CN115416014B - Underactuated type separation grabbing manipulator embedded in stacking empty tray - Google Patents
Underactuated type separation grabbing manipulator embedded in stacking empty tray Download PDFInfo
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- CN115416014B CN115416014B CN202211127278.6A CN202211127278A CN115416014B CN 115416014 B CN115416014 B CN 115416014B CN 202211127278 A CN202211127278 A CN 202211127278A CN 115416014 B CN115416014 B CN 115416014B
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- transverse moving
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
- B25J9/1065—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms
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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
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
An underactuated separating and grabbing manipulator embedded in a stacking empty tray belongs to the fields of robots and logistics equipment; the left-right double-thread screw rod positively rotates to drive two transversely moving plates and two transversely moving seats which are symmetrically arranged to move in opposite directions, a compression spring is arranged between the transversely moving plates and the transversely moving seats, and the underactuation effect is generated by overcoming the relative displacement of the spring force; two hinge bases of the parallelogram mechanism are fixed on the transverse moving base, the other two hinge bases of the parallelogram mechanism are fixed on the fork, and a push rod hinge base is fixed on the transverse moving plate; the two transversely moving seats move oppositely and compress the two springs, the secondary upper layer tray is clamped by the spring force, the two push rod hinge seats push the two force rods, the two fork shafts translate obliquely upwards to separate the uppermost tray, the left-right double-thread screw rod reversely drives the two transversely moving seats to separate from the secondary upper layer tray, the mechanical arm vertically moves upwards to lift the uppermost layer tray, and finally the left-right double-thread screw rod rapidly rotates forwards, so that the two fork shafts clamp the side surfaces of the tray.
Description
Technical Field
The invention relates to the technical field of robots and logistics equipment, in particular to an underactuated separating and grabbing manipulator embedded in a stacked tray.
Background
Pallets are vehicles that transform static cargo into dynamic cargo, a cargo platform, and are mobile platforms, or movable floors. Corrugated box, plastics turnover case pile up neatly on the plastics tray, use the tray to be the carrier again, transport in the factory with AGV or forklift for a short time, transport on the freight train with the forklift shovel at last and carry out the long-distance transportation.
At present, a plastic tray designed for adapting to the lifting of a hidden lifting type AGV is provided with a ground anchor, and the distance from the ground is higher, so that in order to reduce the storage and transportation space, the empty plastic trays with the ground anchor are in an embedded and stacked state, and therefore, larger friction force exists between the adjacent empty plastic trays, and separation and disconnection are difficult to realize.
Disclosure of Invention
Aiming at the defects in the prior art, the applicant provides the underactuated separating and grabbing manipulator for embedding the stacked empty trays, which is reasonable in structure, so that the operations of separating and grabbing the stacked empty trays, stacking cartons and the like are realized, the operation is simple, the action is quick, and the universality is strong.
The technical scheme adopted by the invention is as follows:
the underactuated type separation grabbing mechanical arm embedded in the stacking empty tray comprises a displacement-angular displacement conversion amplifying mechanism, a parallelogram mechanism and an underactuated mechanism, wherein the displacement-angular displacement conversion amplifying mechanism comprises a transverse moving plate, a push rod hinge seat, a two-force rod and a second swing rod, and a motor and a left-right screw rod in the displacement-angular displacement conversion amplifying mechanism drive the displacement movement of the transverse moving plate to convert and amplify the displacement movement into the angular displacement of a first swing rod with a hole by means of the two-force rod; the parallelogram mechanism comprises a first swing rod with holes, a second swing rod, a transverse moving seat and a step fork, the distances between the centers of the hinges on the first swing rod with holes and the second swing rod with holes are equal, and the distances between the centers of the hinges on the transverse moving seat and the step fork are equal, so that a parallelogram is formed, the first swing rod with holes in the parallelogram mechanism drives the lower step fork to translate obliquely upwards, and the uppermost tray is separated; the under-actuated mechanism comprises a transverse moving plate, a compression spring, a push rod hinge seat, a two-force rod, a first swing rod with a hole, a transverse moving seat and a step fork, wherein after the transverse moving seat moves to clamp a tray with the next highest height in the under-actuated mechanism, the transverse moving plate continuously moves against the spring force of the compression spring, so that the step fork of the parallelogram mechanism is driven to move obliquely upwards in a translation mode, namely, a motor drives the transverse moving seat to move and drives the step fork to move in a translation mode.
