CN114476658B - Carrying manipulator for intelligent manufacturing production line - Google Patents
Carrying manipulator for intelligent manufacturing production line Download PDFInfo
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- CN114476658B CN114476658B CN202210199591.4A CN202210199591A CN114476658B CN 114476658 B CN114476658 B CN 114476658B CN 202210199591 A CN202210199591 A CN 202210199591A CN 114476658 B CN114476658 B CN 114476658B
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- 238000004519 manufacturing process Methods 0.000 title claims abstract description 38
- 238000001514 detection method Methods 0.000 claims abstract description 19
- 230000004044 response Effects 0.000 claims description 7
- 230000006698 induction Effects 0.000 claims description 5
- 230000001105 regulatory effect Effects 0.000 claims description 4
- 238000003780 insertion Methods 0.000 claims description 2
- 230000037431 insertion Effects 0.000 claims description 2
- 230000002093 peripheral effect Effects 0.000 claims description 2
- 230000000712 assembly Effects 0.000 abstract 4
- 238000000429 assembly Methods 0.000 abstract 4
- 238000013473 artificial intelligence Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 239000004020 conductor Substances 0.000 description 2
- 230000001276 controlling effect Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 239000004576 sand Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 208000010247 contact dermatitis Diseases 0.000 description 1
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- 230000007613 environmental effect Effects 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
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- 230000010365 information processing Effects 0.000 description 1
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- 238000003825 pressing Methods 0.000 description 1
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- 239000002699 waste material Substances 0.000 description 1
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Classifications
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- 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
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
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- 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
- B65G47/905—Control arrangements
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to the technical field of mechanical equipment, and particularly relates to a carrying manipulator for an intelligent manufacturing production line, which comprises a rotating seat and a plurality of sections of adjusting arms arranged on the rotating seat, wherein a driving assembly is arranged at the working end of each adjusting arm, two clamping plates capable of relatively moving are vertically arranged at the working end of each driving assembly, clamping plate positioning assemblies for determining the bottom positions of the driving assemblies are arranged at the bottoms of the clamping plates, slip detection assemblies are arranged at opposite sides of the clamping plates and are contacted with the surfaces of goods through rotating wheels arranged on the clamping plates, a rotating shaft of each rotating wheel is horizontally arranged, a lug 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 lug and is in signal connection with a receiving assembly for receiving the corresponding slip goods, and the receiving assembly is arranged at the bottoms of the clamping plate positioning assemblies.
Description
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
Smart manufacturing stems from research of artificial intelligence. It is generally considered that intelligence is the sum of knowledge and intelligence, and the intelligent manufacturing system not only can continuously enrich a knowledge base in practice, but also has a self-learning function, and also has the ability of collecting and understanding environmental information and self-information, analyzing, judging and planning self-behaviors, and intelligent manufacturing is derived from research of artificial intelligence. Artificial intelligence is intelligence that is implemented on a computer using artificial methods. Along with the perfection of product performance, the complicacy and the refinement of the structure and the diversification of functions, the quantity of design information and process information contained in the product is promoted to be increased, and along with the increase of the information flow in the production line and the production equipment, the quantity of information in the manufacturing process and the management work is also necessarily increased, so that the hot spot and the front edge of the development of the manufacturing technology are promoted, and the improvement of the capability, the efficiency and the scale of the manufacturing system for the explosive increase of manufacturing information processing is turned to. Advanced manufacturing equipment is disabled when information is entered and the flexible manufacturing system is immediately shut down once the information source is shut down. Experts consider that manufacturing systems are being converted from original energy-driven to information-driven, which requires that the manufacturing system not only be flexible, but also exhibit intelligence that would otherwise be difficult to handle with such large and complex information workloads.
When the existing carrying manipulator carries cargoes with large weight, the clamping methods at two sides are often adopted for fixing, when the manipulator cannot bear the weight of cargoes, the phenomenon of falling of cargoes can occur, the cargoes are damaged, the resource waste is caused, the economic loss is increased, meanwhile, the manipulator is damaged, and the service life of the manipulator is reduced.
