CN115157211B - Multifunctional manipulator for material taking - Google Patents
Multifunctional manipulator for material taking Download PDFInfo
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- CN115157211B CN115157211B CN202211075440.4A CN202211075440A CN115157211B CN 115157211 B CN115157211 B CN 115157211B CN 202211075440 A CN202211075440 A CN 202211075440A CN 115157211 B CN115157211 B CN 115157211B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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Abstract
The invention provides a multifunctional manipulator for material taking, which comprises an arc-shaped track structure, a fixed vehicle arranged in the arc-shaped track structure, a lead screw transmission mechanism vertically arranged on the fixed vehicle, a rotating block connected with the lead screw transmission mechanism, and a moving rod with one end hinged with the rotating block, wherein the other end of the moving rod is connected with the moving vehicle through a steel wire rope, and the moving vehicle is arranged on the arc-shaped track structure; the moving rod is provided with a first sliding structure and a second sliding structure, an angle adjusting structure is arranged between the first sliding structure and the second sliding structure, and an industrial robot is arranged on the angle adjusting structure. The multifunctional manipulator for material taking provided by the invention can realize large-scale work of the manipulator, can be used for operating a 360-degree revolving body, and has wider adaptability due to the arc motion track.
Description
Technical Field
The invention belongs to the technical field of mechanical arms, and particularly relates to a multifunctional manipulator for material taking.
Background
A robot is an automatic manipulator that simulates some of the motion functions of a human hand and arm to grasp, transport objects or manipulate tools according to a fixed program. The robot has the characteristics that various expected operations can be completed through programming, and the advantages of the robot and the manipulator are combined in structure and performance. In the modern mechanical industrial production, various automatic machines replace workers in a large quantity to finish work in a severe environment, the high-speed work efficiency of the automatic machines is incomparable with the workers, the automatic machines do not need to have a rest, and the automatic machines can work continuously for 24 hours.
However, in the using process, the mechanical arm has the following technical problems, which restrict the industrial efficient production:
(1) The existing manipulator mainly aims at the short-distance transfer of objects, such as within 0-3 meters, but for the transfer of objects within a large range, the existing manipulator device cannot realize the transfer of the objects, such as objects more than 5 meters and even objects beyond tens of meters, the movement of the objects is realized by adopting a carrying forklift or a beam hoisting mode, but the manipulator device cannot be used for the operations of installation, disassembly and the like;
(2) The existing mechanical arm carries out related work aiming at objects within a certain angle range, and is not applicable when 360-degree operation aiming at a revolving body is required;
(3) At present, most of mechanical arms perform translation or rotation movement, however, in practical application, the movement of the mechanical arm needs to be in a circular arc track in a large range due to safety, space saving and the like, however, due to the factors of programming or structural design, the conventional mechanical arm cannot cope with circular arc type operation.
Disclosure of Invention
The invention aims to provide a multifunctional manipulator for taking materials, which solves the technical problem of how to realize large-scale work of the manipulator, can be used for operating a 360-degree revolving body, and has wider adaptability due to the arc-shaped motion track.
A multifunctional manipulator for material taking comprises an arc-shaped track structure, a fixed vehicle arranged in the arc-shaped track structure, a lead screw transmission mechanism vertically arranged on the fixed vehicle, a rotating block connected with the lead screw transmission mechanism, and a moving rod with one end hinged with the rotating block, wherein the other end of the moving rod is connected with the moving vehicle through a steel wire rope or an electric push rod, and the moving vehicle is arranged on the arc-shaped track structure;
the moving rod is provided with a first sliding structure and a second sliding structure, an angle adjusting structure is arranged between the first sliding structure and the second sliding structure, and an industrial robot is arranged on the angle adjusting structure.
The first sliding structure comprises a first moving block, a first gear shaft penetrating through the first moving block, a first gear arranged on the first gear shaft, and a third motor connected with the first gear shaft, wherein the third motor is arranged on the first moving block, and the first gear is meshed with a first toothed belt arranged on the moving rod;
the bottom end of the first moving block is connected with the angle adjusting structure.