As a further improvement of the above technical scheme:
the specific mounting structure of manipulator is: the device comprises a mounting bottom plate, wherein the mounting bottom plate is fixedly connected with the tail end of a mechanical arm in a positioning way, a supporting frame with symmetrical intervals is fixed on the mounting bottom plate through a fastening piece, a diamond wall-mounted bearing seat is fixed on the supporting frame, a left-right screw rod is arranged between the two diamond wall-mounted bearing seats, one end of the mounting bottom plate is fixedly provided with a right-angle bracket, a motor is arranged on the outer side of the right-angle bracket, an output shaft of the motor penetrates through the right-angle bracket and then is connected with the left-right screw rod through a coupling, a long guide pillar is fixed on a single supporting frame in the sea, two symmetrical sides of the same long guide pillar are respectively provided with a transverse linear bearing, a right-hand screw rod nut and a left-hand screw rod nut are respectively arranged on the two linear bearings, a push rod hinge seat and a cantilever short guide pillar are respectively arranged on each transverse moving plate, the cantilever short guide pillar is fixed on the transverse moving seat through the same linear bearing, and a compression spring is arranged between the transverse moving seat and the transverse moving plate; the holes on the first swing rod with holes and the second swing rod are respectively connected with a double-lug four-hole hinge seat hinge fixed on the transverse moving seat, the holes on the lower surfaces of the first swing rod with holes and the second swing rod are respectively connected with a double-lug four-hole hinge seat hinge fixed on the step fork, the first swing rod with holes and the second swing rod with holes are respectively provided with two, the push rod hinge seat is hinged with one end of the two force rods, and the other end of the two force rods passes through the two second swing rods and is hinged with the middle holes on the two first swing rods with holes.
The two transverse linear bearings are arranged back to back.
The right-handed screw nut and the left-handed screw nut are arranged face to face.
The step surface of the push rod hinge seat is propped against the transverse moving seat, so that the compression spring pre-tightening limit is provided.
The compression spring is sleeved outside the corresponding linear bearing.
At the hinge joint of the double-lug four-hole hinge seat, a spacer bush is arranged between the two first swing rods with holes and the two second swing rods, and the thickness of the spacer bush is larger than that of the two force rods.
The mounting bottom plate is a thin plate, the four corners of the mounting bottom plate are respectively cut with a notch, the middle of the mounting bottom plate is provided with a circular structure, symmetrical rectangular holes are formed in two sides of the circular structure, and a plurality of threaded holes, fastening unthreaded holes and positioning unthreaded holes are formed in the mounting bottom plate.
The upper part of the transverse moving plate is of a rectangular structure, the bottom of the rectangular structure extends downwards to form a triangular structure, and a plurality of mounting holes are formed in the transverse moving plate.
The cross section of the transverse moving seat is in a [ -shaped structure, a pit is arranged in the middle of the transverse moving seat, and a plurality of threaded holes, fastening unthreaded holes and positioning unthreaded holes are formed in the transverse moving seat.
The beneficial effects of the invention are as follows:
the invention has compact and reasonable structure and convenient operation, can conveniently realize the operations of separating and holding the empty trays embedded and stacked, stacking the cartons and the like through the mutual matching work of the displacement-angular displacement conversion amplifying mechanism and the parallelogram mechanism, and has simple operation, agile action and strong universality.
The transverse movement of the invention adopts a screw mechanism, which is a force amplifying mechanism and a self-locking mechanism, and the motor is powered off and saves energy after clamping, and has reliability.
The invention adopts underactuated action, and the parallelogram mechanism ensures that the translation (namely the up-and-down movement of the fork) of the left fork and the right fork is synchronous, and the synchronism is good.
Drawings
Fig. 1 is a schematic diagram of the working process of the underactuated separation gripping robot of the present invention.
