CN106313014A - Warehouse picking robot carrying clamping manipulators and use method of warehouse picking robot - Google Patents
Warehouse picking robot carrying clamping manipulators and use method of warehouse picking robot Download PDFInfo
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- CN106313014A CN106313014A CN201610953749.7A CN201610953749A CN106313014A CN 106313014 A CN106313014 A CN 106313014A CN 201610953749 A CN201610953749 A CN 201610953749A CN 106313014 A CN106313014 A CN 106313014A
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- finger
- slide block
- fixed support
- arm
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- 238000000034 method Methods 0.000 title claims abstract description 11
- 230000009471 action Effects 0.000 claims abstract description 8
- 230000007246 mechanism Effects 0.000 claims description 50
- 230000005611 electricity Effects 0.000 claims description 16
- 229910000831 Steel Inorganic materials 0.000 claims description 10
- 239000010959 steel Substances 0.000 claims description 10
- 230000000694 effects Effects 0.000 claims description 7
- 238000009434 installation Methods 0.000 claims description 6
- 230000008859 change Effects 0.000 claims description 4
- 230000003028 elevating effect Effects 0.000 claims description 4
- 238000010276 construction Methods 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims description 2
- 230000007306 turnover Effects 0.000 claims 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims 1
- 230000033001 locomotion Effects 0.000 abstract description 8
- 238000004088 simulation Methods 0.000 abstract description 2
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
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- Engineering & Computer Science (AREA)
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- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a warehouse picking robot carrying clamping manipulators and a use method of the warehouse picking robot. The warehouse picking robot comprises a moving chassis, a rotating body, mechanical arms and the manipulators; the rotating body is arranged at the upper part of the moving chassis, the mechanical arms capable of rising, falling, stretching and retracting are located on the rotating body, and the manipulators capable of simulating human hand motions for goods disassembly are arranged on the corresponding mechanical arms. Box goods arranged tightly and stacked in order can be disassembled and handled by means of simulation of the human hand motions, so that the picking efficiency is effectively improved; the robot can be widely applied to a vertical high-rack warehouse, and simulates the human hand actions to disassemble the goods stacked densely in trays and having no gap between packaging boxes into single pieces.
Description
Technical field
The present invention relates to a kind of storage picking robot and using method thereof, especially with regard to one in vertical shelf magazine
Need to carry clamping type machine by pile up that neat and tight gapless container type cargo carries out dismantling and carry from cargo pallet
The storage picking robot of tool hands and using method thereof.
Background technology
Storage is an important component part of modern logistics, plays vital effect, be factory in logistics system
Business's research and the emphasis of planning.Efficient and rational storage can help manufacturer to accelerate the speed of goods and materials flowing, reduces cost, ensures
Produce is smoothed out, it is possible to realize control effective to resource and management.Development experience different period of history of storage
And the stage, from original artificial storage to intelligent storage, by the support to storage of the various new and high technologies, the efficiency of storage obtains
It is greatly improved.Along with the development of storage technique, the rapid disassembling of goods and the demand of efficiently carrying are got over
Come the biggest.But, at present directly by fork truck robot, picking and carrying are carried out for large cargo, and basic for medium and small goods
On remain take artificial unloading, tape transport carrying mode operation, the particularly middle part goods (packing crates of packing-box design
Length, width and height size is between 200～600mm) it is all that block pattern row pattern is stored on warehouse shelf on pallet again, this class goods
Picking substantially all be all manually to complete, when goods has constant weight, such mode of operation, the labor caused to workman
Fatigue resistance is huge, and picking is inefficient.
Summary of the invention
For the problems referred to above, it is an object of the invention to provide a kind of storage picking robot carrying clamping type mechanical hand and
Its using method, this robot can realize that close-packed arrays is stacked neat container type cargo simulation staff action and tear open
Unload and carry, be effectively improved picking efficiency.
For achieving the above object, the present invention takes techniques below scheme: a kind of storage picking carrying clamping type mechanical hand
Robot, it is characterised in that: this robot includes mobile chassis, rotates body, mechanical arm and mechanical hand；On described mobile chassis
Portion is provided with described rotation body, is positioned on described rotation body and is provided with the described mechanical arm that can lift and stretch, described machine
It is provided with in mechanical arm and can simulate staff action and carry out the described mechanical hand of goods dismounting.
Further, described mechanical arm is made up of arm lifting mechanism and pantograph；It is positioned at described arm elevator
Described pantograph it is provided with on structure；Described arm lifting mechanism one end is positioned at described mobile chassis top, and is fixed on
Described this body sidewall of rotation, the described arm lifting mechanism other end extends to described rotation originally along described rotation body length direction
External body.