Chinese patent application number "CN202110112895.8" discloses a goods 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 recess is seted up to the inner wall of carousel, the inner wall fixedly connected with spring of recess, the inboard swing joint of recess has the ball of pressing, the outside swing joint of ball has the electrical contact, the carousel inner wall just is close to the outside 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 electric contact and the electric connection of conductor rail make corresponding reaction and avoid the quick whereabouts of manipulator based on the removal of ball when manipulator whereabouts is instant, but the goods whereabouts instant position has appeared the change, and reaction rate is slower, and is not weekly to the protection of goods, and can't go on smoothly in the in-process of follow-up goods stack of placing, still influences follow-up continuous operation.
Disclosure of Invention
Based on this, it is necessary to provide a handling manipulator for an intelligent manufacturing line to solve the problems of how to quickly respond to the situation of the falling of the goods and to prevent the tendency of the falling of the goods against the prior art.
In order to solve the problems in the prior art, the invention adopts the following technical scheme:
the utility model provides a handling manipulator for intelligent manufacturing production line, including the roating seat and install the multisection regulating arm on the roating seat, drive assembly is installed to the work end of regulating arm, but two relative movement's grip block is installed to vertical on the work end of drive assembly, the bottom of grip block is provided with the grip block locating component that is used for confirming drive assembly bottom position, the opposite one side of grip block is provided with landing detection component, landing detection component passes through the runner and the cargo surface contact of installing on the grip block, the rotation axis level of runner sets up, one side of runner is provided with the lug, the lug follows the runner and rotates, the upper end of lug is provided with the second response unit, second response unit signal connection is used for accepting the subassembly that accepts the landing goods, accept the bottom at grip block locating component is installed to the subassembly.
Preferably, the driving assembly comprises two first linear driving devices which are arranged in parallel, the working ends of the first linear driving devices are respectively provided with a mounting plate, the bottoms of the mounting plates are provided with second linear driving devices, the working ends of the second linear driving devices are arranged to move in the vertical direction, and the working ends of the second linear driving devices are fixedly connected with one side of the clamping plate.
Preferably, a plurality of guide posts extending vertically 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 opposite to the two clamping plates is provided with a first slot extending horizontally, the height of the first slot is identical with the diameter of the rotating wheel, two ends of the first slot are provided with limit slots which are arranged in the extending direction of the first slot and extend horizontally, the width of each limit slot is identical with the diameter of the corresponding inserting column, the two ends of the rotating wheel are provided with inserting columns which are inserted in the limit slots in a limiting manner, the moving block is arranged on the inner side of the inserting column, the limit slots and the moving block are linearly provided with first springs, the inside of the first slot is provided with a second slot for avoiding the protruding blocks, and the protruding blocks are inserted in the second slot.
Preferably, a contact block is provided on an upper side of the bump, and the contact block is used for horizontally contacting the working end of the second sensing unit.
Preferably, two parallel limiting sliding grooves are formed in two sides of the contact block, 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 be connected with a straight rod bottom end vertically, the upper end of the straight rod is inserted into a jack formed 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, the bottom contact plate is elastically connected with the clamping plate by the spring, a first sensing unit is arranged between the bottom contact plate and the clamping plate, a signal connection driving assembly of the first sensing unit is used for detecting contact between the bottom contact plate and the clamping plate.
Preferably, the receiving assembly comprises a first hinge plate and a second hinge plate which are hinged, the free end of the first hinge plate is hinged with the bottom contact plates of the clamping plate positioning assembly, the first hinge plate is hinged on one side opposite to the two bottom contact plates, a placing cavity for accommodating the second hinge plate is arranged on one side, away from the bottom contact plates, of the first hinge plate, the second hinge plate is hinged on the bottom end of the placing cavity, the receiving assembly is further provided with two elastic units, and the elastic units are respectively arranged at the hinged positions of the first hinge plate and the second hinge plate.
Preferably, a plurality of horizontally extending anti-slip strips are arranged on one side of the two clamping plates, which are opposite to each other, and the anti-slip strips are vertically distributed on the surface side of the limiting cavity at equal intervals.
