CN115626479A - Carrying method based on transfer manipulator - Google Patents
Carrying method based on transfer manipulator Download PDFInfo
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- CN115626479A CN115626479A CN202211313123.1A CN202211313123A CN115626479A CN 115626479 A CN115626479 A CN 115626479A CN 202211313123 A CN202211313123 A CN 202211313123A CN 115626479 A CN115626479 A CN 115626479A
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- manipulator assembly
- moving
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- 238000000034 method Methods 0.000 title claims abstract description 28
- 230000007246 mechanism Effects 0.000 claims abstract description 61
- 238000012544 monitoring process Methods 0.000 claims abstract description 13
- 230000008569 process Effects 0.000 claims abstract description 10
- 210000000078 claw Anatomy 0.000 claims description 8
- 230000000295 complement effect Effects 0.000 claims description 7
- 238000013016 damping Methods 0.000 abstract description 15
- 230000000712 assembly Effects 0.000 abstract description 2
- 238000000429 assembly Methods 0.000 abstract description 2
- 230000008901 benefit Effects 0.000 description 6
- 230000009471 action Effects 0.000 description 5
- 239000002184 metal Substances 0.000 description 5
- 238000007664 blowing Methods 0.000 description 3
- 230000006835 compression Effects 0.000 description 3
- 238000007906 compression Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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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
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/904—Devices for picking-up and depositing articles or materials provided with rotary movements only
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a carrying method based on a transfer manipulator, wherein the transfer manipulator comprises a moving assembly, the moving assembly comprises a moving seat, a mounting groove is formed in the middle of the moving seat, an auxiliary mechanism which slides in parallel is sleeved inside the mounting groove and comprises a sliding block, an anti-shake damping mechanism and a ground contact mechanism, a fixed plate is fixedly connected to the lower portion of the surface of one end of the moving seat, a control box is fixedly connected to the upper surface of the moving assembly, monitoring assemblies are fixedly connected to two sides of the upper end surface of the control box, the manipulator assembly is mounted in the middle of the upper end of the control box, the middle of the manipulator assembly is connected with the anti-shake damping mechanism, and an anti-drop mechanism is connected to the upper portion of the outer end of the sliding block. According to the invention, the auxiliary mechanism is sleeved in the movable seat, and the auxiliary mechanism is used for supporting and assisting the lower part of the middle part of the manipulator assembly, so that the manipulator assembly is prevented from shaking and vibrating in the use process, the precision of the manipulator assembly is improved, and the manipulator assembly is prevented from being obstructed and accidents in the use process.
Description
Technical Field
The invention belongs to the technical field of mechanical transportation, and particularly relates to a carrying method based on a transfer manipulator.
Background
The manipulator is an automatic operation device which can imitate certain motion functions of a human hand and an arm and is used for grabbing and carrying objects or operating tools according to a fixed program; is characterized in that various expected operations can be completed through programming, the advantages of the robot and the manipulator machine are combined in structure and performance,
the blowing robotic arm of original manipulator device still has some weak points, and blowing manipulator probably causes the product to drop when snatching or placing the product, influences blowing manipulator normal operating to reduce its work efficiency, brought inconvenience for the user uses, secondly, can only go the repetitive operation according to the mechanical action who has set for in advance the programming, its intelligence is relatively poor, uses to get up to have great limitation.
The above description is included in the technical recognition scope of the inventors, and does not necessarily constitute the prior art.
Disclosure of Invention
In order to achieve the purpose, the invention provides a transporting method based on a transfer manipulator, wherein an operator stands on a fixed plate, can control a manipulator assembly to rotate through rotating a control panel, can adjust the angles of a second manipulator, a third manipulator and a fourth manipulator when relevant personnel push or pull different adjusting handles forwards or backwards, drives an anti-falling mechanism to swing along with the rotation of the manipulator assembly through an auxiliary mechanism, supports the middle position of the manipulator assembly to prevent shaking, and fixes two sides of a cargo clamped by the claw tips of the manipulator assembly in an anti-falling mode through the anti-falling mechanism.
