CN1781679A

CN1781679A - Movable multiple hand transport vehicle

Info

Publication number: CN1781679A
Application number: CN 200410082845
Authority: CN
Inventors: 关慧贞; 吴成百; 邱铁; 刘新; 王云; 王迪
Original assignee: Dalian University of Technology
Current assignee: Dalian University of Technology
Priority date: 2004-12-02
Filing date: 2004-12-02
Publication date: 2006-06-07
Anticipated expiration: 2024-12-02
Also published as: CN100348374C

Abstract

The movable multiple hand transport vehicle is one automatic industrial robot capable of walking, distinguishing direction, loading, unloading and transporting article. The movable multiple hand transport vehicle consists of mainly a mechanical system and a control system. The mechanical system consists of moving mechanism, clamping force amplifier, rotating manipulator mechanism. The moving mechanism is in two-wheel driving mode and has chassis with frame structure; the clamping force amplifier fixed on one end of the chassis consists of pedestal, acting rod, steel cable, clamping motor, etc; and the rotating manipulator mechanism includes three manipulators comprising fixed fingers and movable fingers. The present invention is novel and flexible, and has reasonable space utilization and certain adaptability on article size. It clamps article with flexible steel cable with great clamping force, reliable clamping and and easy control.

Description

A kind of movable multiple hand transport vehicle

Technical field

A kind of movable multiple hand transport vehicle of the present invention belongs to self-action industrial robot field.Can walk, discern orientation, loading and unloading and conveying objects automatically.

Background technology

In factory floor, need be transported to another workshop to article or raw material from a workshop, perhaps finished product is delivered to the warehouse and stack neat.When adopting a dead lift operation, owing to be the long term repeatability work, inefficiency, labour intensity is big.And these simple actions that repeat can use an automation equipment to replace finishing fully, and transport vehicle commonly used mostly is a secondary manipulator mechanism, can only carry one at every turn, and handling time is long, and efficient is low.Application number is a kind of utility model patent " guider of automatic guide carrier " of 96220634.2, it discloses a kind of guider of automatic guide carrier, this device leader is made up of the metal tape that is installed on the eddy current sensor on the car body and is pasted on ground, recognizing the location part then is made up of with the Hall element that is installed on the car body both sides near ground permanent magnets being embedded in metal tape, because metal tape will directly be pasted on ground, guider need be handled accordingly to ground, cost is higher, complex process requires high to ground.Owing to need handle accordingly ground, cost is also high.

Summary of the invention

The objective of the invention is: design a kind of transport vehicle, adopt many mobile phones structure, novel structure; Can carry many article successively, shorten haulage time, raise the efficiency, strengthen the automaticity of workshop.Can finish the function of adorning thing, transporting, unload thing automatically by certain route, hunting scheme is simple, has higher mobility and flexibility.Strong to environmental suitability, simple to operation.

The present invention adopt technical scheme be: a kind of movable multiple hand transport vehicle mainly is made up of mechanical system and control system, it is characterized in that, mechanical system is made of the I of travel mechanism, clamping force amplifier II, rotary machine mobile phone structure III;

Adopt the two-wheel drive mode in the I of travel mechanism, chassis 1 is a frame structure, and driving wheel 2 links by the output shaft of axle sleeve 3 with the reduction box of DC servo drive motors 4, and is screwed both sides inside and outside the framework of chassis 1; Driving wheel 5 links by axle sleeve 6 output shaft with the reduction box of band DC servo drive motors 7, is screwed the inside and outside both sides of framework of the chassis 1 that is that driving wheel 2 is relative; Directive wheel 8 is installed in an end of chassis 1 by directive wheel support 9, and links by attachment bolt 10 and steering-engine 11;

Clamping force amplifier II is fixed on the other end of chassis 1, is made up of base, actuating rod, steel wire rope, clamping motor, clamping steel wire rope etc.; The base 12 of clamping force amplifier is the L shaped structure of hollow, and three

clamping motors

13,14,15 that have reduction box are fixed on the base 12 successively; One end of actuating

rod

16,17,18 is contained in the base 12 aerial by little axle 19, three

steel wire ropes

20,21,22 have been fixed on actuating

rod

16,17,18 other ends, article three, the other end of

steel wire rope

20,21,22 passes three apertures on the base 12 and walks around traverse shaft 23 respectively on the output shaft of three

clamping motors

13,14,15, and is fixed on the output shaft; Be fixed on the rubber band 25 that resets that actuating rod is housed on the swash plate of putting on the base 12 24; Three upper ends that clamp

steel wire rope

26,27,28 that have sleeve pipe are passed spring 39 more respectively and are fixed on the movable finger 40,41,42 of manipulator by being fixed on three

racecourse bends

36,37,38 on three the racecourse bend supports 33,34,35 on the mobile machine hand fixed block 32; Article three, the collar supports seat 29,30,31 that is fixed on the base 12 is passed in the lower end that clamps

steel wire rope

27,28,29 and the lower end of actuating

rod

16,17,18 is fixed together;