Further, described arm lifting mechanism include fixed support, first drive motor, wire rope pulley, steel wire rope, first
Slide block and guide rail；Described fixed support is threaded on the sidewall of described rotation body, and described fixed support is arranged
Stating guide rail, and be positioned at described fixed support two ends and be separately installed with described wire rope pulley, described steel wire rope is wound on described steel wire rope
On wheel, and described steel wire rope is connected with described first slide block, and described first slide block is slidably connected on described guide rail；Described solid
Being additionally provided with described first on fixed rack and drive motor, described first drives the output shaft of motor coaxially to connect with described wire rope pulley
Connect.
Further, described pantograph includes the second driving motor, the first leading screw, screw block, screw slider, company
Bar, the first feed rod, feed rod slide block, feed rod seat, telescopic arm, jump ring and key seat；Described telescopic arm is made up of single oil cylinder, two joint arms it
Between connected by linear bearing；The first segment arm end of described telescopic arm is fixed on described arm lifting mechanism, described leading screw
Seat is threaded on described telescopic arm first segment arm, and is provided with described first leading screw in described screw block, described first
One end of thick stick drives motor to be connected with described second；Described connecting rod uses scissors structure in series after intersecting two-by-two, is positioned at and cuts
Connecting rod head end described in the two of formula construction first end portion intersection is connected to screw slider described in by described key seat, jump ring respectively
On, screw slider described in two is all disposed within described first leading screw；It is positioned at connecting rod described in the two of scissors structure the second end intersection
End is connected on described feed rod slide block by described key seat, jump ring respectively, uses described jump ring to carry out position and fixes；Described light
Thick stick slide block is arranged on described first feed rod, and described first feed rod is fixed on described feed rod seat, and described feed rod seat is arranged on institute
State on telescopic arm final section arm.
Further, described mechanical hand includes holding down finger, overturning finger and clamping finger；Described holding down finger is fixed on institute
Stating bottom telescopic arm final section arm, described upset finger is connected with described holding down finger, described clamping finger and described upset
Finger connects；Described holding down finger is made up of pressing plate；The installation end of described pressing plate is connected with the bottom thread of described telescopic arm.
Further, described upset finger includes that the second feed rod, column slide block, column slider-actuated leading screw, column slide block drive
Galvanic electricity machine, worm gear, worm screw, rotary shaft, rotation refer to that joint drives motor and upset finger to stretch micromotion mechanism；It is positioned at described compression hands
The installation end referred to connects described second feed rod and column slider-actuated leading screw, is positioned at described second feed rod and column slider-actuated
Being provided with described column slide block on leading screw, the lower end of described column slider-actuated leading screw is with described column slider-actuated motor even
Connect；Described worm screw two ends are connected in described column slide block, and described worm screw engages with described worm gear, and the upper end of described worm screw is even
Connect described rotation and refer to that joint drives motor；Described rotary shaft on described worm gear passes described column slide block, is positioned at described rotary shaft
End is fixedly installed described upset finger and stretches micromotion mechanism.
Further, described upset finger stretch micromotion mechanism include the first fixed support, the 3rd drive motor, second
Thick stick, the 3rd feed rod, the second slide block and the upset of 7 fonts refer to joint；Described first fixed support is fixed on described rotary shaft end, in institute
Stating and be provided with described second leading screw on the first fixed support, described second leading screw one end drives motor output shaft even with the described 3rd
Connecing, the described 3rd drives motor to be fixed on described first fixed support top；It is arranged with in parallel in the both sides of described second leading screw
Two described 3rd feed rods, two described feed rods are directly anchored on described first fixed support；Described second slide block is arranged on
On two described 3rd feed rods and the second leading screw；Described 7 font upsets refer to that joint is threaded on described second slide block.
Further, by friction, described clamping finger refers to that horizontal refers to joint lifting micromotion mechanism structure close to micromotion mechanism and friction
Become；Described friction refers to close to micromotion mechanism, horizontal includes that the second fixed support, 4 wheel driven galvanic electricity machine, 4 wheel driven galvanic electricity machine are fixed
Support, the 3rd leading screw, the 4th feed rod, bevel gear and the 3rd slide block；Described second fixed support is fixed on described 7 font upsets and refers to
Joint top；Move motor fixed rack screw thread by described 4 wheel driven on described second fixed support and be installed with described 4 wheel driven galvanic electricity
Machine, described 4 wheel driven moves bevel gear described in motor output shaft and and connects, and this bevel gear engages with bevel gear another described；Another
Described bevel gear is connected with the described 3rd leading screw one end being arranged on described second fixed support；At described second fixed support
On be additionally provided with two described fourth feed rods parallel with described 3rd leading screw, described 3rd slide block is arranged on two the described 4th
On feed rod and the 3rd leading screw.