Fig. 2 is a schematic diagram of the gripping state of the underactuated split gripping robot of the present invention.
FIG. 3 is a cross-sectional bottom view of the A-A step of the underactuated split gripping robot of the present invention.
FIG. 4 is a front view, as taken along section B-B, of an underactuated split gripping robot of the present invention.
FIG. 5 is a C-C cross-sectional view of an underactuated split gripping robot of the present invention.
FIG. 6 is a D-D cross-sectional view of an underactuated split gripping robot of the present invention.
FIG. 7 is a view of the mounting base plate components of the underactuated split gripping robot of the present invention.
FIG. 8 is a view of a cross-web component of an underactuated split gripping robot of the present invention.
Fig. 9 is a front cross-sectional view of a laterally moving seat member of an underactuated split gripping robot of the present invention.
Fig. 10 is a left side view of a laterally moving seat member of an underactuated split gripping robot of the present invention.
FIG. 11 is a top view of a laterally moving seat member of an underactuated split gripping robot of the present invention.
Wherein: 1. a left-right screw rod; 2. a lateral moving plate; 3. a compression spring; 4. a push rod hinge base; 5. a second force lever; 6. a first swing rod with a hole; 7. the second swing rod; 8. a lateral movement seat; 9. a step fork; 10. cantilever short guide post; 11. a linear bearing; 12. a long guide post; 13. a right-handed screw nut; 14. diamond wall-hanging bearing seat; 15. a support frame; 16. a mounting base plate; 17. a right angle bracket; 18. a motor; 19. a coupling; 20. double-ear four-hole hinge base; 21. a spacer bush; 22. left-handed screw nut.
Detailed Description
The following describes specific embodiments of the present invention with reference to the drawings.
As shown in fig. 1 to 11, the underactuated separating and gripping manipulator of the embedded stacking empty tray of the present embodiment includes a displacement-angular displacement conversion amplifying mechanism, a parallelogram mechanism and an underactuated mechanism, wherein the displacement-angular displacement conversion amplifying mechanism includes a lateral moving plate 2, a push rod hinge seat 4, a two-force rod 5 and a second swing rod 7, and a motor 18 and a left-right screw rod 1 in the displacement-angular displacement conversion amplifying mechanism drive the displacement movement of the lateral moving plate 2, and the displacement is converted and amplified into the angular displacement of a first swing rod 6 with holes by means of the two-force rod 5; the parallelogram mechanism comprises a first swinging rod 6 with holes, a second swinging rod 7, a transverse moving seat 8 and a step fork 9, the distances between the hinge centers on the first swinging rod 6 with holes and the second swinging rod 7 are equal, and the distances between the hinge centers on the transverse moving seat 8 and the step fork 9 are equal, so that a parallelogram is formed, the first swinging rod 6 with holes in the parallelogram mechanism drives the lower step fork 9 to translate obliquely upwards, and the uppermost tray is separated; the underactuated mechanism comprises a transverse moving plate 2, a compression spring 3, a push rod hinge seat 4, a two-force rod 5, a first swinging rod 6 with holes, a transverse moving seat 8 and a step fork 9, wherein after the transverse moving seat 8 in the underactuated mechanism moves to clamp a next-highest tray, the transverse moving plate 2 overcomes the spring force of the compression spring 3 to continuously move, so that the step fork 9 of the parallelogram mechanism is driven to move obliquely upwards in a translation way, namely, a motor 18 drives the transverse moving seat 8 to move and drives the step fork 9 to move in a translation way.