The second sliding structure comprises a second moving block, a second gear shaft penetrating through the second moving block, a second gear arranged on the second gear shaft, and a fourth motor connected with the second gear shaft, wherein the fourth motor is arranged on the second moving block, and the second gear is meshed with a first toothed belt arranged on the moving rod;
the top end of the second moving block is connected with the angle adjusting structure.
The angle adjusting structure comprises an adjusting rod, an air cylinder connected with one end of the adjusting rod, a pull rope with one end connected with the other end of the adjusting rod, a positioning block connected with the bottom end of the air cylinder, and a third moving block movably arranged on the adjusting rod, wherein the third moving block is connected with the industrial robot through a rotating structure;
a third gear shaft is arranged on the third moving block, a third gear is arranged on the third gear shaft, the third gear is meshed with a second toothed belt arranged on the adjusting rod, the third gear shaft is meshed with a second motor, and the second motor is arranged on the third moving block;
the positioning block is hinged to the fixed shaft, the fixed shaft is vertically arranged at the bottom end of the first moving block, the other end of the pull rope is connected with the driving roller, the driving roller is rotatably arranged at the top end of the second moving block, and the driving roller is connected with the fifth motor.
The rotating structure comprises a second bevel gear coaxially arranged on the third gear shaft, a first bevel gear meshed with the second bevel gear, a rotating shaft penetrating through the first bevel gear, and a rotating plate arranged at the end part of the rotating shaft, wherein the bottom edge of the rotating plate is fixedly provided with the industrial robot.
The arc-shaped track structure comprises a first arc-shaped track and a second arc-shaped track, the bottom ends of the first track and the second track are respectively provided with a second support leg and a first support leg, and the bottom ends of the first support leg and the second support leg are respectively provided with a movable wheel;
the moving vehicle is arranged on the first rail and the second rail.
The movable trolley is provided with a rotating roller, two ends of the rotating roller are hinged to the movable trolley through supporting seats respectively, and one end of the rotating roller is connected with a first motor;
the rotary roller is connected with the steel wire rope, or the bottom end of the moving vehicle is provided with the electric push rod.
The screw transmission mechanism comprises a screw and a guide pillar which are vertically arranged, a screw motor arranged at the top end of the screw and a sliding block arranged on the screw and the guide pillar, and the rotating block can be horizontally and rotatably hinged on the sliding block; the two ends of the lead screw or the guide pillar are respectively arranged on the base and the top seat.
A through hole is formed in the positioning block, an embedding column is vertically arranged on the side portion of the bottom end of the moving block II, and the embedding column is detachably inserted into the through hole;
the outer end of the embedded column is provided with a notch, and the pull rope penetrates through the notch.
The invention has the following beneficial effects:
(1) The arc-shaped rail structure, the sliding structure I and the sliding structure II are arranged, so that the industrial robot can perform operations such as installation, disassembly, transfer and the like on equipment or parts in the range within the arc-shaped surface range, and the operating range of the industrial robot is extended;
(2) The rotating plate is provided with an industrial robot, so that the working angle and the position of the industrial robot can be correspondingly adjusted according to the actual situation, and the rotating plate can be in a vertical state or a horizontal state;
(3) A rotating structure is arranged on the moving block III, when the moving block III moves on the adjusting rod, the bevel gear II and the bevel gear I are driven to rotate at the same time, and then the rotating plate rotates, namely, when the moving block III moves linearly, the working position of the industrial robot is adjusted, so that the industrial robot can perform corresponding production operation in all directions of the rotating body, and the multifunctional technical effect is achieved;
(4) The through hole is formed in the positioning block, and the embedding column is vertically arranged on the side portion of the bottom end of the second moving block, so that when the adjusting rod is in a vertical state, the embedding column is inserted into the through hole, the adjusting rod is favorably positioned, and the adjusting rod is prevented from shaking;
meanwhile, the outer end of the embedded column is provided with a notch, and the pull rope penetrates through the notch, so that the tensioning and limiting effects on the pull rope are enhanced.
Drawings
Fig. 1 is a schematic structural view of a robot in embodiment 1 of the present invention.