Further, described friction refer to joint lifting micromotion mechanism include the 3rd fixed support, the 5th drive motor, the 4th
Thick stick, the 5th feed rod, Four-slider and U-shaped friction plate；Described 3rd fixed support is fixed on described 3rd slider top, with described
3rd slide block is vertical setting；Described 3rd fixed support top is provided with the described 5th and drives motor, and the described 5th drives electricity
The output shaft of machine is connected with described 4th leading screw one end, and described 4th leading screw is arranged on described 3rd fixed support；Described
Being additionally provided with two described fiveth feed rods parallel with described 4th leading screw on 3rd fixed support, described Four-slider is arranged on
On two described 5th feed rods and the 4th leading screw；Described U-shaped friction plate is connected on described Four-slider.
A kind of using method based on the above-mentioned storage picking robot carrying clamping type mechanical hand, it is characterised in that bag
Include following steps: (1) under the drive of mobile chassis, close to stack；(2) mechanical arm drives motor and second to drive electricity first
The regulation of height and length is carried out so that hold down finger and be close to the surrounding of target goods to be removed under the driving of machine；(3) upset
Finger overturns target goods to be removed under rotating the effect referring to joint driving motor so that target goods to be removed and overall stack
Between produce the space, back that is operated of a clamping finger；(4) the U-shaped friction plate of clamping finger declines the back of the body inserting acquisition
Gap, portion, and press close to target goods to be removed further and make target goods to be removed be clamped；(5) mechanical arm is raised and is shunk and makes
Target goods to be removed departs from overall stack；(6) external control devices control mobile chassis moves, and is removed by target goods to be removed
Transport out of out.
Due to the fact that and take above technical scheme, it has the advantage that 1, the present invention uses by holding down finger, overturning
The mechanical hand of finger, clamping finger composition can imitate staff action, it is achieved does not has apertured case from intensive being deposited in pallet
Single good is taken apart by formula stack；This function can substitute manual operation completely, is substantially reduced labor intensity.2, this
The holding down finger of bright employing, overturn finger, clamping finger is adapted to for difference by driving motor to change respective length
The goods of size is dismantled.3, the present invention can configure single armed or both arms, combining omnidirectional mobile chassis, is adapted to
The demand of on-the-spot different goods dismantlement work.4, the present invention optimizes by external control devices and coordinates to control each driving motor work
Work can improve the dismounting speed of goods, improves the intelligence degree of vertical high rack warehouse.5, the present invention will by upset finger
Goods upset obtains gap, back, inserts this gap for clamping finger, upset finger jointly caught by goods with clamping finger
And clamping, imitate staff action, be effectively improved picking efficiency.6, the upset finger of the present invention utilizes worm and gear self-locking, permissible
It is prevented effectively from goods upset to go back.7, the present invention is when overturning goods, holds down finger and can be compressed by periphery goods, it is to avoid picks up
Time by periphery goods band fall.
In sum, present invention can be widely used in vertical shelf magazine, simulate staff action, by heap intensive in pallet
Putting, packing crates does not has apertured single good to split out each other.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of the present invention；
Fig. 2 is the structural representation that right arm of the present invention lifts when stretching out；
Fig. 3 is telescopic arm and the robot manipulator structure schematic diagram of the present invention；
Fig. 4 is the elevating mechanism structural representation of the present invention；
Fig. 5 is the pantograph structural representation of the present invention；
Fig. 6 is holding down finger and overturning finger structure three-dimensional cutaway view of the present invention；
Fig. 7 is that the friction of the present invention refers to that horizontal refers to joint lifting micromotion mechanism perspective cross-sectional close to micromotion mechanism and friction
Figure；
Fig. 8 is that present invention structural representation axle when capturing goods surveys view；
Fig. 9 is present invention structural representation orthographic projection view when capturing goods；
Figure 10 is present invention structural representation when being picked up by goods.
Detailed description of the invention
With embodiment, the present invention is described in detail below in conjunction with the accompanying drawings.
As shown in Fig. 1～Figure 10, the present invention provides a kind of storage picking robot carrying clamping type mechanical hand, and it can
Realize for the intensive goods being deposited on pallet and not having in apertured box stack, carry out disassembling by single good therein and
The function of carrying.The present invention includes mobile chassis 1, rotates body 2, mechanical arm 3 and mechanical hand 6.Mobile chassis 1 top is provided with
Rotate body 2, rotate body 2 and driven can be rotated with relative movement chassis 1 by motor；It is positioned on rotation body 2 and is provided with
The mechanical arm 3 that can lift and stretch, mechanical arm 3 is provided with and can simulate staff action and carry out the mechanical hand 6 of goods dismounting.