The specific mounting structure of manipulator is: the device comprises a mounting bottom plate 16, wherein the mounting bottom plate 16 is in positioning connection with the tail end of a mechanical arm, a supporting frame 15 with symmetrical intervals is fixed on the mounting bottom plate 16 through a fastener, a diamond-shaped wall-mounted bearing seat 14 is fixed on the supporting frame 15, a left-right screw rod 1 is mounted between the two diamond-shaped wall-mounted bearing seats 14, a right-angle bracket 17 is fixed at one end of the mounting bottom plate 16, a motor 18 is mounted at the outer side of the right-angle bracket 17, an output shaft of the motor 18 penetrates through the right-angle bracket 17 and then is connected with the left-right screw rod 1 through a coupler 19, a long guide post 12 is fixed on a single supporting frame 15 in the sea, a transverse linear bearing 11 is respectively mounted on two symmetrical sides of the same long guide post 12, a right-handed screw nut 13 and a left-handed screw nut 22 are respectively mounted on the two linear bearings 11, a transverse moving plate 2 is respectively mounted on the right-handed screw nut 13 and the left-handed screw nut 22, a push rod hinge seat 4 and a cantilever short guide post 10 are mounted on each transverse moving plate 2, the cantilever short guide post 10 is fixed on the transverse moving seat 8 through the same linear bearing 11, and a compression spring 3 is mounted between the transverse moving seat 8 and the transverse moving plate 2; the holes on the first swing rod 6 with holes and the second swing rod 7 are respectively hinged with a double-lug four-hole hinge seat 20 fixed on the transverse moving seat 8, the holes on the lower surfaces of the first swing rod 6 with holes and the second swing rod 7 are respectively hinged with the double-lug four-hole hinge seat 20 fixed on the step fork 9, the first swing rod 6 with holes and the second swing rod 7 with holes are respectively provided with two, the push rod hinge seat 4 is hinged with one end of the two-force rod 5, and the other end of the two-force rod 5 passes through the two second swing rods 7 and is simultaneously hinged with middle holes on the two first swing rods 6 with holes.
Two transversal linear bearings 11 are arranged back-to-back.
The right-hand screw nut 13 and the left-hand screw nut 22 are disposed face to face.
The step surface of the push rod hinge seat 4 is abutted against the transverse moving seat 8, so that the pre-tightening limit of the compression spring 3 is provided.
The compression springs 3 are sleeved outside the corresponding linear bearings 11.
At the hinge joint of the double-lug four-hole hinge seat 20, a spacer bush 21 is arranged between the two first swinging rods 6 with holes and the two second swinging rods 7, and the thickness of the spacer bush 21 is larger than that of the two force rods 5.
The mounting base plate 16 is a thin plate, the four corners of the mounting base plate 16 are respectively cut with a notch, the middle part of the mounting base plate 16 is provided with a circular structure, symmetrical rectangular holes are arranged at two sides of the circular structure, and a plurality of threaded holes, fastening unthreaded holes and positioning unthreaded holes are formed in the mounting base plate 16.
The upper part of the transverse moving plate 2 is of a rectangular structure, the bottom of the rectangular structure extends downwards to form a triangular structure, and a plurality of mounting holes are formed in the transverse moving plate 2.
The cross section of the transverse moving seat 8 is in a [ -shaped structure, a pit is arranged in the middle of the transverse moving seat 8, and a plurality of threaded holes, fastening unthreaded holes and positioning unthreaded holes are formed in the transverse moving seat 8.
The specific structure and functions of the invention are as follows:
mainly comprises the following steps: the left-right screw rod 1, a transverse moving plate 2, a compression spring 3, a push rod hinge seat 4, a two-force rod 5, a first swing rod 6 with holes, a second swing rod 7, a transverse moving seat 8, a step fork 9, a cantilever short guide post 10, a linear bearing 11, a long guide post 12, a right-hand screw rod nut 13, a diamond wall-hanging bearing seat 14, a supporting frame 15, a mounting bottom plate 16, a right-angle bracket 17, a motor 18, a coupler 19, a double-lug four-hole hinge seat 20, a spacer 21 and a left-hand screw rod nut 22.
As shown in fig. 3-4, the mounting bottom plate 16 is connected with the tail end of the mechanical arm in a positioning way, the left-right screw rod 1 is supported on the diamond-shaped wall-mounted bearing seats 14, the two diamond-shaped wall-mounted bearing seats 14 are respectively fixed on the two supporting frames 15, and the two supporting frames 15 are fixed on the mounting bottom plate 16.