The periphery of the guide post is provided with a plurality of convex strips which are distributed at equal intervals around the rotating shaft of the guide post, 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 following beneficial effects:
1. according to the invention, the rotating wheel arranged on the clamping plate is contacted with the goods during clamping, so that the goods slide downwards and are rubbed with the surface of the rotating wheel, the rotating wheel is driven to rotate, the convex block arranged on one side of the rotating wheel moves upwards to contact with the second sensing unit, the second sensing unit starts the bearing assembly to limit and support the bottom position of the goods, the reaction speed of the sliding detection assembly is high, and the goods can be prevented from falling.
2. According to the invention, downward pressure is continuously applied to the lug through the reset unit, so that the lug 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 lug is not blocked, and the contact of the lug is ensured.
3. According to the invention, the clamping plate positioning assembly controls the second linear driving device of the driving assembly to drive the clamping plate to move downwards by a distance, and the first sensing unit detects whether the bottom of the clamping plate is in contact with the bottom placing platform of the goods, so that the clamping position of the clamping plate is ensured to be close to the bottom of the goods, stable clamping of the goods is realized, and the 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. According to the invention, the bearing assembly is arranged at the bottom of the bottom contact plate of the clamping plate positioning assembly, when the first hinge plate and the bottom contact plate are in an open state, the hinge openings of the first hinge plate and the second hinge plate are arranged towards the lower side of a cargo, and the cargo can directly fall down on the second hinge plate to ensure the position of the second hinge plate after sliding down, so that the bottom of the cargo is supported after the bearing assembly is started.
5. According to the invention, the plurality of anti-slip strips are arranged on the contact surface of the clamping plate and the goods, so that the friction force on the surface of the goods is improved by arranging the anti-slip strips horizontally, the goods are prevented from falling, the anti-slip strips also have certain compressibility, and the clamping force of the clamping plate is ensured to be larger.
Drawings
FIG. 1 is a perspective view of an embodiment;
FIG. 2 is a perspective view of a portion of the structure with the swivel mount and adjustment arm removed;
FIG. 3 is a front view of a drive assembly of an embodiment;
FIG. 4 is a perspective view of the clamping plate, clamping plate positioning assembly, slide detection assembly and receiving assembly of the embodiment at a first view angle;
FIG. 5 is an exploded view of the clamping plate, clamping plate positioning assembly, slide detection assembly and receiving assembly of the embodiment in a second view;
FIG. 6 is an enlarged view of a portion of FIG. 5 at A;
FIG. 7 is a perspective view and a partial enlarged view of a clamping plate of an embodiment;
FIG. 8 is a side view of a 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 a partial enlarged view at D of FIG. 8;
FIG. 12 is a perspective view of the clamping plate positioning assembly and the receiving assembly in an operative condition;
the reference numerals in the figures are:
1-a rotating seat;
2-an adjusting arm;
3-a drive assembly; 3 a-a first linear drive; 3 b-mounting plate; 3b 1-guide sleeve; 3 c-a second linear drive;
4-clamping plates; 4 a-guide posts; 4 b-first slotting; 4b 1-a limit groove; 4b 2-moving block; 4b 3-a first spring; 4 c-second slotting; 4c 1-jacks; 4 d-a limiting cavity; 4 e-cleats;
5-clamping plate positioning assembly; 5 a-a bottom contact plate; 5 b-a guide bar; 5 c-a spring; 5 d-a first sensing unit;
6-a slip detection assembly; 6 a-a rotating wheel; 6a 1-plug; 6a 2-convex strips; 6 b-bump; 6b 1-contact block; 6b 2-limit sliding grooves; 6 c-a second sensing unit; 6 d-a reset unit; 6d 1-slide block; 6d 2-straight rod; 6d 3-a second spring;
7-a receiving assembly; 7 a-a first hinge plate; 7a 1-placing the cavity; 7 b-a second hinge plate; 7 c-elastic units.