As it is shown in figure 1, mobile chassis 1 is made up of base and omni-directional wheel, omni-directional wheel is fixed on base, by motor by outward
Portion controls equipment control omni-directional wheel and carries out Omni-mobile.
As shown in FIG. 1 to 3, mechanical arm 3 is made up of arm lifting mechanism 30 and pantograph 40.It is positioned at arm liter
Pantograph 40 it is provided with on descending mechanism 30.Arm lifting mechanism 30 one end is positioned at mobile chassis 1 top, and is fixed on and turns
Dynamic body 2 sidewall, arm lifting mechanism 30 other end may extend to rotate body 2 outside along rotating body 2 length direction.Its
In:
As shown in Figure 4, arm lifting mechanism 30 include fixed support 31, guide rail 32, wire rope pulley 33, steel wire rope 34,
One slide block 35 and first drives motor 36.Fixed support 31 is threaded on the sidewall rotating body 2, and fixed support 31 sets
Being equipped with guide rail 32, and be positioned at fixed support 31 two ends and be separately installed with wire rope pulley 33, steel wire rope 34 is wound on wire rope pulley 33,
And steel wire rope 34 is connected with the first slide block 35；First slide block 35 is slidably connected on guide rail 32.Fixed support 31 also sets up
Having the first driving motor 36, the output shaft of the first driving motor 36 is coaxially connected with wire rope pulley 33, is used for driving wire rope pulley
33 rotate, and then haulage cable 34 drives the first slide block 35 to realize elevating movement on guide rail 32.
As it is shown in figure 5, pantograph 40 includes that telescopic arm 41, screw block the 42, first leading screw 43, second drive motor
44, connecting rod 45, pin 46, key seat 47, jump ring 48, screw slider 49, pad 50, feed rod slide block the 51, first feed rod 52 and feed rod seat
53.Telescopic arm 41 is made up of single oil cylinder, is connected by linear bearing between two joint arms, it is possible to achieve two joint arms relatively slide and stretch
Contracting；Telescopic arm 41 can realize different flexible brachiums by the joint number of differently configured quantity.The first segment arm end of telescopic arm 41
Portion is fixed on the first slide block 35 of arm lifting mechanism 30, and screw block 42 is threaded on telescopic arm 41 first segment arm, and
Being provided with the first leading screw 43 in screw block 42, one end of the first leading screw 43 drives motor 44 to be connected with second, is driven electricity by second
Machine 44 drives the first leading screw 43 to rotate.Connecting rod 45 uses scissors structure in series after intersecting two-by-two, adopts between adjacent links 45
Connect with pin 46；Two connecting rod 45 head ends being positioned at scissors construction first end portion intersection are connected to by key seat 47, jump ring 48 respectively
Jump ring 48 is utilized to position on one screw slider 49；Two screw sliders 49 are all disposed within the first leading screw 43.It is positioned at scissors structure
Two connecting rod 45 ends of two end portions cross are connected on feed rod slide block 51 by key seat 47, jump ring 48 respectively, use jump ring 48 to enter
Line position is fixed.Feed rod slide block 50 is arranged on the first feed rod 51, moves left and right on the first feed rod 51；First feed rod 51 is fixed
On feed rod seat 52, feed rod seat 52 is arranged on telescopic arm 41 final section arm.During use, in the second driving driving motor 44
Under make telescopic arm 41 complete reciprocal telescopic movement under the drive of scissors structural linkages 45.
As in figure 2 it is shown, mechanical hand 6 includes hold down finger 60, upset finger 70 and clamping finger 80.Hold down finger 60 fix
Bottom the telescopic arm 41 final section arm of pantograph 40, upset finger 70 60 is connected with holding down finger, clamping finger
80 are connected with upset finger 70.Wherein:
As shown in Figure 6, hold down finger and 60 be made up of pressing plate 61.Pressing plate 61 installation end connects with the bottom thread of telescopic arm 41
Connect.Hold down finger 60 effect be the periphery goods of split goods can be fixed when follow-up dismounting goods, it is to avoid tear open
When unloading, the goods band of split goods periphery is fallen.
