Auxiliary arm set for carrying plates and continuous carrying working method
阅读说明:本技术 一种板材搬运辅助臂组及连续搬运工作方法 (Auxiliary arm set for carrying plates and continuous carrying working method ) 是由 张强 于 2020-05-29 设计创作,主要内容包括:本发明公开了一种板材搬运辅助臂组及连续搬运工作方法,应用在板材搬运机器人上,包括:固定安装在搬运机器人本体上的拆分夹持机构,设置在搬运机器人本体上且位于拆分夹持机构一侧的夹取机械臂;以及设置在拆分夹持机构底部的输送平台。拆分夹持机构和夹取机械臂均固定安装在搬运机器人本体上,夹取机械臂位于拆分夹持机构的一侧便于对拆分的板材进行夹取安装;输送平台用来将板材堆垛传送至拆分夹持机构处,使得拆分夹持机构进行连续性工作,本发明通过拆分夹持机构和夹取机械臂实现对板材堆垛的整体拆分和连续性搬运,能够在施工现场协助工人对装修板材堆垛进行拆-搬-装一体化操作,提高装修进程和方便工人操作。(The invention discloses a plate carrying auxiliary arm set and a continuous carrying working method, which are applied to a plate carrying robot and comprise the following steps: the clamping mechanism is arranged on the body of the transfer robot and is positioned at one side of the splitting and clamping mechanism; and the conveying platform is arranged at the bottom of the splitting and clamping mechanism. The splitting and clamping mechanism and the clamping mechanical arm are both fixedly arranged on the carrying robot body, and the clamping mechanical arm is positioned on one side of the splitting and clamping mechanism and is convenient for clamping and mounting the split plates; the conveying platform is used for conveying the plate stack to the splitting and clamping mechanism, so that the splitting and clamping mechanism can continuously work.)
1. The utility model provides a panel transport auxiliary arm group, uses on panel transfer robot, its characterized in that includes:
the clamping mechanism is arranged on the body of the transfer robot and is positioned at one side of the splitting and clamping mechanism; and the conveying platform is arranged at the bottom of the splitting and clamping mechanism.
2. The panel handling auxiliary arm set according to claim 1, wherein the gripping robot comprises: the hydraulic lifting device is fixedly arranged on the mounting frame, the mounting base is movably connected to the output end of the hydraulic lifting device in a hinged mode, and the plate clamping assembly is arranged on the mounting base.
3. A panel handling assist arm set according to claim 1 wherein the de-clamping mechanism comprises: the device comprises a support and forking mechanisms arranged on the support, wherein the support is arranged on two sides of a conveying platform, and the forking mechanisms are divided into two groups and are symmetrically arranged on the support respectively; and the support is provided with a grating detection device.
4. A panel handling assist arm set according to claim 3 wherein the forking mechanism comprises: the hydraulic jacking seat is fixedly arranged on the support, the pulley assembly is arranged at the output end of the hydraulic jacking seat, and the forking base is in transmission connection with the other end of the pulley assembly; and a clamping fork assembly is fixedly installed on one side of the forking base.
5. A panel handling assist arm set according to claim 3 wherein the clamp fork assembly includes: the fixed mounting is in the recess of fork on getting the base, alternates two pivots in the recess, and fixed connection is at two epaxial drive gear of commentaries on classics and fork piece, and fixed mounting is at the motor mount pad on the support, sets up the driving motor on the motor mount pad to and cup joint the driving chain on two drive gear, the pivot is connected in driving motor's power take off transmission, and power drives drive gear through the pivot and rotates, and then drives the driving chain of cup jointing on drive gear and cup joint the pivot rotation at the driving chain other end, thereby accomplishes and makes two fork piece syntropy rotations of fixed connection in the pivot.
6. The panel carrying auxiliary arm set according to claim 2, wherein the hydraulic lifting device comprises a master hydraulic cylinder fixedly mounted on the mounting frame, a roll-over stand hinged on the mounting frame, and slave hydraulic cylinders mounted on the roll-over stand, the roll-over stand is of a triangular structure, the output ends of piston rods of the master hydraulic cylinder are fixedly connected to a cross beam at an elevation angle end of the roll-over stand, piston rods of the slave hydraulic cylinders are hinged on a hinge seat at the bottom of the mounting base, the two groups of slave hydraulic cylinders are symmetrically mounted on two sides of the roll-over stand respectively, the piston rods arranged in the slave hydraulic cylinders are hinged on two sides of the bottom of the mounting base, and the bottom of the mounting base is hinged with an acute angle end point of the roll-over stand; the main hydraulic cylinder drives the piston rod to output, so that the main hydraulic cylinder generates upward thrust on the beam at the obtuse angle end, and the acute angle end of the roll-over stand, which is not fixed with the mounting rack, rotates upward;
the mounting base is provided with a slide rail, and the plate clamping assembly is clamped on the slide rail.
7. The auxiliary arm set for carrying plates as claimed in claim 6, wherein the plate clamping assembly comprises a fixed frame clamped on the slide rail and a fixed clamp set arranged on the fixed frame, a screw transmission assembly and a driving device are arranged at the bottom of the fixed frame, and the fixed frame slides on the slide rail under the driving of the driving device;
a bidirectional screw is inserted into the fixed frame, a left thread block and a right thread block are arranged on the bidirectional screw, and the tops of the left thread block and the right thread block are fixedly connected with a fixed clamp; and a rotating handle is arranged on one side of the bidirectional screw rod.
8. The panel carrying auxiliary arm set according to claim 1, wherein the conveying platform comprises a conveying roller set arranged on the robot body and a conveying motor in transmission connection with the conveying roller set.