Detailed Description
The invention will be further described in detail with reference to the drawings and the detailed description below, in order to further understand the features and technical means of the invention and the specific objects and functions achieved.
As shown in fig. 1 to 4:
the utility model provides a handling manipulator for intelligent manufacturing production line, including roating seat 1 and install multisection adjusting arm 2 on roating seat 1, actuating assembly 3 is installed to the working end of adjusting arm 2, two clamping plates 4 that can relative movement are installed vertically on actuating assembly 3's the working end, the bottom of clamping plate 4 is provided with clamping plate locating component 5 that is used for confirming actuating assembly 3 bottom position, clamping plate 4 opposite side is provided with landing detection component 6, landing detection component 6 contacts with the goods surface through the runner 6a of installing on clamping plate 4, runner 6 a's rotation axis level sets up, runner 6 a's one side is provided with lug 6b, lug 6b follows runner 6a rotation, lug 6 b's upper end is provided with second response unit 6c, second response unit 6c signal connection is used for accepting the subassembly 7 of goods, accept the subassembly 7 and install the bottom at clamping plate locating component 5.
Based on the above-mentioned embodiment, this application realizes through roating seat 1 and multisection adjusting arm 2 that the manipulator can rotate and remove at the multi-angle and thereby guarantee that this equipment can be to the goods of a plurality of positions location snatch and remove, roating seat 1 and adjusting arm 2's rotation angle and telescopic distance pass through programmer's programming setting, and adjusting arm 2's quantity and installation connection can be according to the required design of actual production, do not do too much here in the excrescence the adjusting arm 2 removes and makes two grip blocks 4 be located the both sides of goods respectively, the actuating assembly 3 of the work end installation of adjusting arm 2 can drive two grip blocks 4 and carry out relative removal realization to the centre gripping of goods both sides, thereby the bottom of grip block 4 is provided with grip block locating component 5, grip block locating component 5 is used for detecting whether the bottom of grip block 4 contacts goods piece bottom and places the platform, thereby guarantee that the centre gripping position of grip block 4 is close to the goods bottom, one side that two grip blocks 4 are relative is provided with landing detection component 6, 6a through installing on grip block 4 is in the time with the goods contact when the centre gripping, the goods is in the motion makes two grip blocks 4 and the contact with the goods, the second inductor is in the time can be in the second place the position of the contact with the second inductor 6a and can be carried out the second inductor 6b and can be carried out the contact with the second inductor 6b and the carrier block is in the position of the second inductor 6b is the time, the contact with the second inductor 6b is guaranteed to the position of the second inductor 6b is not to be contacted with the carrier 6 b.
Further, in order to solve the problem of how the clamping plate 4 drives the clamping plate 4 to move to a proper position to clamp the goods, as shown in fig. 3:
the driving assembly 3 comprises two first linear driving devices 3a which are arranged in parallel, the working ends of the first linear driving devices 3a are respectively provided with a mounting plate 3b, the bottoms of the mounting plates 3b are provided with second linear driving devices 3c, the working ends of the second linear driving devices 3c are arranged to move in the vertical direction, and the working ends of the second linear driving devices 3c are fixedly connected with one side of the clamping plate 4.
Based on the above-mentioned embodiment, the drive assembly 3 that this application provided includes two first linear drive devices 3a of two grip blocks 4 relative movement of control, and the work end setting of first linear drive device 3a is used for controlling the grip block 4 in the horizontal position of the both sides of goods in the horizontal direction removal, guarantees the centre gripping and the release to the goods, first linear drive device 3a can be ball slip table, and mounting panel 3b is installed respectively to the work end of two first linear drive devices 3a, and the second linear drive device 3c that the mounting panel 3b bottom set up is used for controlling the removal of grip block 4 in the vertical direction, makes the bottom of grip block 4 can be close to the goods bottom, guarantees the area of centre gripping, improves stability, second linear drive device 3c can be the straight cylinder.
Further, in order to solve the problem of how to ensure that the moving direction of the clamping plate 4 is stable 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 matched with the guide posts 4a in size and position and are arranged on the mounting plate 3 b.