When the device is used, the camera in the monitoring assembly feeds captured pictures back to the processor arranged in the function box, the processor processes and feeds picture data back to the controller, and the controller controls the moving assembly to move, so that intelligent automatic movement can be realized, and the device can be automatically controlled to move to transfer articles.
Transport manipulator, including removing the subassembly, remove the subassembly including removing the seat, the mounting groove has been seted up at the middle part of removing the seat, parallel gliding complementary unit has been cup jointed to the inside of mounting groove, complementary unit includes slider, anti-shake damping and the mechanism that contacts to earth, remove seat one end surface lower part fixedly connected with fixed plate, surface fastening connection has the control box on removing the subassembly, and control box upper end surface both sides fixedly connected with keeps watch on the subassembly, control box upper end mid-mounting has manipulator component, manipulator component's middle part and anti-shake damping are connected, the outer end top of slider is connected with anti-disengaging mechanism, the claw point position at manipulator component is connected to anti-disengaging mechanism's upper end, complementary unit drives anti-disengaging mechanism and swings along with manipulator component's rotation, complementary unit supports the intermediate position of manipulator component and prevents the shake, anti-disengaging mechanism carries out anti-drop fixed to the goods both sides of manipulator component claw point centre gripping.
In an example, the monitoring assembly comprises a machine body and a camera, the camera is connected to the middle of the front surface of the machine body in an embedded mode, the display screen is connected to the middle of the front surface of the machine body in an embedded mode, the monitoring assembly has the advantage of improving the intelligence of the device, the problem that when the carrying method based on the transfer manipulator is used for operation, programming is usually set in advance, repeated work can be carried out only according to set mechanical actions, the intelligence is poor, and the problem of large limitation exists when the carrying method is used is solved.
In one example, the manipulator subassembly includes carousel and first arm, first arm fixed connection is at carousel upper surface middle part, and first arm one end swing joint has the second arm, second arm one end fixedly connected with third arm, and third arm one end fixedly connected with mount pad, mount pad one end swing joint has the fourth arm, and fourth arm one end swing joint has the clamping jaw, and the manipulator subassembly rotates and leads, picks up and holds tightly the goods, is convenient for transport the goods.
In an example, the control box includes the function box and controls the dish, and controls the dish and rotate to connect in function box upper surface one side, function box upper surface one end middle part fixedly connected with adjusts the handle, and adjusts and be provided with adjustment button to one side outside, function box upper surface front end rotates and is connected with the rotating member, has the advantage of being convenient for carry out manual operation under the removal condition, has solved the function that does not possess manual operation under the general condition, perhaps is carrying out the problem of inconvenient carrying out manual operation under this transport manipulator removal condition.
In one example, the third mechanical arm comprises a metal shell, a sliding rail is connected to the middle of the bottom surface of the metal shell, and the sliding rail is arranged to be conveniently connected with the auxiliary mechanism, so that the mechanical arm assembly can rotate and drive the auxiliary mechanism to correspondingly adjust and move in the stretching process.
In an example, complementary unit still includes the semicircular board of taking out, it is connected with electric putter to take out the board and remove the middle part of seat, the semicircular spout has been seted up to the upper surface of taking out the board, the slider has been cup jointed in the inside of spout, the inboard upper end of slider is connected with the anti-shake damping, anti-shake damping upper end is connected with first rotating turret, one side of first rotating turret is equipped with the second rotating turret, the bottom of second rotating turret rotates and is connected with the stop collar, the stop collar cup joints in the middle part outside of anti-shake damping, the equal slidable mounting of first rotating turret and second rotating turret is in the inside of slide rail, takes out the board telescopic mounting in the inside of removing the seat, and the anti-shake damping that makes the connection rotates along with the manipulator subassembly and adjusts, is convenient for support the manipulator subassembly bottom, prevents that the manipulator subassembly from appearing rocking.
In one example, the bottom end of the inner side of the sliding block is connected with a ground contact mechanism, the ground contact mechanism comprises a telescopic rod, the bottom end of the telescopic rod is connected with a roller, a compression spring is sleeved on the outer side of the telescopic rod, the whole lower portion of the manipulator assembly is grounded through the ground contact mechanism, so that the manipulator assembly cannot turn over forwards due to the weight of goods after clamping the goods, and the use safety of the device is ensured.