Rotary machine mobile phone structure III has three secondary manipulators, every secondary manipulator is made up of fixed finger and movable finger, manipulator fixed finger 46,47,48 is fixed on the motionless manipulator fixed block 51 by 90 degree directions respectively by screw 49,50, and the movable finger 40,41,42 of manipulator is hinged on the mobile machine hand fixed block 32 by 90 degree directions respectively by little hinge 43,44,45; Trip shaft 70 is fixedly mounted on portal support 52 upper ends by bearing 71, and motionless manipulator fixed block 51 and mobile machine hand fixed block 32 are fixedly mounted on the two ends of trip shaft 70 respectively; The turn drive motor 53 that has reduction box is fixed on the portal support 52 by screw 54, and guide roller 55 is housed on the output shaft of reduction box, and upset steel wire rope 56 is on guide roller 55 and upset guide roller 57; Infrared position sensor 59 is made up of outer fixed disk 58, interior rolling disc 60, and outer fixed disk 58 is fixed on the portal support 52 by hold-down screw 61, and interior rolling disc 60 is fixed on the trip shaft 70 by screw 61 with sleeve 62;

Effect of the present invention is to adopt rotary machine mobile phone structure novel structure, flexible, can automatically the article in several places have been adorned successively successively, according to the route of formulating, finishes transportation, unloading, the overall process that arrangement is stacked.Loading efficient height is stacked neat.Compact conformation, space utilization is reasonable.And the size of article had certain adaptability, and flexible wire ropes clamps loading and unloading article mode, and clamping force is big, and clamping is reliable.Load and unload flexible, easily with control.Have good maintainability and autgmentability, better economic, easily manufactured, processing cost is low.

Description of drawings

The front view of Fig. 1 movable multiple hand transport vehicle, Fig. 2 are the left view of movable multiple hand transport vehicle, and Fig. 3 is a clamping force enlarger composition, and Fig. 4 is mechanical fixation finger right view.

Wherein: I-travel mechanism, II-clamping force amplifier, III-rotary machine mobile phone structure; The 1-chassis, the 2-driving wheel, the 3-axle sleeve, 4-DC servo drive motors, the 5-driving wheel, the 6-axle sleeve, 7-DC servo drive motors, the 8-directive wheel, 9-directive wheel support, the 10-attachment bolt, the 11-steering-engine, the 12-base, the 13-clamping motor, the 14-clamping motor, the 15-clamping motor, the 16-actuating rod, the 17-actuating rod, the 18-actuating rod, the little axle of 19-, the 20-steel wire rope, the 21-steel wire rope, the 22-steel wire rope, the 23-traverse shaft, the 24-swash plate, the 25-rubber band that resets, 26-clamps steel wire rope, 27-clamps steel wire rope, 28-clamps steel wire rope, 29-collar supports seat, 30-collar supports seat, 31-collar supports seat, 32-mobile machine hand fixed block, 33-racecourse bend support, 34-racecourse bend support, 35-racecourse bend support, the 36-racecourse bend, the 37-racecourse bend, the 38-racecourse bend, the 39-spring, the movable finger of 40-manipulator, the movable finger of 41-manipulator, the movable finger of 42-manipulator, the little twisted axis of 43-, the little twisted axis of 44-, the little twisted axis of 45-, 46-manipulator fixed finger, 47-manipulator fixed finger, 48-manipulator fixed finger, the 49-screw, the 50-screw, the motionless manipulator fixed block of 51-, the 52-portal support, the 53-turn drive motor, the 54-screw, the 55-guide roller, the 56-steel wire rope that overturns, the 57-guide roller that overturns, the outer fixed disk of 58-, the infrared position sensor of 59-, rolling disc in the 60-, the 61-hold-down screw, the 62-sleeve, 63-upset dish sleeve, the 64-screw, the 65-gland, the 66-screw, the 67-gland, the 68-screw, the 69-screw, the 70-trip shaft, the 71-bearing.

The specific embodiment

Describe one embodiment of the present of invention in detail below in conjunction with accompanying drawing, the movable multiple hand transport vehicle original state is that the movable finger 40,41,42 of the manipulator among the rotary machine mobile phone structure III all is in clamped condition.After the startup, at first initialization, it is parallel with direction of advance that directive wheel 8 is adjusted into automatically.Simultaneously, movable finger 40,41,42 orders of manipulator are opened; Robot begins to do straight line with ground white line guide line and moves, owing to adopt closed-loop control, can rectify a deviation automatically, guarantees to follow the line walking.When running into first position of program setting, detect by infrared ray sensor, judge the position of object, again by two

driving wheels

2,5 of travel mechanism and the coordination of steering-engine 11, after adjusting the relative position of manipulator and object, clamping motor 10 beginnings are just changeed, by Flexible Fixturing steel wire rope 26, clamping force is passed to movable finger 40, the first secondary manipulators of manipulator to be clamped.For enough big clamping force is provided, guarantee the reliability of clamping, adopt clamping force amplifier II, its operation principle is: clamping