As shown in Fig. 3, Fig. 6, upset finger 70 include the second feed rod 71, column slider-actuated leading screw 72, column slide block 73,
Column slider-actuated motor 74, worm screw 75, worm gear 76, rotation refer to that joint drives motor 77, rotary shaft 78 and upset finger to stretch micro-
Motivation structure 79.It is positioned at pressing plate 61 installation end and is also associated with the second feed rod 71 and column slider-actuated leading screw 72, be positioned at the second feed rod
71 and column slider-actuated leading screw 72 on be provided with column slide block 73, the pair of nut of column slide block 73 and column slider-actuated leading screw
72 coordinate, and the lower end of column slider-actuated leading screw 72 is connected with column slider-actuated motor 74, by column slider-actuated motor 74
Drive column slider-actuated leading screw 72 to rotate, and then drive column slide block 73 to move.It is sliding that worm screw 75 two ends are connected to column
In block 73, worm screw 75 engages with worm gear 76, and the upper end of worm screw 75 connects rotation and refers to that joint drives motor 77；The rotary shaft of worm gear 76
78 pass column slide block 73 installing hole, are positioned at rotary shaft 78 end and are fixedly installed upset finger and stretch micromotion mechanism 79.By revolving
Turning and refer to that joint drives motor 77 to drive worm screw 75 to rotate, worm screw 75 drives worm gear 76 to rotate, and then axle 78 is rotated rotates, by revolving
Rotating shaft 78 drives the upset finger micromotion mechanism 79 that stretches to overturn.
As shown in Fig. 6, Fig. 9, upset finger stretch micromotion mechanism 79 include first fixed support the 791, the 3rd drive motor
793, second leading screw the 792, the 3rd feed rod the 794, second slide block 795 and 7 font upset refers to save 796.First fixed support 791 is fixed
At rotary shaft 78 end, rotary shaft 78 the first fixed support 791 is driven to overturn.First fixed support 791 is arranged
Having the second leading screw 792, second leading screw 792 one end to drive motor 793 output shaft to be connected with the 3rd, the 3rd drives motor 793 to fix
On the first fixed support 791 top；Two the 3rd feed rods 794, two the 3rd light it are arranged with in parallel in the both sides of the second leading screw 792
Thick stick 794 is directly anchored on the first fixed support 791.Second slide block 795 is arranged on two the 3rd feed rods 794 and the second leading screws
On 792, and pair of nut and the second leading screw 792 in the second slide block 795 coordinates；7 font upsets refer to that saving 796 is threaded in second
On slide block 795, move up and down and then regulate 7 font upsets by the second slide block 795 and refer to save the height of 796.During use, logical
Crossing column slider-actuated motor 74 drives column slider-actuated leading screw 72 can realize overturning the goods of finger upset different layers；Logical
Cross column slider-actuated motor 74 with upset finger stretch micromotion mechanism the 3rd driving motor 793 coordinate be adapted to Bu Tong height
The goods of degree size；By driving rotation to refer to, joint drives motor 77 can realize overturning finger 70 and overturns goods, and then obtains quilt
Tear the gap, back 12 of goods 11 open.
As it is shown in fig. 7, by friction, clamping finger 80 refers to that horizontal refers to joint lifting micromotion mechanism close to micromotion mechanism and friction
Constitute；In friction, clamping finger 80 refers to that joint lifting micromotion mechanism and friction refer to that horizontal is close to can under the common effect of micromotion mechanism
To realize being inserted in the gap, back obtained by upset finger by clamping finger and ensureing goods clamping.Wherein:
Friction refer to horizontal close to micromotion mechanism for realize by goods clamping, it includes the second fixed support the 81, the 4th
Motor 82,4 wheel driven is driven to move motor fixed rack 83, bevel gear the 84, the 3rd leading screw the 85, the 4th feed rod 86 and the 3rd slide block 87.
Second fixed support 81 be fixed on upset finger stretch micromotion mechanism 7 fonts upset refer to save 796 tops, when 7 fonts upset refer to
The second fixed support 81 is driven to overturn together during joint 796 upset.By fixing of 4 wheel driven galvanic electricity machine on second fixed support 81
Frame 83 screw thread is installed with 4 wheel driven galvanic electricity machine 82,4 wheel driven galvanic electricity machine 82 output shaft and a bevel gear 84 and connects, this bevel gear 84
Engage with another bevel gear 84；Another bevel gear 84 is connected with the 3rd leading screw 85 one end being arranged on the second fixed support 81,
And then driven the 3rd leading screw 85 to rotate by 4 wheel driven galvanic electricity machine 82.Second fixed support 81 is additionally provided with and the 3rd leading screw 85
Two parallel the 4th feed rods 86, the 3rd slide block 87 is arranged on two the 4th feed rods 86 and the 3rd leading screw 85, the 3rd slide block 87
Interior feed screw nut and the 3rd leading screw 85 coordinate, the 3rd leading screw 85 drive the 3rd slide block 87 to carry out the movement of horizontal direction.