In one example, the slider includes the slide, the inner bottom of slide is connected with the fixture block that cup joints with the spout, the top of fixture block is connected with the second link, the upper surface outer end of slide is connected with the first link of being connected, and the setting of slider is convenient for connect anti-disengaging mechanism, makes anti-disengaging mechanism connect in the below of clamping jaw, avoids the not hard up goods that drop on the clamping jaw.
In one example, the anti-falling mechanism comprises two connecting sleeves, a connecting rod is sleeved inside the connecting sleeve at the upper end, the connecting rod is fixedly connected to the outer surface of the clamping jaw, the connecting sleeve at the lower end is sleeved with the first connecting frame, a spring chain is connected to the middle of the connecting sleeve, rubber balls are connected to the middle of the spring chain in series at equal intervals, the two spring chains are opened and closed along with the two halves of the clamping jaw, the spring chain is lifted below two sides of goods after the goods are clamped, the goods are tightly fixed inside the clamping jaw, and the goods are prevented from falling.
The carrying method based on the transfer manipulator provided by the invention can bring the following beneficial effects:
according to the invention, the auxiliary mechanism is sleeved in the movable seat, and the lower part of the middle part of the manipulator assembly is supported and assisted by the auxiliary mechanism, so that the manipulator assembly is prevented from shaking and shaking in the use process, the precision of the manipulator assembly is improved, and the manipulator assembly is prevented from being obstructed and accidents in the use process.
According to the invention, the anti-falling mechanism is arranged at the position of the clamping jaw of the manipulator assembly, and the two spring chains are opened and closed along with the two halves of the clamping jaw, so that the spring chains are lifted below two sides of a cargo after the cargo is clamped, the cargo is tightly fixed in the clamping jaw, and the cargo is prevented from falling.
The invention has the advantages of improving the intelligence of the device by arranging the monitoring component, transferring articles at a plurality of positions by arranging the moving component, and facilitating manual operation under the moving condition by arranging the control box, thereby solving the problems that the prior transferring method based on the transferring manipulator usually operates according to programmed mechanical actions during working, does not have the function of manual operation under the general condition, or is inconvenient to perform manual operation under the moving condition of the transferring manipulator. The problem that the structure of the existing carrying method based on the transfer manipulator is usually fixed when the carrying method is operated, usually the structure is fixed at the middle position of three or more conveying devices, and the carrying method cannot normally move the position under the common condition, so that the carrying method has certain limitation when being used is solved; the problem that the existing carrying method based on the transfer manipulator usually sets programming in advance and can only repeat work according to set mechanical actions during operation is solved, the intelligence is poor, and great limitation exists in use;
drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and do not limit the invention. In the drawings:
fig. 1 is a schematic view of the overall structure of the transfer robot of the present invention.
Fig. 2 is a schematic structural view of a moving assembly of the transfer robot of the present invention.
Fig. 3 is a schematic structural view of a monitoring unit of the transfer robot of the present invention.
Fig. 4 is a schematic structural view of a robot assembly of the transfer robot of the present invention.
Fig. 5 is a schematic structural view of a third robot arm of the transfer robot of the present invention.
Fig. 6 is a schematic structural connection diagram of the manipulator assembly, the auxiliary mechanism and the anti-dropping mechanism of the transfer manipulator of the present invention.
Fig. 7 is a schematic structural view of an anti-slip mechanism of a transfer robot according to the present invention.
Fig. 8 is a schematic structural view of an auxiliary mechanism of the transfer robot of the present invention.
Fig. 9 is an enlarged schematic view of the transfer robot at a point a of the present invention.
