed at the hinge position between the first hinge plate 7a, the second hinge plate 7b and the bottom contact plate 5a may be a torsion spring, or other structures that ensure the opening angle thereof is adjustable, the second sensing unit 6c of the sliding detection assembly 6 can release the first hinge plate 7a and the second hinge plate 7b by the mechanism matching the locking angle of the elastic unit 7c, so that the first hinge plate 7a can be compressed to a horizontal state when the first hinge plate 7a contacts with the workbench, the receiving assembly 7 is also conveniently started to release the first hinge plate 7a and the second hinge plate 7b to control the goods position when the convex block 6b is contacted with the second sensing unit 6c, and the placing cavity 7a1 for accommodating the second hinge plate 7b is formed in the bottom side of the first hinge plate 7a, so that the second hinge plate 7b can be compressed into the placing cavity 7a1, and the detection accuracy of the clamping plate positioning assembly 5 is ensured.

Further, in order to solve the problem of how to increase the friction between the holding plate 4 and the surface of the cargo to prevent the cargo from falling, as shown in fig. 4 and 5:

two grip blocks 4 opposite one side are provided with a plurality of horizontal extending's antislip strip 4e, and antislip strip 4e is equidistant vertical distribution in the table side of spacing chamber 4 d.

Based on above-mentioned embodiment, the grip block 4 that this application provided has solved above-mentioned problem through set up a plurality of antislip strips 4e at the contact surface of grip block 4 and goods, thereby antislip strip 4e level sets up and improves the frictional force on goods surface and prevent that the goods from dropping, and antislip strip 4e also has certain compressibility, guarantees that grip block 4's clamping force is bigger.

Further, in order to solve the problem of how to ensure that the wheel 6a is sensitive to the detection of the slip of the load, as shown in fig. 5 and 6:

the periphery of the guide post 4a is provided with a plurality of convex strips 6a2 distributed at equal intervals around the rotation axis of the guide post 4a, and the extending direction of the convex strips 6a2 is parallel to the axial direction of the runner 6 a.

Based on the above embodiment, the runner 6a provided by the present application solves the above problem by providing the convex strip 6a2 on the peripheral side of the runner 6a, and the convex strip 6a2 further increases the friction between the runner 6a and the peripheral side of the goods, so that the goods position moves, the reaction of the runner 6a is more sensitive, and the starting speed of the receiving assembly 7 is faster.

The above examples, which are intended to represent only one or more embodiments of the present invention, are described in greater detail and with greater particularity, and are not to be construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A carrying manipulator for an intelligent manufacturing production line comprises a rotary seat (1) and a plurality of sections of adjusting arms (2) arranged on the rotary seat (1), and is characterized in that a driving assembly (3) is arranged at the working end of each adjusting arm (2), two clamping plates (4) capable of moving relatively are vertically arranged at the working end of each driving assembly (3), a clamping plate positioning assembly (5) used for determining the bottom position of each driving assembly (3) is arranged at the bottom of each clamping plate (4), a slip detection assembly (6) is arranged on one side, opposite to each clamping plate (4), of each clamping plate (4) and is in surface contact with goods through a rotating wheel (6 a) arranged on each clamping plate (6), a rotating shaft of each rotating wheel (6 a) is horizontally arranged, a convex block (6 b) is arranged on one side of each rotating wheel (6 a), and each convex block (6 b) rotates along with the corresponding rotating wheel (6 a), the upper end of the bump (6 b) is provided with a second sensing unit (6 c), the second sensing unit (6 c) is in signal connection with a bearing component (7) for bearing the sliding goods, and the bearing component (7) is installed at the bottom of the clamping plate positioning component (5).

2. The carrying manipulator for the intelligent manufacturing production line is characterized in that the driving assembly (3) comprises two first linear driving devices (3 a) which are arranged in parallel, mounting plates (3 b) are respectively mounted on working ends of the first linear driving devices (3 a), a second linear driving device (3 c) is mounted at the bottom of each mounting plate (3 b), a working end of each second linear driving device (3 c) is arranged to move in the vertical direction, and the working end of each second linear driving device (3 c) is fixedly connected with one side of the clamping plate (4).

3. The carrying manipulator for the intelligent manufacturing production line according to claim 2, wherein a plurality of guide posts (4 a) extending vertically upwards are arranged above the clamping plate (4), and the guide posts (4 a) are limited and inserted into guide sleeves (3 b 1) which are arranged on the mounting plate (3 b) and are matched with the guide posts (4 a) in size and position.