Friction refers to that clamping finger 80 is inserted between the back obtained by upset finger 70 by joint lifting micromotion mechanism for realization
Among gap, friction refers to that joint lifting micromotion mechanism includes that the 3rd fixed support the 88, the 5th drives motor the 89, the 4th leading screw the 90, the 5th
Feed rod 91, Four-slider 92 and U-shaped friction plate 93.3rd fixed support 88 is fixed on the 3rd slide block 87 top, with the 3rd slide block
87 are vertical setting, the 3rd slide block 87 drive the 3rd fixed support 88 to carry out the movement of horizontal direction.3rd fixed support 88
Top is provided with the 5th driving motor 89, and the 5th drives the output shaft of motor 89 and the 4th leading screw 90 one end to connect, the 4th leading screw
90 are arranged on the 3rd fixed support 88.3rd fixed support 88 is additionally provided with two fiveth parallel with the 4th leading screw 90
Feed rod 91, Four-slider 92 is arranged on two the 5th feed rods 91 and the 4th leading screw 90, the feed screw nut in Four-slider 92 with
4th leading screw 90 coordinates, the 4th leading screw 90 drive Four-slider 92 to carry out the movement of vertical direction.U-shaped friction plate 93 is connected to
On Four-slider 92.After friction refers to that horizontal starts close to micromotion mechanism, U-shaped friction plate 93 is shown consideration for cargo compartment to be dismantled
Close, can further stablize goods stationarity in carrying when goods is raised under the effect of frictional force.
In above-described embodiment, 7 fonts upsets of upset finger 70 refer to save 796, U-shaped friction plate 93 all uses rough
Structure, and the material using coefficient of friction high makes, and is used for increasing upset goods, friction when mentioning goods and transport goods
Power.
In the various embodiments described above, by rotation, the rotary shaft 78 of upset finger 70 refers to that joint drives motor 77 to drive worm and gear
Mechanism drives it to rotate, and the goods utilizing the self-locking property of worm-and-wheel gear to can ensure that upset is got up will not overturn back,
Add the upset of U-shaped friction plate 93 and 7 font to refer to save 796 clamping forces that goods is produced, it is ensured that dismantle and transport goods
During goods will not landing from mechanical hand 6.
In the various embodiments described above, two mechanical arms 3 can be used to carry two mechanical hands 6, it would however also be possible to employ a machinery
Arm 3 carries a mechanical hand 6.
As shown in Figure 1, Figure 2, shown in Fig. 8～Figure 10, the present invention also provides for a kind of storage picking machine carrying clamping type mechanical hand
The using method of device people, its step is as follows:
(1) under the drive of mobile chassis 1, entirety carries the storage picking robot of clamping type mechanical hand close to stack
13；
(2) mechanical arm 3 drives first and carries out robot arm height under motor 36 and the second driving driving motor 44
Regulation with length so that hold down finger 60 surroundings being close to target goods to be removed, to ensure stablizing of stack 13 entirety
Property；
(3) upset finger 70 overturns target goods to be removed under rotating the effect referring to joint driving motor 77 so that wait to tear open
Unload and produce, between target goods 11 and overall stack 13, the space, back 12 that a clamping finger 80 is operated；
(4) the U-shaped friction plate 93 of clamping finger 80 declines insertion space, back, and presses close to target goods to be removed further
11 make target goods 11 to be removed be clamped；
(5) mechanical arm 3 is raised and is shunk and makes target goods 11 to be removed depart from overall stack 13；
(6) external control devices control mobile chassis 1 moves, and target goods to be removed carrying is left.
The various embodiments described above are merely to illustrate the present invention, the structure of each parts, size, arrange position and shape is all permissible
Be varied from, on the basis of technical solution of the present invention, all improvement individual part carried out according to the principle of the invention and etc.
With conversion, the most should not get rid of outside protection scope of the present invention.
Claims (10)
1. one kind is carried clamping type mechanical hand storage picking robot, it is characterised in that: this robot includes mobile chassis, turns
Dynamic body, mechanical arm and mechanical hand；Described mobile chassis top is provided with described rotation body, is positioned on described rotation body and sets
It is equipped with and can lift and flexible described mechanical arm, described mechanical arm is provided with and can simulate staff action and carry out the institute of goods dismounting
State mechanical hand.
A kind of storage picking robot carrying clamping type mechanical hand, it is characterised in that: described machine
Mechanical arm is made up of arm lifting mechanism and pantograph；Be positioned on described arm lifting mechanism be provided with described scissors stretch
Mechanism；Described arm lifting mechanism one end is positioned at described mobile chassis top, and is fixed on described this body sidewall of rotation, described hands
The arm elevating mechanism other end extends to described rotation body exterior along described rotation body length direction.