The left-right screw rod 1 is connected with a motor 18 through a coupler 19, the motor 18 is fixed on a right-angle bracket 17, and the right-angle bracket 17 is fixed on a mounting bottom plate 16; two long guide posts 12 are also fixed on two support frames 15, two transverse linear bearings 11 are respectively arranged on two symmetrical sides of the same long guide post 12, and the two transverse linear bearings 11 are arranged back to back; the right-handed screw nut 13 and the left-handed screw nut 22 are arranged in the middle of the two transverse moving plates 2, the right-handed screw nut 13 and the left-handed screw nut 22 are arranged face to face, and linear bearings 11 are arranged on two symmetrical sides of the right-handed screw nut 13 and the left-handed screw nut 22 on the transverse moving plates 2, so that the motor 18 drives the transverse moving plates 2 to move oppositely under the guidance of the long guide posts 12.
As shown in fig. 4-6, a push rod hinge seat 4 and two cantilever short guide posts 10 are symmetrically arranged in the middle of each transverse moving plate 2, a linear bearing 11 is sleeved on each cantilever short guide post 10, the linear bearing 11 is fixed on the transverse moving seat 8, a compression spring 3 is arranged between the transverse moving seat 8 and the transverse moving plate 2, and the compression spring 3 is sleeved on the linear bearing 11; the step surface of the push rod hinge seat 4 is abutted against the transverse moving seat 8, so that the pre-tightening limit of the compression spring 3 is provided; the holes on the first swing rod 6 and the second swing rod 7 with holes in the sheet shape of the parallelogram mechanism are respectively hinged with the double-lug four-hole hinge seat 20 fixed on the transverse moving seat 8, and the holes on the first swing rod 6 and the second swing rod 7 with holes are respectively hinged with the double-lug four-hole hinge seat 20 fixed on the step fork 9; the two first swing rods 6 and the two second swing rods 7 with holes are respectively provided, the push rod hinge seat 4 is hinged with one end of the two force rods 5, and the other end of the two force rods 5 passes through the two second swing rods 7 and is hinged with middle holes on the two first swing rods 6 with holes; at the hinge joint of the double-lug four-hole hinge seat 20, a spacer bush 21 is arranged between the two first swing rods 6 with holes and the two second swing rods 7, and the thickness of the spacer bush 21 is slightly larger than that of the two force rods 5;
the relative displacement between the transverse moving seat 8 overcoming the spring force and the transverse moving plate 2 is smaller, the first swinging rod 6 with holes generates larger angular displacement through the push rod hinge seat 4 and the two force rods 5, and after the structure optimization design of the displacement-angular displacement conversion amplifying mechanism and the parallelogram mechanism, the translational upward moving distance of the step fork 9 is larger, and the empty tray separation effect is good.
The structure of the lightweight mounting base plate 16 is shown in fig. 7, the structure of the traverse table 2 is shown in fig. 8, and the structure of the traverse table 8 components is shown in fig. 9 to 11.
As shown in the mechanical schematic of fig. 1, there is an empty stroke between the upper and middle diagrams, and an underactuated empty tray separation process between the middle and lower diagrams.
The invention mainly comprises a displacement-angular displacement conversion amplifying mechanism and a parallelogram mechanism, wherein the transverse moving plate 2, the push rod hinge seat 4, the two-force rod 5 and the second swing rod 7 form the displacement-angular displacement amplifying mechanism, and the first swing rod 6 with holes, the second swing rod 7, the transverse moving seat 8 and the step fork 9 form the parallelogram mechanism.
The left-right screw rod 1 positively rotates to drive the two transverse moving plates 2 and the two transverse moving seats 8 to oppositely move, a compression spring 3 is arranged between the transverse moving plates 2 and the transverse moving seats 8, and the underactuation is generated by the relative displacement of the transverse moving plates 2 and the transverse moving seats 8 against the spring force.
Two hinge bases of the parallelogram mechanism are fixed on the transverse moving base 8, the other two hinge bases of the parallelogram mechanism are fixed on the step fork 9, and the push rod hinge base 4 is fixed on the transverse moving plate 2.