Based on the above embodiment, the clamping plate 4 provided by the application is provided with a plurality of guide posts 4a extending vertically upwards, the guide posts 4a are inserted into the guide sleeve 3b1 of the mounting plate 3b to ensure the stability of the clamping plate 4 in moving in the vertical direction, and meanwhile, the limiting block is arranged at the top of the guide posts 4a to ensure the maximum moving position of the clamping plate 4, so that the guide posts 4a are prevented from being separated from the guide sleeve 3b 1.
Further, in order to solve the problem of how the rotating wheel 6a of the sliding detection assembly 6 is mounted on the clamping plate 4 to ensure that the clamping plate 4 and the rotating wheel 6a can contact with the side surface of the cargo 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 first grooves 4b which extend horizontally, the height of each first groove 4b is matched with the diameter of the rotating wheel 6a, two ends of each first groove 4b are provided with limiting grooves 4b1 which extend horizontally in the extending direction of each first groove 4b, the width of each limiting groove 4b1 is matched with the diameter of each inserting column 6a1, each rotating wheel 6a is provided with inserting columns 6a1 which are in limiting grooves 4b1 in a limiting manner, a moving block 4b2 is in limiting arrangement in each limiting groove 4b1, the moving block 4b2 is arranged on the inner side of each inserting column 6a1, each limiting groove 4b1 and the moving block 4b2 are in linear arrangement with a first spring 4b3, the inner part of each first groove 4b is provided with a second groove 4c which is away from each protruding block 6b, and each protruding block 6b is in the second groove 4c in a limiting manner.
Based on the above embodiment, the side of the clamping plate 4 contacted with the goods is provided with the first slot 4b for installing the runner 6a of the sliding detection assembly 6, the inserting posts 6a1 coaxially arranged at two ends of the runner 6a are limited and inserted into the limit slots 4b1 in the first slot 4b, the width of the limit slots 4b1 is identical with the diameter of the inserting posts 6a1, the runner 6a can be ensured to be stable when moving horizontally in the first slot 4b, the limit slots 4b1 are provided with the moving block 4b2 connected to the first spring 4b3, the moving block 4b2 can keep pushing the runner 6a outwards under the elastic force of the first spring 4b3, so that the periphery side of the runner 6a is always contacted with the goods, friction is necessarily generated with the periphery side of the runner 6a when the goods slides, the accuracy of the sliding detection assembly 6 is ensured, the first slot 4b is connected with the second slot 4c to conveniently place the bump 6a side 6b, a certain space is provided for the bump 6b to rotate along with the runner 6a, the second slot 6c can be driven to move upwards when the second slot 6c is arranged on the second slot 6c, and the second slot 6c can be quickly contacted with the second runner 6c to the second slot 6c to move upwards when the second slot 6c is installed on the side of the second slot 6 c.
Further, in order to solve the problem of how to ensure the contact sensitivity of the bump 6b with the second sensing unit 6c, as shown in fig. 6 and 7:
the upper side of the bump 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 a certain angle exists when the bump 6b follows the rotation of the rotating wheel 6a and contacts with the upper side of the second slot 4c, which may cause incomplete contact with the working end of the second sensing unit 6c mounted horizontally, and the upper surface of the contact block 6b1 can be horizontally attached 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 that complete contact with the second sensing unit 6c is ensured, and a guarantee is provided for quick start of the receiving assembly 7.
Further, in order to solve the problem of how to ensure that the runner 6a does not rotate at will to touch the second sensing unit 6c by mistake when the slide detecting assembly 6 is not holding the cargo, as shown in fig. 6 and 7:
two parallel limiting sliding grooves 6b2 are formed in two sides of the contact block 6b1, the limiting sliding grooves 6b2 are used for being connected with a reset unit 6d in a sliding mode, the reset unit 6d comprises a sliding block 6d1 which is installed in the limiting sliding grooves 6b2 in a limiting mode, the sliding block 6d1 is hinged to be connected with the bottom end of a straight rod 6d2 vertically, the upper end of the straight rod 6d2 is inserted into a second groove 4c of the clamping plate 4 to be provided with an inserting hole 4c1, and a second spring 6d3 is sleeved on the limiting sliding grooves 6b 2.