A kind of storage picking robot carrying clamping type mechanical hand, it is characterised in that: described hands
Arm elevating mechanism includes fixed support, the first driving motor, wire rope pulley, steel wire rope, the first slide block and guide rail；Described fixing
Frame is threaded on the sidewall of described rotation body, described fixed support is provided with described guide rail, and is positioned at described fixing
Support two ends are separately installed with described wire rope pulley, and described steel wire rope is wound on described wire rope pulley, and described steel wire rope and institute
Stating the first slide block to connect, described first slide block is slidably connected on described guide rail；Described fixed support is additionally provided with described
First drives motor, and the output shaft of described first driving motor is coaxially connected with described wire rope pulley.
A kind of storage picking robot carrying clamping type mechanical hand, it is characterised in that cut described in:
Formula telescoping mechanism includes the second driving motor, the first leading screw, screw block, screw slider, connecting rod, the first feed rod, feed rod slide block, light
Thick stick seat, telescopic arm, jump ring and key seat；Described telescopic arm is made up of single oil cylinder, is connected by linear bearing between two joint arms；Described
The first segment arm end of telescopic arm is fixed on described arm lifting mechanism, and described screw block is threaded in described telescopic arm
On one joint arm, and being provided with described first leading screw in described screw block, one end of described first leading screw drives electricity with described second
Machine connects；Described connecting rod uses scissors structure in series after intersecting two-by-two, is positioned at two institutes that scissors construction first end portion intersects
Stating connecting rod head end to be connected on screw slider described in by described key seat, jump ring respectively, described in two, screw slider is all disposed within
On described first leading screw；It is positioned at connecting rod end described in the two of scissors structure the second end intersection respectively by described key seat, jump ring
It is connected on described feed rod slide block, uses described jump ring to carry out position and fix；Described feed rod slide block is arranged on described first feed rod
On, described first feed rod is fixed on described feed rod seat, and described feed rod seat is arranged on described telescopic arm final section arm.
A kind of storage picking robot carrying clamping type mechanical hand, it is characterised in that: described machine
Tool hands includes holding down finger, overturning finger and clamping finger；Described holding down finger is fixed at the bottom of described telescopic arm final section arm
Portion, described upset finger is connected with described holding down finger, and described clamping finger is connected with described upset finger；Described hold down finger
It is made up of pressing plate；The installation end of described pressing plate is connected with the bottom thread of described telescopic arm.
A kind of storage picking robot carrying clamping type mechanical hand, it is characterised in that turn over described in:
Change hands finger and include the second feed rod, column slide block, column slider-actuated leading screw, column slider-actuated motor, worm gear, worm screw, rotation
Axle, rotate and refer to that joint drives motor and upset finger to stretch micromotion mechanism；The installation end connection held down finger described in being positioned at has described
Second feed rod and column slider-actuated leading screw, be positioned on described second feed rod and column slider-actuated leading screw and be provided with described column
Slide block, the lower end of described column slider-actuated leading screw is connected with described column slider-actuated motor；Described worm screw two ends are connected to
In described column slide block, described worm screw engages with described worm gear, and the upper end of described worm screw connects described rotation and refers to that joint drives electricity
Machine；Described rotary shaft on described worm gear pass described column slide block, be positioned at described rotary shaft end be fixedly installed described in turn over
Change hands the flexible micromotion mechanism of finger.
A kind of storage picking robot carrying clamping type mechanical hand, it is characterised in that turn over described in:
Change hands the flexible micromotion mechanism of finger and include the first fixed support, the 3rd driving motor, the second leading screw, the 3rd feed rod, the second slide block and 7
Font upset refers to joint；Described first fixed support is fixed on described rotary shaft end, is provided with on described first fixed support
Described second leading screw, described second leading screw one end drives motor output shaft to be connected with the described 3rd, and the described 3rd drives motor solid
It is scheduled on described first fixed support top；Two described 3rd feed rods it are arranged with in parallel in the both sides of described second leading screw, two
Described feed rod is directly anchored on described first fixed support；Described second slide block is arranged on two described 3rd feed rods and second
On leading screw；Described 7 font upsets refer to that joint is threaded on described second slide block.
A kind of storage picking robot carrying clamping type mechanical hand, it is characterised in that: described card
Tight finger is referred to by friction close to micromotion mechanism and friction, horizontal refers to that joint lifting micromotion mechanism is constituted；Described friction refers to that water saving flushes
Nearly micromotion mechanism includes that the second fixed support, 4 wheel driven galvanic electricity machine, 4 wheel driven move motor fixed rack, the 3rd leading screw, the 4th light
Thick stick, bevel gear and the 3rd slide block；Described second fixed support is fixed on described 7 font upsets and refers to save top；Described second fixes
Move motor fixed rack screw thread by described 4 wheel driven on support and be installed with described 4 wheel driven galvanic electricity machine, described 4 wheel driven galvanic electricity machine
Bevel gear described in output shaft and connects, and this bevel gear engages with bevel gear another described；Another described bevel gear be arranged on
Described 3rd leading screw one end on described second fixed support connects；Described second fixed support is additionally provided with and described
Two described 4th feed rods that three leading screws are parallel, described 3rd slide block is arranged on two described 4th feed rods and the 3rd leading screw.