4. The carrying manipulator for the intelligent manufacturing production line as claimed in claim 1, wherein a first slot (4 b) extending horizontally is formed in one side of each of the two clamping plates (4), the height of the first slot (4 b) is matched with the diameter of the rotating wheel (6 a), a limiting groove (4 b 1) extending horizontally in the extending direction of the first slot (4 b) is formed in each of two ends of the first slot (4 b), the width of the limiting groove (4 b 1) is matched with the diameter of the insert column (6 a 1), the insert column (6 a 1) is arranged at each of two ends of the rotating wheel (6 a) and inserted into the limiting groove (4 b 1) in a limiting manner, a moving block (4 b 2) is installed in the limiting groove (4 b 1) in a limiting manner, the moving block (4 b 2) is arranged on the inner side of the insert column (6 a 1), and a first spring (4 b 3) is installed in a straight line between the limiting groove (4 b 1) and the moving block (4 b 2), a second open slot (4 c) avoiding the convex block (6 b) is arranged in the first open slot (4 b), and the convex block (6 b) is inserted in the second open slot (4 c).

5. A handling robot for intelligent manufacturing lines, according to claim 1, characterized in that the upper side of the cam (6 b) is provided with a contact block (6 b 1), the contact block (6 b 1) being used to horizontally contact the working end of the second sensing unit (6 c).

6. The carrying manipulator for the intelligent manufacturing production line is characterized in that two parallel limiting sliding grooves (6 b 2) are formed in two sides of a contact block (6 b 1), the limiting sliding grooves (6 b 2) are used for being connected with a reset unit (6 d) in a sliding mode, the reset unit (6 d) comprises a sliding block (6 d 1) installed in the limiting sliding grooves (6 b 2) in a limiting mode, the sliding block (6 d 1) is connected with the bottom end of a vertically arranged straight rod (6 d 2) in a hinged mode, the upper end of the straight rod (6 d 2) is inserted into a second groove (4 c) of a clamping plate (4) and provided with an inserting hole (4 c 1), and a second spring (6 d 3) is sleeved on the limiting sliding groove (6 b 2).

7. The carrying manipulator for the intelligent manufacturing production line according to claim 1, wherein the clamping plate positioning assembly (5) comprises a bottom contact plate (5 a) arranged below the clamping plate (4), a guide rod (5 b) extending vertically upwards is arranged on the upper side of the bottom contact plate (5 a), the guide rod (5 b) is inserted into a limit cavity (4 d) arranged at the bottom of the clamping plate (4), spring (5 c) suit is on guide bar (5 b), and spring (5 c) elastic connection bottom contact board (5 a) and grip block (4), is provided with first induction element (5 d) between bottom contact board (5 a) and grip block (4), and first induction element (5 d) signal connection drive assembly (3), and first induction element (5 d) are used for detecting the contact of bottom contact board (5 a) and grip block (4).

8. A handling robot for intelligent manufacturing lines according to claim 1, characterized in that the receiving assembly (7) comprises a first hinge plate (7 a) and a second hinge plate (7 b) which are hinged together, the free end of the first hinge plate (7 a) is hinged to the bottom contact plate (5 a) of the clamping plate positioning assembly (5), the first hinge plate (7 a) is hinged to the side opposite to the two bottom contact plates (5 a), the side of the first hinge plate (7 a) away from the bottom contact plate (5 a) is provided with a placing cavity (7 a 1) for accommodating the second hinge plate (7 b), the second hinge plate (7 b) is hinged to the bottom end of the placing cavity (7 a 1), the receiving assembly (7) is further provided with two elastic units (7 c), and the elastic units (7 c) are respectively arranged at the hinged position of the first hinge plate (7 a) and the second hinge plate (7 b).

9. The carrying manipulator for the intelligent manufacturing production line according to claim 1, wherein a plurality of horizontally extending anti-slip strips (4 e) are arranged on one side of the two clamping plates (4) opposite to each other, and the anti-slip strips (4 e) are vertically distributed on the surface side of the limiting cavity (4 d) at equal intervals.

10. A handling robot for smart manufacturing lines according to claim 1, wherein the periphery of the guiding post (4 a) is provided with a plurality of ribs (6 a 2) equally spaced around the axis of rotation of the guiding post (4 a), the extending direction of the ribs (6 a 2) being parallel to the axial direction of the runner (6 a).