The two transversely moving seats 8 clamp the upper empty tray by two spring forces, then the push rod hinge seat 4 pushes the two force rods 5 to enable the left step fork 9 and the right step fork 9 to translate simultaneously, the uppermost empty tray is separated by the translational upward movement of the two step fork 9, then the rear left-right double-thread screw rod reversely drives the two transversely moving plates 2 to move back, the two transversely moving seats 8 are separated from the secondary upper empty tray (shown in the middle diagram of fig. 1), the mechanical arm vertically and slowly moves upwards to lift the uppermost empty tray, and finally the left-right double-thread screw rod is fast and positively transferred to enable the two step fork 9 to clamp the side surfaces of the tray.
Meanwhile, the position of the step fork 9 can be adjusted or different types of step forks 9 can be replaced according to the gap condition between the empty trays, so that the insertion operation is facilitated.
The above description is intended to illustrate the invention and not to limit it, the scope of which is defined by the claims, and any modifications can be made within the scope of the invention.
Claims (10)
1. Underactuated separation gripping manipulator of embedded stack empty tray, its characterized in that: the device comprises a displacement-angular displacement conversion amplifying mechanism, a parallelogram mechanism and an underactuated mechanism, wherein the displacement-angular displacement conversion amplifying mechanism comprises a transverse moving plate (2), a push rod hinge seat (4), a two-force rod (5) and a second swing rod (7), and a motor (18) and a left-right screw rod (1) in the displacement-angular displacement conversion amplifying mechanism drive the displacement movement of the transverse moving plate (2) to convert and amplify the displacement movement into the angular displacement of a first swing rod (6) with a hole by means of the two-force rod (5); the parallelogram mechanism comprises a first swinging rod (6) with holes, a second swinging rod (7), a transverse moving seat (8) and a step fork (9), the distances between the centers of the hinges on the first swinging rod (6) with holes and the second swinging rod (7) are equal, and the distances between the centers of the hinges on the transverse moving seat (8) and the step fork (9) are equal, so that a parallelogram is formed, the first swinging rod (6) with holes in the parallelogram mechanism drives the step fork (9) to translate obliquely upwards, and the uppermost tray is separated; the underactuated mechanism comprises a transverse moving plate (2), a compression spring (3), a push rod hinge seat (4), a two-force rod (5), a first swinging rod (6) with holes, a transverse moving seat (8) and a step fork (9), wherein after the transverse moving seat (8) in the underactuated mechanism moves to clamp a tray with the next highest speed, the transverse moving plate (2) continuously moves against the spring force of the compression spring (3), so that the step fork (9) of the parallelogram mechanism is driven to move obliquely upwards in a translation mode, namely, a motor (18) drives the transverse moving seat (8) to move and drives the step fork (9) to move in a translation mode; the two-way lifting device is characterized in that holes on the first swing rod (6) with holes and the second swing rod (7) are respectively hinged with a double-lug four-hole hinge seat (20) fixed on the transverse moving seat (8), holes below the first swing rod (6) with holes and the second swing rod (7) are respectively hinged with the double-lug four-hole hinge seat (20) fixed on the step fork (9), the first swing rod (6) with holes and the second swing rod (7) with holes are two, the push rod hinge seat (4) is hinged with one end of the two-way lifting device (5), and the other end of the two-way lifting device (5) passes through the two second swing rods (7) and is hinged with middle holes on the two first swing rods (6) with holes; each transverse moving plate (2) is provided with a push rod hinge seat (4) and a cantilever short guide post (10), the cantilever short guide post (10) is fixed on the transverse moving seat (8) through a linear bearing (11), and a compression spring (3) is arranged between the transverse moving seat (8) and the transverse moving plate (2).