A kind of storage picking robot carrying clamping type mechanical hand, it is characterised in that rub described in:
Wiping refers to that joint lifting micromotion mechanism includes the 3rd fixed support, the 5th driving motor, the 4th leading screw, the 5th feed rod, Four-slider and U
Type friction plate；Described 3rd fixed support is fixed on described 3rd slider top, is vertical setting with described 3rd slide block；Described
3rd fixed support top is provided with the described 5th and drives motor, and the described 5th drives the output shaft of motor and described 4th leading screw
One end connects, and described 4th leading screw is arranged on described 3rd fixed support；Described 3rd fixed support is additionally provided with
Two described 5th feed rods that described 4th leading screw is parallel, described Four-slider is arranged on two described 5th feed rods and the 4th
On thick stick；Described U-shaped friction plate is connected on described Four-slider.
10. a use based on the storage picking robot carrying clamping type mechanical hand as described in any one of claim 1 to 9
Method, it is characterised in that comprise the following steps:
(1) under the drive of mobile chassis, close to stack；
(2) mechanical arm drives first and carries out highly and the regulation of length under motor and the second driving driving motor so that pressure
Tight finger is close to the surrounding of target goods to be removed；
(3) upset finger overturns target goods to be removed under rotating the effect referring to joint driving motor so that target goods to be removed
Produce, between thing and overall stack, the space, back that a clamping finger is operated；
(4) the U-shaped friction plate of clamping finger declines and inserts the gap, back obtained, and presses close to target goods to be removed further and make
Target goods to be removed is clamped；
(5) mechanical arm is raised and is shunk and makes target goods to be removed depart from overall stack；
(6) external control devices control mobile chassis moves, and target goods to be removed carrying is left.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610953749.7A CN106313014B (en) | 2016-11-03 | 2016-11-03 | A kind of storage picking robot and its application method carrying clamping type manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610953749.7A CN106313014B (en) | 2016-11-03 | 2016-11-03 | A kind of storage picking robot and its application method carrying clamping type manipulator |
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| Publication Number | Publication Date |
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| CN106313014A true CN106313014A (en) | 2017-01-11 |
| CN106313014B CN106313014B (en) | 2018-08-17 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610953749.7A Expired - Fee Related CN106313014B (en) | 2016-11-03 | 2016-11-03 | A kind of storage picking robot and its application method carrying clamping type manipulator |
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| CN109571527A (en) * | 2018-12-28 | 2019-04-05 | 北京信息科技大学 | A kind of end effector for the picking robot that stores in a warehouse |
| CN109677913A (en) * | 2019-01-30 | 2019-04-26 | 烟台路辰世友数控机械有限公司 | A kind of carrying telescoping mechanism and handling device |
| CN109814512A (en) * | 2019-03-07 | 2019-05-28 | 南京塑维网络科技有限公司 | A kind of mobile picking goods putting device and method |
| CN110239869A (en) * | 2019-07-08 | 2019-09-17 | 桂林电子科技大学 | A kind of mobile both arms handling device and its application method based on binocular vision |
| WO2021014828A1 (en) * | 2019-07-23 | 2021-01-28 | 日本金銭機械株式会社 | Robot hand |
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| CN114568801A (en) * | 2022-02-23 | 2022-06-03 | 重庆工业职业技术学院 | Install handle additional suitable for cylinder cavity umbrella stick |
| CN117047784A (en) * | 2023-10-11 | 2023-11-14 | 大扬智能科技(北京)有限公司 | Method and device for determining position of robot for picking goods and robot system |
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| CN117047784B (en) * | 2023-10-11 | 2024-01-26 | 大扬智能科技(北京)有限公司 | Method and device for determining position of robot for picking goods and robot system |
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| CN106313014B (en) | 2018-08-17 |
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Inventor after: Huang Min Inventor after: Gao Hong Inventor after: Li Pengcheng Inventor after: Li Baojie Inventor after: Liu Yuan Inventor after: Li Tianjian Inventor after: Li Qiguang Inventor after: Huang Xiaolong Inventor after: Xi Pengcheng Inventor before: Huang Min Inventor before: Gao Hong Inventor before: Li Pengcheng Inventor before: Li Baojie Inventor before: Liu Yuan Inventor before: Li Tianjian Inventor before: Li Qiguang Inventor before: Huang Xiaolong Inventor before: Xi Pengcheng |
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