Fig. 2 is a schematic structural diagram of the mobile lifting mechanism in embodiment 1 of the present invention.
Fig. 3 is a first structural diagram of a first sliding structure and a second sliding structure in embodiment 1 of the present invention.
Fig. 4 is a schematic structural diagram ii of the first sliding structure and the second sliding structure in embodiment 1 of the present invention.
Fig. 5 is a connecting structure diagram of the second moving block and the positioning block in embodiment 1 of the present invention.
Wherein the reference numerals are: 1. a first track; 2. a second track; 3. rotating the roller; 4. a mobile vehicle; 5. a first motor; 6. a wire rope; 7. a first support leg; 8. a second support leg; 9. a travel bar; 10. an angle adjustment structure; 101. pulling a rope; 102. adjusting a rod; 103. a second motor; 104. moving a third block; 105. rotating the plate; 106. a cylinder; 107. a rotating shaft; 108. a first bevel gear; 109. a second bevel gear; 110. a third gear; 11. fixing the vehicle; 111. moving the legs; 112. a cross bar; 113. a balancing weight; 12. a lead screw transmission mechanism; 121. a base; 122. a guide post; 123. a lead screw; 124. a top seat; 125. a lead screw motor; 126. a slider; 13. rotating the block; 15. a first sliding structure; 151. moving a first block; 152. a first gear; 153. a third motor; 154. a fixed shaft; 155. positioning blocks; 16. a second sliding structure; 161. a second moving block; 162. a fourth motor; 163. a second gear; 164. a drive roller; 165. a fifth motor; 166. an embedded column; 167. opening the gap; 17. an arc track structure; 18. and (5) a rotating structure.
Detailed Description
In order to clearly illustrate the technical features of the present solution, the present solution is described below by way of specific embodiments.
Example 1
Referring to fig. 1 to 5, a multifunctional manipulator for material taking comprises an arc-shaped track structure 17, a fixed vehicle 11 arranged inside the arc-shaped track structure 17, a lead screw transmission mechanism 12 vertically arranged on the fixed vehicle 11, a rotating block 13 connected with the lead screw transmission mechanism 12, and a moving rod 9 with one end hinged with the rotating block 13, wherein the other end of the moving rod 9 is connected with a moving vehicle 4 through a steel wire rope 6, and the moving vehicle 4 is arranged on the arc-shaped track structure 17;
the moving rod 9 is provided with a first sliding structure 15 and a second sliding structure 16, an angle adjusting structure 10 is arranged between the first sliding structure 15 and the second sliding structure 16, and an industrial robot is arranged on the angle adjusting structure 10.
Preferably, the steel cord 6 may be provided in plurality in order to increase the stability of the connection.
The fixing mode of the industrial robot can adopt bolt fixing, and can also adopt other modes to fix according to the actual situation, and the details are not described herein.
Preferably, a cross bar 112 is disposed on the outer side of the fixed cart 11, a moving leg 111 is disposed at the bottom end of the cross bar 112, and a counterweight 113 is disposed at the central bottom end of the fixed cart 11.
The sliding structure I15 comprises a first moving block 151, a first gear shaft penetrating through the first moving block 151, a first gear 152 arranged on the first gear shaft, and a third motor 153 connected with the first gear shaft, wherein the third motor 153 is arranged on the first moving block 151, and the first gear 152 is meshed with a first toothed belt arranged on the moving rod 9;
the bottom end of the first moving block 151 is connected with the angle adjusting structure 10.
The sliding structure II 16 comprises a moving block II 161, a gear shaft II penetrating through the moving block II 161, a gear II 163 arranged on the gear shaft II and a motor IV 162 connected with the gear shaft II, wherein the motor IV 162 is arranged on the moving block II 161, and the gear II 163 is meshed with a toothed belt I arranged on the moving rod 9;
the top end of the second moving block 161 is connected with the angle adjusting structure 10.