Based on the above embodiment, the reset unit 6d provided by the application is used for continuously applying downward pressure to the bump 6b, so that the bump 6b cannot be in contact with the second sensing unit 6c under the condition of no stress, the bump 6b is provided with parallel limit sliding grooves 6b2 on two sides of the contact block 6b1, the sliding block 6d1 of the reset unit 6d is limitedly installed in the limit sliding grooves 6b2 and has a certain sliding space, the straight rod 6d2 hinged to the sliding block 6d1 is inserted into the insertion hole 4c1 arranged on the second slot 4c of the clamping plate 4, the continuous downward force is provided by the second spring 6d3 sleeved on the straight rod 6d2, meanwhile, the movement of the bump 6b is not blocked, and the contact of the bump 6b is ensured.
Further, in order to solve the problem of how the clamping plate positioning assembly 5 detects the close proximity of the bottom plate of the clamping plate 4 to the table on which the goods are placed, as shown in fig. 8 to 12:
the clamping plate positioning assembly 5 comprises a bottom contact plate 5a arranged below the clamping plate 4, a guide rod 5b extending vertically upwards is arranged on the upper side of the bottom contact plate 5a, the guide rod 5b is inserted into a limiting cavity 4d arranged at the bottom of the clamping plate 4, a spring 5c is sleeved on the guide rod 5b and elastically connected with the bottom contact plate 5a and the clamping plate 4, a first sensing unit 5d is arranged between the bottom contact plate 5a and the clamping plate 4, a first sensing unit 5d is in signal connection with the driving assembly 3, and the first sensing unit 5d is used for detecting contact between the bottom contact plate 5a and the clamping plate 4.
Based on the above-mentioned embodiment, the clamping plate locating component 5 that this application provided includes the bottom contact plate 5a of cartridge in clamping plate 4 bottom, bottom contact plate 5a passes through guide bar 5b cartridge in the spacing chamber 4d that clamping plate 4 below set up and ensures the stable vertical removal of clamping plate locating component 5, wherein spacing chamber 4d can be provided with the shape of two inner chamber matching guide bars 5b that the diameter is different, guarantee that guide bar 5b can not break away from in spacing chamber 4d, the cover is equipped with the spring 5c that is used for buffering bottom contact plate 5a and clamping plate 4 bottom contact pressure on the guide bar 5b, first induction element 5d sets up between clamping plate 4 and bottom contact plate 5a, first induction element 5d can be contact sensor in this embodiment, first induction element 5d installs in clamping plate 4 bottom and work end orientation bottom contact plate 5a, when second linear drive device 3c drives clamping plate 4 and moves down to bottom contact plate 5a bottom and place the workstation contact of goods, bottom contact plate 5a is close to clamping plate 4 bottom and first induction element 5d and carries out the continuous drive line drive device that supports the bottom contact plate 3 d and carry out the steady clamp assembly to the continuous clamp plate 3 to carry out the steady state that the control signal to take over the first drive end contact plate 3 d and carry out the clamping plate 3 to the load bearing component 5 d.