motor

13,14,15 sequentially-operatings, by clamping

steel wire rope

20,21,22

pulling function bars

16,17,18 around little axle 19 rotations, because the power that the acting force arm of steel wire rope 20,21,22 with respect to little 19 greater than the arm of force that clamps steel wire rope 26,27,28, therefore acts on the movable finger of manipulator is exaggerated, the pulling force by the rubber band 25 that resets when unclamping resets.After the first secondary manipulator is finished gripping, turn drive motor 53 clockwise rotates, by steel wire rope 56 power is transferred on the upset guide wheel 57, driving trip shaft 70 rotates, the infrared position sensor 59 that is fixed on the outer fixed disk 58 rotates with trip shaft 70, accurately the manipulator rotating disk is turned over clockwise and turn 90 degrees, after the first secondary manipulator lifts article, the second secondary mechanical finger also goes to delivery location, up to the next position that runs to program setting, once more behind the clamping article, the second secondary mechanical finger also overturns 90 °, successively the circulation when three secondary manipulators all pick up finish after, robot begin along the setting route move to intended destination, by two

driving wheels

2,5 and the coordination of steering-engine 11, constantly adjust the position of robot and article, the action of cooperative mechanical hand with goods is sequential unload after, run to initial position, wait for loading and unloading next time.

Adaptive capacity to environment of the present invention is strong, can adapt to different places, just can change different walking paths by reprogramming, finishes material handling work.

Claims

1, a kind of movable multiple hand transport vehicle mainly is made up of mechanical system and control system, it is characterized in that, mechanical system is made of travel mechanism [I], clamping force amplifier [II], rotary machine mobile phone structure [III];

Adopt the two-wheel drive mode in travel mechanism [I], chassis [1] is a frame structure; Driving wheel [2] links by the output shaft of axle sleeve [3] with the reduction box of DC servo drive motors [4], and is screwed in the inside and outside both sides of the framework of chassis [1]; Driving wheel [5] links by the output shaft of axle sleeve [6] with the DC servo drive motors [7] of band reduction box, and is screwed in the inside and outside both sides of the framework of the chassis [1] relative with driving wheel [2]; Directive wheel [8] is installed in an end of chassis [1] by directive wheel support [9], and links by attachment bolt [10] and steering-engine [11];

Clamping force amplifier [II] is fixed on the other end of chassis [1], is made up of base, actuating rod, steel wire rope, clamping motor, clamping steel wire rope etc.; The base of clamping force amplifier [12] is the L shaped structure of hollow, and three clamping motors [13], [14], [15] that have reduction box are fixed on the base [12] successively; One end of actuating rod [16], [17], [18] is contained in the position of base [12] hollow by little axle [19], three steel wire ropes [20], [21], [22] have been fixed on actuating rod [16], [17], [18] other end, article three, the other end of steel wire rope [20], [21], [22] passes three apertures on the base [12] respectively on the output shaft of three clamping motors [13], [14], [15], and is fixed on the output shaft; Be fixed on the rubber band that resets [25] that actuating rod is housed on the swash plate of putting on the base [12] [24]; Have three of the sleeve pipe upper ends that clamp steel wire ropes [26], [27], [28] by being fixed on three racecourse bends [36], [37], [38] on three racecourse bend supports [33] on the mobile machine hand fixed block [32], [34], [35], pass spring [39] more respectively and be fixed on the movable finger of manipulator [40], [41], [42]; Article three, the lower end that clamps steel wire rope [26], [27], [28] is passed the collar supports seat [29], [30], [31] that are fixed on the base [12] and is fixed together with the lower end of actuating rod [16], [17], [18];

Rotary machine mobile phone structure [III] has three secondary manipulators, and every secondary manipulator is made up of fixed finger and movable finger; Manipulator fixed finger [46], [47], [48], be separately fixed on the motionless manipulator fixed block [51] by 90 degree directions, the movable finger of manipulator [40], [41], [42], spend directions by little hinge [43], [44], [45] by 90 and be hinged on respectively on the mobile machine hand fixed block [32] by screw [49], [50]; Trip shaft [70] is installed in the upper end of portal support [52] by bearing [71], and motionless manipulator fixed block [51] and mobile machine hand fixed block [32] are fixedly mounted on the two ends of trip shaft [70] respectively; The turn drive motor [53] that has reduction box is fixed on the portal support [52] by screw [54], and guide roller [55] is housed on the output shaft of turn drive motor reduction box, and upset steel wire rope [56] is on guide roller [55] and upset guide roller [57]; Infrared position sensor [59] is made up of outer fixed disk [58], interior rolling disc [60], and outer fixed disk [58] is fixed on the portal support [52] by screw [69], and interior rolling disc [60] is fixed on the trip shaft [70] by hold-down screw [61] with sleeve [62].