The angle adjusting structure 10 comprises an adjusting rod 102, an air cylinder 106 connected with one end of the adjusting rod 102, a pull rope 101 with one end connected with the other end of the adjusting rod 102, a positioning block 155 connected with the bottom end of the air cylinder 106, and a third moving block 104 movably arranged on the adjusting rod 102, wherein the third moving block 104 is connected with the industrial robot through a rotating structure 18;
a third gear shaft is arranged on the third moving block 104, a third gear 110 is arranged on the third gear shaft, the third gear 110 is meshed with a second toothed belt arranged on the adjusting rod 102, the third gear shaft is meshed with a second motor 103, and the second motor 103 is arranged on the third moving block 104;
the positioning block 155 is hinged to the fixed shaft 154, the fixed shaft 154 is vertically arranged at the bottom end of the first moving block 151, the other end of the pull rope 101 is connected with the driving roller 164, the driving roller 164 is rotatably arranged at the top end of the second moving block 161, and the driving roller 164 is connected with the fifth motor 165.
The rotating structure 18 comprises a second bevel gear 109 coaxially arranged on the third gear shaft, a first bevel gear 108 meshed with the second bevel gear 109, a rotating shaft 107 penetrating through the first bevel gear 108, and a rotating plate 105 arranged at the end part of the rotating shaft 107, wherein an industrial robot is fixedly arranged at the edge of the bottom surface of the rotating plate 105.
The arc-shaped track structure 17 comprises a first arc-shaped track 1 and a second arc-shaped track 2, the bottom ends of the first arc-shaped track 1 and the second arc-shaped track 2 are respectively provided with a second support leg 8 and a first support leg 7, and the bottom ends of the first support leg 7 and the second support leg 8 are respectively provided with a movable wheel;
the moving vehicle 4 is arranged on the first track 1 and the second track 2.
The movable trolley 4 is provided with a rotary roller 3, two ends of the rotary roller 3 are respectively hinged on the movable trolley 4 through a supporting seat, and one end of the rotary roller 3 is connected with a first motor 5; the roller 3 is connected with a steel wire rope 6.
The screw transmission mechanism 12 comprises a screw 123 and a guide post 122 which are vertically arranged, a screw motor 125 arranged at the top end of the screw 123, and a slider 126 arranged on the screw 123 and the guide post 122, and the rotating block 13 can be horizontally and rotatably hinged on the slider 126; the two ends of the lead screw 123 or the guide post 122 are respectively arranged on the base 121 and the top seat 124.
A through hole is formed in the positioning block 155, an embedding column 166 is vertically arranged on the side portion of the bottom end of the second moving block 161, and the embedding column 166 is detachably inserted into the through hole;
the outer end of the embedded column 166 is provided with a gap 167, and the pull rope 101 is arranged in the gap 167.
The specific working process of the invention is as follows:
the arc-shaped track structure 17 is arranged, the hinge point of the sliding block 126 and the rotating block 13 is positioned at the arc center position of the first track 1 and the second track 2, at the moment, the moving vehicle 4 can smoothly reciprocate along the first track 1 and the second track 2 so as to drive the moving rod 9 to do sector swing motion, the bottom end of the fixed vehicle 11 is provided with universal wheels, but the fixed vehicle 11 can be positioned at a specific position to avoid moving during working, and the specific fixing mode is various, such as bolts, rope binding and the like, and can be determined according to actual situations; when the working position needs to be changed, the fixed vehicle 11 and the arc-shaped track structure 17 can be moved at the same time, and the universal wheels at the bottom end of the fixed vehicle 11, the first support leg 7 and the moving wheels at the bottom end of the second support leg 8 can all enable the whole device to correspondingly move according to the actual situation;
the sliding structure I15 and the sliding structure II 16 are arranged, under the meshing action of the gear I152, the gear II 163 and the toothed belt, the moving block I151 and the moving block II 161 can move in a reciprocating mode and can be correspondingly adjusted according to the actual position of equipment to be operated, so that the industrial robot can perform operations such as mounting, dismounting and transferring on the equipment or parts in the range within an arc-shaped surface, and the operating range of the industrial robot is extended;
the positioning block 155 and the pull rope 101 are arranged, the inclination angle of the adjusting rod 102 is correspondingly adjusted under the action of the five motors 165, and because the rotating plate 105 is provided with the industrial robot, the working angle and the position of the industrial robot can be correspondingly adjusted according to the actual situation, and the rotating plate 105 can be in a vertical state or a horizontal state; the movement of the third moving block 104 indirectly drives the rotating plate 105 to rotate, so that the industrial robot can work in the east, south, west and north directions of the equipment to be operated, and can be suitable for the operations of mounting, dismounting, welding and the like of parts of a 360-degree rotating body;
the positioning block 155 is provided with a through hole, and the side part of the bottom end of the second moving block 161 is vertically provided with the embedded column 166, so that when the adjusting rod 102 is in a vertical state, the embedded column 166 is inserted into the through hole, the adjusting rod 102 is positioned, and the shaking is avoided;
meanwhile, a notch 167 is formed at the outer end of the embedded column 166, and the pull rope 101 penetrates through the notch 167, which is helpful for enhancing the tensioning and limiting effects on the pull rope 101.