In the drawings, the components represented by the respective reference numerals are listed below:
1. a moving assembly; 11. a movable seat; 12. a fixing plate; 13. mounting grooves; 2. a control box; 3. a monitoring component; 31. a body; 32. a camera; 33. a display screen; 4. a manipulator assembly; 41. a turntable; 42. a first robot arm; 43. a second mechanical arm; 44. a third mechanical arm; 441. a metal shell; 442. a slide rail; 45. a mounting seat; 46. a fourth mechanical arm; 47. a clamping jaw; 5. an auxiliary mechanism; 51. drawing the plate; 52. an electric push rod; 53. a chute; 54. a slider; 541. a slide plate; 542. a first connecting frame; 543. a second link frame; 544. a clamping block; 55. a ground engaging mechanism; 551. a telescopic rod; 552. a compression spring; 553. a roller; 56. anti-shake damping; 57. a first rotating frame; 58. a second rotating frame; 59. a position limiting sleeve; 6. an anti-falling mechanism; 61. a connecting rod; 62. connecting sleeves; 63. a spring chain; 64. a rubber ball.
Detailed Description
In order to more clearly explain the overall concept of the present invention, the following detailed description is given by way of example in conjunction with the accompanying drawings.
In the description of the present invention, it is to be understood that the terms "central," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings, which are simply for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and are not to be construed as limiting the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the present invention, unless otherwise explicitly stated or limited, the terms "mounted," "connected," "fixed," and the like are to be construed broadly, e.g., as being permanently connected, detachably connected, or integral; the connection can be mechanical connection, electrical connection or communication; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood according to specific situations by those of ordinary skill in the art.
As shown in fig. 1 to 9, an embodiment of the present invention provides a transporting method based on a transfer manipulator, wherein an operator stands on a fixed plate 12, rotates a control panel to control rotation of a manipulator assembly 4, and when the operator pushes or pulls different adjustment handles forward or backward, the operator can angularly adjust a second manipulator 43, a third manipulator 44, and a fourth manipulator 46, drives an anti-drop mechanism 6 to swing along with rotation of the manipulator assembly 4 through an auxiliary mechanism 5, the auxiliary mechanism 5 supports a middle position of the manipulator assembly 4 to prevent shaking, and the anti-drop mechanism 6 fixes two sides of a cargo clamped by a claw tip of the manipulator assembly 4 in an anti-drop manner.
The method according to claim 1, wherein when the device is used, the camera 32 in the monitoring module 3 feeds back the captured image to the processor built in the function box, the processor processes the image data and feeds back the image data to the controller, and the controller controls the moving module 1 to move, so that the intelligent automatic movement can be realized, and the device can be automatically controlled to move to transfer the articles.
The invention also comprises a transferring manipulator, which comprises a moving assembly 1, wherein the moving assembly 1 comprises a moving seat 11, the middle part of the moving seat 11 is provided with a mounting groove 13, an auxiliary mechanism 5 which slides in parallel is sleeved inside the mounting groove 13, the auxiliary mechanism 5 comprises a sliding block 54, an anti-shake damping 56 and a ground contact mechanism 55, the lower part of the surface of one end of the moving seat 11 is fixedly connected with a fixed plate 12, the upper surface of the moving assembly 1 is fixedly connected with a control box 2, two sides of the upper surface of the control box 2 are fixedly connected with monitoring assemblies 3, the middle part of the upper end of the control box 2 is provided with a manipulator assembly 4, the middle part of the manipulator assembly 4 is connected with the anti-shake damping 56, an anti-falling mechanism 6 is connected above the outer end of the sliding block 54, the upper end of the anti-falling mechanism 6 is connected with the claw tip position of the manipulator assembly 4, the auxiliary mechanism 5 drives the anti-falling mechanism 6 to swing along with the rotation of the manipulator assembly 4, the auxiliary mechanism 5 supports the middle position of the manipulator assembly 4 to prevent shaking, and the anti-falling mechanism 6 fixes two sides of goods clamped by the claw tips of the manipulator assembly 4; the monitoring component 3 comprises a machine body 31 and a camera 32, the camera 32 is connected to the middle of the front surface of the machine body 31 in an embedded mode, the display screen 33 is connected to the middle of the front surface of the machine body 31 in an embedded mode, the monitoring component 3 is arranged, the intelligent device has the advantage of improving the intelligence of the device, and the problems that programming is usually set in advance during operation, repeated work can be