Further, in order to solve the problem of how the receiving unit 7 receives the bottom of the cargo, as shown in fig. 8 and 12:
the receiving assembly 7 comprises a first hinge plate 7a and a second hinge plate 7b which are connected in a hinged manner, the free end of the first hinge plate 7a is connected in a hinged manner with the bottom contact plates 5a of the clamping plate positioning assembly 5, the first hinge plate 7a is hinged to one side opposite to the two bottom contact plates 5a, a placing cavity 7a1 for accommodating the second hinge plate 7b is formed in one side, away from the bottom contact plates 5a, of the first hinge plate 7a, the second hinge plate 7b is hinged to the bottom end of the placing cavity 7a1, the receiving 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 embodiment, the first hinge plate 7a provided in the present application is hinged to the bottom of the bottom contact plate 5a, when the first hinge plate 7a is in an open state with the bottom contact plate 5a, the hinge opening of the first hinge plate 7a and the second hinge plate 7b is set towards the lower side of the cargo, the cargo can directly fall down on the second hinge plate 7b to ensure its position after sliding down, the elastic unit 7c set at the hinge position between the first hinge plate 7a and the second hinge plate 7b and the bottom contact plate 5a can be a torsion spring, or can be other structure with an opening angle that can be ensured, the second sensing unit 6c of the sliding detection assembly 6 can realize the release of the first hinge plate 7a and the second hinge plate 7b by matching with the locking angle of the elastic unit 7c, so that the first hinge plate 7a can be conveniently compressed to a horizontal state when the first hinge plate 7a contacts with the workbench, and the second sensing unit 6c can be conveniently started to release the receiving assembly 7a to control the cargo position when the bump 6b contacts with the second sensing unit 6c, and the second hinge plate 7a can be accurately placed in the clamping cavity 1, and the second hinge plate 7a can be placed in the clamping cavity 7a is set at the side of the second hinge plate 7a, and the clamping cavity 1 can be accurately placed.
Further, in order to solve the problem of how to increase the friction between the clamping plate 4 and the surface of the cargo to avoid the falling of the cargo, as shown in fig. 4 and 5:
a plurality of horizontally extending anti-slip strips 4e are arranged on one side, opposite to the two clamping plates 4, of the anti-slip strips 4e, and are vertically distributed on the surface side of the limiting cavity 4d at equal intervals.
Based on the 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 the frictional force that improves to the goods surface and prevents that the goods from dropping, and antislip strip 4e also has certain compressibility, guarantees that the clamping dynamics of grip block 4 is bigger.
Further, in order to solve the problem of how to ensure the sensitivity of the wheel 6a to the detection of the sliding of the cargo, it is shown in fig. 5 and 6:
the guide post 4a is provided on its peripheral side with a plurality of ribs 6a2 distributed at equal intervals around the rotation axis of the guide post 4a, and the extending direction of the ribs 6a2 is parallel to the axial direction of the rotating wheel 6 a.
Based on the above-mentioned embodiment, the runner 6a that this application provided has solved above-mentioned problem through set up sand grip 6a2 at runner 6a week side, and sand grip 6a2 has further improved the frictional force of runner 6a and goods week side, makes the goods position appear moving and makes runner 6 a's reaction more sensitive, accepts the start-up speed of subassembly 7 faster.
The foregoing examples merely illustrate one or more embodiments of the invention, which are described in greater detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (6)
1. The utility model provides a transport manipulator for intelligent manufacturing production line, including roating seat (1) and install multisection regulating arm (2) on roating seat (1), a serial communication port, drive assembly (3) are installed to the work end of regulating arm (2), but two relative movement's grip block (4) are installed on the work end of drive assembly (3) vertically, the bottom of grip block (4) is provided with grip block locating component (5) that are used for confirming drive assembly (3) bottom position, the opposite side of grip block (4) is provided with landing detection component (6), landing detection component (6) are through runner (6 a) and the goods surface contact of installing on grip block (4), the rotation axis level of runner (6 a) sets up, one side of runner (6 a) is provided with lug (6 b), lug (6 b) follow runner (6 a) and rotate, the upper end of lug (6 b) is provided with second sensing unit (6 c), second sensing unit (6 c) signal connection is used for accepting the subassembly (7) of landing accepting goods, subassembly (7) are installed in the bottom of grip block locating component (5);