Example 2
The other end of carriage release lever 9 can also be connected with locomotive 4 through electric putter for electric putter's bottom is connected with locomotive 4's bottom particularly, and electric putter's flexible end is articulated with carriage release lever 9, adopts electric putter this moment, has stronger connection stability, avoids great rocking.
The technical features of the present invention which are not described in the above embodiments may be implemented by or using the prior art, and are not described herein again, of course, the above description is not intended to limit the present invention, and the present invention is not limited to the above examples, and variations, modifications, additions or substitutions which may be made by those skilled in the art within the spirit and scope of the present invention should also fall within the protection scope of the present invention.
Claims (6)
1. The multifunctional manipulator for material taking is characterized by comprising an arc-shaped track structure (17), a fixed vehicle (11) arranged on the arc-shaped inner side of the arc-shaped track structure (17), a lead screw transmission mechanism (12) vertically arranged on the fixed vehicle (11), a rotating block (13) connected with the lead screw transmission mechanism (12), and a moving rod (9) with one end hinged with the rotating block (13), wherein the other end of the moving rod (9) is connected with a moving vehicle (4) through a steel wire rope (6), and the moving vehicle (4) is arranged on the arc-shaped track structure (17);
a first sliding structure (15) and a second sliding structure (16) are arranged on the moving rod (9), an angle adjusting structure (10) is arranged between the first sliding structure (15) and the second sliding structure (16), and an industrial robot is arranged on the angle adjusting structure (10);
the first sliding structure (15) comprises a first moving block (151), a first gear shaft penetrating through the first moving block (151), a first gear (152) arranged on the first gear shaft, and a third motor (153) connected with the first gear shaft, wherein the third motor (153) is arranged on the first moving block (151), and the first gear (152) is meshed with a first toothed belt arranged on the moving rod (9);
the bottom end of the first moving block (151) is connected with the angle adjusting structure (10);
the second sliding structure (16) comprises a second moving block (161), a second gear shaft penetrating through the second moving block (161), a second gear (163) arranged on the second gear shaft, and a fourth motor (162) connected with the second gear shaft, wherein the fourth motor (162) is arranged on the second moving block (161), and the second gear (163) is meshed with a first toothed belt arranged on the moving rod (9);
the top end of the second moving block (161) is connected with the angle adjusting structure (10);
the angle adjusting structure (10) comprises an adjusting rod (102), a cylinder (106) connected with one end of the adjusting rod (102), a pull rope (101) with one end connected with the other end of the adjusting rod (102), a positioning block (155) connected with the bottom end of the cylinder (106), and a third moving block (104) movably arranged on the adjusting rod (102), wherein the third moving block (104) is connected with the industrial robot through a rotating structure (18);
a gear shaft III is arranged on the moving block III (104), a gear III (110) is arranged on the gear shaft III, the gear III (110) is meshed with a toothed belt II arranged on the adjusting rod (102), the gear shaft III is meshed with a motor II (103), and the motor II (103) is arranged on the moving block III (104);
the positioning block (155) is hinged to a fixed shaft (154), the fixed shaft (154) is vertically arranged at the bottom end of the first moving block (151), the other end of the pull rope (101) is connected with a driving roller (164), the driving roller (164) is rotatably arranged at the top end of the second moving block (161), and the driving roller (164) is connected with a fifth motor (165).