carried out only according to set mechanical actions, the intelligence is poor, and great limitation exists in use are solved; the mechanical arm assembly 4 comprises a rotary table 41 and a first mechanical arm 42, the first mechanical arm 42 is fixedly connected to the middle of the upper surface of the rotary table 41, one end of the first mechanical arm 42 is movably connected with a second mechanical arm 43, one end of the second mechanical arm 43 is fixedly connected with a third mechanical arm 44, one end of the third mechanical arm 44 is fixedly connected with a mounting seat 45, one end of the mounting seat 45 is movably connected with a fourth mechanical arm 46, one end of the fourth mechanical arm 46 is movably connected with a clamping jaw 47, the mechanical arm assembly 4 rotates and guides to pick up and hold cargoes, and the cargoes are convenient to transfer; the control box 2 comprises a function box and a control panel, the control panel is rotatably connected to one side of the upper surface of the function box, an adjusting handle is fixedly connected to the middle of one end of the upper surface of the function box, an adjusting button is arranged outside one side of the adjusting handle, and a rotating part is rotatably connected to the front end of the upper surface of the function box, so that the control box has the advantage of facilitating manual operation under the moving condition, and solves the problem that the control box does not have the function of manual operation under the general condition or is inconvenient to perform manual operation under the moving condition of the transfer manipulator; the third mechanical arm 44 comprises a metal shell 441, a sliding rail 442 is connected to the middle of the bottom surface of the metal shell 441, and the sliding rail 442 is arranged to be conveniently connected to the auxiliary mechanism 5, so that the mechanical arm assembly 4 drives the auxiliary mechanism 5 to perform corresponding adjustment movement in the rotating and stretching processes; the auxiliary mechanism 5 further comprises a semicircular drawing plate 51, an electric push rod 52 is connected between the drawing plate 51 and the middle part of the moving seat 11, a semicircular sliding groove 53 is formed in the upper surface of the drawing plate 51, a sliding block 54 is sleeved inside the sliding groove 53, an anti-shake damping 56 is connected to the upper end of the inner side of the sliding block 54, a first rotating frame 57 is connected to the upper end of the anti-shake damping 56, a second rotating frame 58 is arranged on one side of the first rotating frame 57, a limiting sleeve 59 is rotatably connected to the bottom end of the second rotating frame 58, the limiting sleeve 59 is sleeved outside the middle part of the anti-shake damping 56, the first rotating frame 57 and the second rotating frame 58 are both slidably mounted inside the sliding rail 442, the drawing plate 51 is telescopically mounted inside the moving seat 11, the anti-shake damping 56 connected to the moving seat is adjusted along with the rotation of the manipulator assembly 4, the bottom of the manipulator assembly 4 is conveniently supported, and the manipulator assembly 4 is prevented from shaking; the bottom end of the inner side of the sliding block 54 is connected with a ground contact mechanism 55, the ground contact mechanism 55 comprises an expansion link 551, the bottom end of the expansion link 551 is connected with a roller 553, the outer side of the expansion link 551 is sleeved with a compression spring 552, the connection of the ground contact mechanism 55 is used for grounding the whole lower part of the manipulator assembly 4, so that the manipulator assembly 4 cannot have the accident of forward turning due to the weight of goods after clamping the goods, and the use safety of the device is ensured; the sliding block 54 comprises a sliding plate 541, the bottom of the inner end of the sliding plate 541 is connected with a clamping block 544 sleeved with the sliding groove 53, the upper side of the clamping block 544 is connected with a second connecting frame 543, the outer end of the upper surface of the sliding plate 541 is connected with a first connecting frame 542 connected with the sliding block 6, and the sliding block 54 is arranged to facilitate the connection of the anti-falling mechanism 6, so that the anti-falling mechanism 6 is connected below the clamping jaw 47 to prevent goods on the clamping jaw 47 from loosening and falling; anti-disengaging mechanism 6 includes two adapter sleeves 62, the adapter sleeve 62 of upper end is inside to have cup jointed connecting rod 61, connecting rod 61 fixed connection is at the surface of clamping jaw 47, adapter sleeve 62 and the first link 542 of lower extreme cup joint, the middle part of two adapter sleeves 62 is connected with spring chain 63, equidistant concatenation has been connected with rubber ball 64 in the middle part of spring chain 63, two spring chains 63 open and shut along with the clamping jaw 47 of two halves, lift spring chain 63 in the both sides below of goods behind the goods centre gripping, make the goods tightly fix inside clamping jaw 47, avoid the goods to drop.