2. The underactuated split gripping robot embedded in a stack of empty trays of claim 1, wherein: the specific mounting structure of manipulator is: including mounting plate (16), mounting plate (16) and arm end location are connected, be fixed with support frame (15) of interval symmetry through the fastener on mounting plate (16), be fixed with diamond wall-mounted bearing frame (14) on support frame (15), install left and right screw (1) between two diamond wall-mounted bearing frames (14), the one end of mounting plate (16) is fixed with right angle support (17), motor (18) are installed in the outside of right angle support (17), left and right screw (1) are connected through shaft coupling (19) after the output shaft of motor (18) passes right angle support (17), are fixed with long guide pillar (12) on single support frame (15), each install a horizontal linear bearing (11) on the symmetry both sides on same long guide pillar (12), install right-handed screw nut (13) and left-handed screw nut (22) on two linear bearings (11) respectively, all install lateral shifting board (2) on right-handed screw nut (13) and the left-handed screw nut (22).
3. The underactuated split gripping robot embedded in a stack of empty trays of claim 2, wherein: two transverse linear bearings (11) are arranged back to back.
4. The underactuated split gripping robot embedded in a stack of empty trays of claim 2, wherein: the right-hand screw nut (13) and the left-hand screw nut (22) are arranged face to face.
5. The underactuated split gripping robot embedded in a stack of empty trays of claim 1, wherein: the step surface of the push rod hinge seat (4) is propped against the transverse moving seat (8), so that the pre-tightening limit of the compression spring (3) is provided.
6. The underactuated split gripping robot embedded in a stack of empty trays of claim 1, wherein: the compression springs (3) are sleeved outside the corresponding linear bearings (11).
7. The underactuated split gripping robot embedded in a stack of empty trays of claim 1, wherein: at the hinge joint of the double-lug four-hole hinge seat (20), a spacer bush (21) is arranged between the two first swing rods (6) with holes and between the two second swing rods (7), and the thickness of the spacer bush (21) is larger than that of the two force rods (5).
8. The underactuated split gripping robot embedded in a stack of empty trays of claim 2, wherein: the mounting base plate (16) is a thin plate, the four corners of the mounting base plate (16) are respectively cut with a notch, the middle part of the mounting base plate (16) is provided with a circular structure, symmetrical rectangular holes are formed at two sides of the circular structure, and a plurality of threaded holes, fastening unthreaded holes and positioning unthreaded holes are formed in the mounting base plate (16).
9. The underactuated split gripping robot embedded in a stack of empty trays of claim 1, wherein: the upper part of the transverse moving plate (2) is of a rectangular structure, the bottom of the rectangular structure extends downwards to form a triangular structure, and a plurality of mounting holes are formed in the transverse moving plate (2).
10. The underactuated split gripping robot embedded in a stack of empty trays of claim 1, wherein: the cross section of the transverse moving seat (8) is in a [ -shaped structure, a pit is arranged in the middle of the transverse moving seat (8), and a plurality of threaded holes, fastening unthreaded holes and positioning unthreaded holes are formed in the transverse moving seat (8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211127278.6A CN115416014B (en) | 2022-09-16 | 2022-09-16 | Underactuated type separation grabbing manipulator embedded in stacking empty tray |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211127278.6A CN115416014B (en) | 2022-09-16 | 2022-09-16 | Underactuated type separation grabbing manipulator embedded in stacking empty tray |
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| Publication Number | Publication Date |
|---|---|
| CN115416014A CN115416014A (en) | 2022-12-02 |
| CN115416014B true CN115416014B (en) | 2023-06-16 |
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| CN202211127278.6A Active CN115416014B (en) | 2022-09-16 | 2022-09-16 | Underactuated type separation grabbing manipulator embedded in stacking empty tray |
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Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0986666A (en) * | 1995-09-28 | 1997-03-31 | Rohm Co Ltd | Separating device of tray for electronic part |
| CN208439952U (en) * | 2018-07-13 | 2019-01-29 | 京东方科技集团股份有限公司 | Holding tray separating device and pallet transfer system |
| CN109305567B (en) * | 2018-10-30 | 2021-04-27 | 合肥市商巨智能装备有限公司 | Tray separating device |
| CN109178953A (en) * | 2018-11-07 | 2019-01-11 | 山东鲁花集团有限公司 | A kind of pallet distributor gear of robot palletizer |
| CN113084790B (en) * | 2021-04-29 | 2022-04-15 | 江南大学 | Translation clamp manipulator for converting and amplifying displacement and angular displacement and drive control method |
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2022
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