2. The multifunctional manipulator for material taking according to claim 1, wherein the rotating structure (18) comprises a second bevel gear (109) coaxially arranged on the third gear shaft, a first bevel gear (108) in meshed connection with the second bevel gear (109), a rotating shaft (107) penetrating through the first bevel gear (108), and a rotating plate (105) arranged at the end part of the rotating shaft (107), and the industrial robot is fixedly arranged at the bottom edge of the rotating plate (105).
3. The multifunctional manipulator for material taking according to claim 1, wherein the arc-shaped track structure (17) comprises a first arc-shaped track (1) and a second arc-shaped track (2), wherein a second support leg (8) and a first support leg (7) are respectively arranged at the bottom ends of the first arc-shaped track (1) and the second arc-shaped track (2), and moving wheels are respectively arranged at the bottom ends of the first support leg (7) and the second support leg (8);
the moving vehicle (4) is arranged on the first rail (1) and the second rail (2).
4. The multifunctional manipulator for material taking according to claim 3, wherein a roller (3) is arranged on the moving vehicle (4), two ends of the roller (3) are respectively hinged on the moving vehicle (4) through a supporting seat, one end of the roller (3) is connected with a first motor (5), and the roller (3) is connected with the steel wire rope (6).
5. The multifunctional manipulator for material taking according to claim 1, wherein the screw transmission mechanism (12) comprises a vertically arranged screw (123) and a guide post (122), a screw motor (125) arranged at the top end of the screw (123), and a slide block (126) arranged on the screw (123) and the guide post (122), and the rotating block (13) is horizontally and rotatably hinged on the slide block (126); two ends of the lead screw (123) or the guide post (122) are respectively arranged on the base (121) and the top seat (124).
6. The multifunctional manipulator for material taking according to claim 1, wherein a through hole is formed in the positioning block (155), an embedded column (166) is vertically arranged on the side portion of the bottom end of the second moving block (161), and the embedded column (166) is detachably inserted into the through hole;
the outer end of the embedded column (166) is provided with a notch (167), and the pull rope (101) penetrates through the notch (167).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211075440.4A CN115157211B (en) | 2022-09-05 | 2022-09-05 | Multifunctional manipulator for material taking |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211075440.4A CN115157211B (en) | 2022-09-05 | 2022-09-05 | Multifunctional manipulator for material taking |
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| CN115157211B true CN115157211B (en) | 2022-12-02 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN216505130U (en) * | 2021-12-27 | 2022-05-13 | 威海润泽自动化设备有限公司 | Novel be suitable for multiaxis servo manipulator |
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|---|---|---|---|---|
| CA2497249A1 (en) * | 2005-02-14 | 2006-08-14 | Brian Mcluckie | Saddle for a gantry robot and a gantry robot including the same |
| CN201214554Y (en) * | 2008-05-26 | 2009-04-01 | 昆明理工大学 | Logistics system complete equipment |
| CN102699894A (en) * | 2012-02-01 | 2012-10-03 | 昆山华恒焊接股份有限公司 | Transfer robot system |
| CN108372495B (en) * | 2018-01-22 | 2020-09-25 | 燕山大学 | Six-degree-of-freedom annular tool for spaceflight cabin and carrying device |
| CN111702379B (en) * | 2020-05-11 | 2021-10-01 | 芜湖懒人智能科技有限公司 | Inner and outer welding device for garbage can shell integrating inner welding function and outer welding function |
| CN214924398U (en) * | 2021-06-04 | 2021-11-30 | 枣庄学院 | Multi-arm rotary robot |
| CN113510683A (en) * | 2021-07-23 | 2021-10-19 | 东风汽车集团股份有限公司 | Non-linear walking mechanism of industrial robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN216505130U (en) * | 2021-12-27 | 2022-05-13 | 威海润泽自动化设备有限公司 | Novel be suitable for multiaxis servo manipulator |
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