The working principle is as follows: when the device is used, related personnel can stand on the fixed plate 12, the manipulator assembly 4 can be controlled to rotate through rotation of the control panel, and when the related personnel push or pull different adjusting handles forwards or backwards, the second mechanical arm 43, the third mechanical arm 44 and the fourth mechanical arm 46 can be adjusted in angle, the anti-falling mechanism 6 is driven to swing along with rotation of the manipulator assembly 4 through the auxiliary mechanism 5, the auxiliary mechanism 5 supports the middle position of the manipulator assembly 4 to prevent shaking, and the anti-falling mechanism 6 is used for fixing two sides of goods clamped by the claw tips of the manipulator assembly 4 in an anti-falling mode; when the device is used, the camera 32 in the monitoring assembly 3 feeds captured pictures back to a processor arranged in the function box, the processor processes and feeds picture data back to the controller, and the controller controls the moving assembly 1 to move, so that intelligent automatic movement can be realized, and the device can be automatically controlled to move to transfer articles.
Claims (2)
1. Transport method based on transport manipulator, the utility model is characterized in that, operating personnel stands on fixed plate (12), through the rotation to controlling the dish, can control manipulator subassembly (4) and rotate, and when relevant personnel carried out the forward push or the back-pull to the regulation of difference, can carry out the regulation on the angle to second arm (43), third arm (44) and fourth arm (46), it swings along with the rotation of manipulator subassembly (4) to drive anti-disengaging mechanism (6) through complementary unit (5), complementary unit (5) support the intermediate position of manipulator subassembly (4) and prevent the shake, anti-disengaging mechanism (6) carry out anti-disengaging fixedly to the goods both sides of manipulator subassembly (4) claw point centre gripping.
2. The method according to claim 1, wherein when the device is used, the camera (32) in the monitoring assembly (3) feeds back the captured images to the processor arranged in the function box, the processor processes the image data and feeds back the image data to the controller, and the controller controls the moving assembly (1) to move, so that intelligent and automatic movement can be realized, and the device can be automatically controlled to move to transfer articles.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211313123.1A CN115626479A (en) | 2022-10-26 | 2022-10-26 | Carrying method based on transfer manipulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211313123.1A CN115626479A (en) | 2022-10-26 | 2022-10-26 | Carrying method based on transfer manipulator |
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| CN115626479A true CN115626479A (en) | 2023-01-20 |
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| CN202211313123.1A Pending CN115626479A (en) | 2022-10-26 | 2022-10-26 | Carrying method based on transfer manipulator |
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| CN107336214A (en) * | 2017-09-13 | 2017-11-10 | 陕西来复科技发展有限公司 | Safe transfer robot |
| RU2673118C1 (en) * | 2018-06-20 | 2018-11-22 | Публичное акционерное общество "Институт электронных управляющих машин им. И.С. Брука" | Gripper |
| CN109383967A (en) * | 2018-09-10 | 2019-02-26 | 杭州慧盈智能科技有限公司 | A kind of automated warehouse storage system and its working method |
| CN111348540A (en) * | 2020-04-15 | 2020-06-30 | 安徽省路港工程有限责任公司 | Curb overhead hoist |
| CN214935323U (en) * | 2020-12-31 | 2021-11-30 | 江苏道达海上风电工程科技有限公司 | Lifting appliance for wharf crane |
| CN215591980U (en) * | 2021-09-29 | 2022-01-21 | 沈阳建筑大学 | Mechanism for automatically clamping flexible package articles |
| CN115570589A (en) * | 2022-10-26 | 2023-01-06 | 安有安 | Transfer manipulator |
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