the upper side of the protruding block (6 b) is provided with a contact block (6 b 1), and the contact block (6 b 1) is used for horizontally contacting the working end of the second induction unit (6 c);
two parallel limit sliding grooves (6 b 2) are formed in two sides of the contact block (6 b 1), the limit 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) which is arranged in the limit sliding grooves (6 b 2) in a limiting mode, the sliding block (6 d 1) is connected to the bottom end of the straight rod (6 d 2) in a hinged mode, the upper end of the straight rod (6 d 2) is inserted into an inserting hole (4 c 1), the inserting hole (4 c 1) is formed in a second groove (4 c) of the clamping plate (4), and a second spring (6 d 3) is sleeved on the limit sliding grooves (6 b 2);
a first slot (4 b) extending horizontally is formed in one side, opposite to the two clamping plates (4), of the first slot (4 b), the height of the first slot (4 b) is matched with the diameter of the rotating wheel (6 a), two ends of the first slot (4 b) are provided with limit slots (4 b 1), the limit slots (4 b 1) are positioned in the horizontal extending direction of the first slot (4 b), the width of the limit slots (4 b 1) is matched with the diameter of the inserting columns (6 a 1), inserting columns (6 a 1) are arranged at two ends of the rotating wheel (6 a), the inserting columns (6 a 1) are in limiting insertion in the limit slots (4 b 1), a moving block (4 b 2) is arranged in the limit slots (4 b 1), a first spring (4 b 3) is arranged between the limit slots (4 b 1) and the moving block (4 b 2), a second slot (4 c) avoiding the protruding blocks (6 b) is arranged in the first slot (4 b), and the protruding blocks (6 b) are in the second slot (4 c);
clamping plate locating component (5) are including setting up bottom contact plate (5 a) in clamping plate (4) below, bottom contact plate (5 a) upside is provided with vertical upwards extending guide bar (5 b), guide bar (5 b) cartridge is in spacing chamber (4 d) that clamping plate (4) bottom set up, spring (5 c) suit is on guide bar (5 b), spring (5 c) elastic connection bottom contact plate (5 a) and clamping plate (4), be provided with first response unit (5 d) between bottom contact plate (5 a) and clamping plate (4), first response unit (5 d) signal connection drive assembly (3), first response unit (5 d) are used for detecting bottom contact plate (5 a) and clamping plate (4) contact.
2. The carrying manipulator for intelligent manufacturing production lines according to claim 1, wherein the driving assembly (3) comprises two first linear driving devices (3 a) which are arranged in parallel, the working ends of the first linear driving devices (3 a) are respectively provided with a mounting plate (3 b), the bottoms of the mounting plates (3 b) are provided with second linear driving devices (3 c), the working ends of the second linear driving devices (3 c) are arranged to move in the vertical direction, and the working ends of the second linear driving devices (3 c) are fixedly connected with one side of the clamping plate (4).
3. The carrying manipulator for intelligent manufacturing production lines according to claim 2, characterized in that a plurality of guide posts (4 a) extending vertically upwards are arranged above the clamping plates (4), the guide posts (4 a) are inserted into guide sleeves (3 b 1) in a limiting manner, and the guide sleeves (3 b 1) are arranged on the mounting plates (3 b).
4. The carrying manipulator for intelligent manufacturing production lines according to claim 1, wherein the receiving assembly (7) comprises a first hinge plate (7 a) and a second hinge plate (7 b) which are hinged, the free end of the first hinge plate (7 a) is hinged with a bottom contact plate (5 a) of the clamping plate positioning assembly (5), the first hinge plate (7 a) is hinged on one side opposite to the two bottom contact plates (5 a), a placing cavity (7 a 1) for accommodating the second hinge plate (7 b) is arranged on one side, away from the bottom contact plate (5 a), of the first hinge plate (7 a), the second hinge plate (7 b) is hinged on 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 hinge positions of the first hinge plate (7 a) and the second hinge plate (7 b).
5. 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, opposite to the two clamping plates (4), of the anti-slip strips (4 e) and are vertically distributed on the surface side of the limiting cavity (4 d) at equal intervals.
6. A handling robot for an intelligent manufacturing line according to claim 3, characterized in that a plurality of ribs (6 a 2) are provided on the peripheral side of the guide post (4 a) and are equally spaced around the rotational axis of the guide post (4 a), and the extending direction of the ribs (6 a 2) is parallel to the axial direction of the runner (6 a).
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| CN114476658A (en) | 2022-05-13 |
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