9. The working method of the auxiliary arm group for carrying the plates is characterized by comprising the following working steps:
s1, arranging foam cushion blocks between stacked plates in the plate stacking process to enable a part taking gap and a buffering gap to be reserved between the plates, integrally placing the plate stack on a conveying carrier roller group on a conveying platform through a mechanical arm, and driving the plate stack to move to the bottom of a splitting and clamping mechanism by the rotation of a conveying motor;
s2, controlling the hydraulic jacking seats on the two sides of the conveying platform to drive the pulley assemblies to move downwards by the carrying robot controller, and further driving the forking mechanism clamped on the support to move downwards to enable the clamping fork assemblies to be located in gaps among plate stacks;
s3, the power output of the driving motor is in transmission connection with a rotating shaft, power drives a transmission gear to rotate through the rotating shaft, and then drives a transmission chain sleeved on the transmission gear and the rotating shaft sleeved at the other end of the transmission chain to rotate, so that two fork blocks fixedly connected to the rotating shaft rotate in the same direction, and the two fork blocks are positioned at the bottom of a gap of a plate and are perpendicular to the edge of the plate;
s4, controlling the hydraulic jacking seats on the two sides of the conveying platform to drive the pulley assemblies to move upwards by the carrying robot controller, and further driving the forking mechanism clamped on the support to move upwards, so that the two groups of fork blocks drive the plates to move upwards relative to the plate stack;
s5, the piston rod of the main hydraulic cylinder outputs upwards to drive the acute angle end of the roll-over stand to rotate upwards, so as to drive the mounting base on the roll-over stand to turn over towards the splitting and clamping mechanism, and the piston rod of the hydraulic cylinder drives the mounting base to carry out angle adjustment again to enable the mounting base to be arranged at the bottoms of the two groups of fork blocks;
s6, an operator translates the plate placed on the fork block to the plate clamping assembly to clamp the plate, and the main hydraulic cylinder and the slave hydraulic cylinder drive the mounting base to be adjusted again to enable the mounting angle to be met.
Technical Field
The invention belongs to the field of transfer robots, and particularly relates to a plate transfer auxiliary arm set and a continuous transfer working method.
Background
The decoration mode that adopts wallboard such as glass ceramic tile becomes emerging decoration mode, and current panel handling device can only realize the transportation installation of single panel in the work progress, so need not carry out the manual work in the installation beyond unstacking to the panel stack, still need adjust the transport according to its mounted position, because the particularity of its shape of panel extremely easily takes place the limit and warp of warping of edge in handling, influences the normal use of fitment panel.
Disclosure of Invention
The purpose of the invention is as follows: provides a plate conveying auxiliary arm set and a continuous conveying working method, which are used for solving the problems in the prior art.
The technical scheme is as follows: the utility model provides a panel transport auxiliary arm group, uses on panel transfer robot, includes:
the clamping mechanism is arranged on the body of the transfer robot and is positioned at one side of the splitting and clamping mechanism; and the conveying platform is arranged at the bottom of the splitting and clamping mechanism.
In a further embodiment, the grasping robot arm includes: the hydraulic lifting device is fixedly arranged on the mounting frame, the mounting base is movably connected to the output end of the hydraulic lifting device in a hinged mode, and the plate clamping assembly is arranged on the mounting base.
In a further embodiment, the split gripping mechanism comprises: the device comprises a support and forking mechanisms arranged on the support, wherein the support is arranged on two sides of a conveying platform, and the forking mechanisms are divided into two groups and are symmetrically arranged on the support respectively; and the support is provided with a grating detection device.
In a further embodiment, the forking mechanism comprises: the hydraulic jacking seat is fixedly arranged on the support, the pulley assembly is arranged at the output end of the hydraulic jacking seat, and the forking base is in transmission connection with the other end of the pulley assembly; and a clamping fork assembly is fixedly installed on one side of the forking base.
In a further embodiment, the clamping fork assembly comprises: the fixed mounting is in the recess of fork on getting the base, alternates two pivots in the recess, and fixed connection is at two epaxial drive gear of commentaries on classics and fork piece, and fixed mounting is at the motor mount pad on the support, sets up the driving motor on the motor mount pad to and cup joint the driving chain on two drive gear, the pivot is connected in driving motor's power take off transmission, and power drives drive gear through the pivot and rotates, and then drives the driving chain of cup jointing on drive gear and cup joint the pivot rotation at the driving chain other end, thereby accomplishes and makes two fork piece syntropy rotations of fixed connection in the pivot.
In a further embodiment, the hydraulic lifting device comprises a master hydraulic cylinder fixedly mounted on the mounting frame, a roll-over stand hinged on the mounting frame, and slave hydraulic cylinders mounted on the roll-over stand, wherein the output end of a piston rod of the master hydraulic cylinder is fixedly connected to a cross beam at the elevation end of the roll-over stand, the piston rods of the slave hydraulic cylinders are hinged on a hinge seat at the bottom of the mounting base, the two groups of slave hydraulic cylinders are respectively symmetrically mounted at two sides of the roll-over stand, the piston rods arranged in the slave hydraulic cylinders are hinged at two sides of the bottom of the mounting base, and the bottom of the mounting base is hinged with an acute angle end point of the roll; the main hydraulic cylinder drives the piston rod to output, so that the main hydraulic cylinder generates upward thrust on the beam at the obtuse angle end, and the acute angle end of the roll-over stand, which is not fixed with the mounting rack, rotates upward;
the mounting base is provided with a slide rail, and the plate clamping assembly is clamped on the slide rail.
In a further embodiment, the plate clamping assembly comprises a fixed frame clamped on the slide rail and a fixed clamp group arranged on the fixed frame, the bottom of the fixed frame is provided with a screw rod transmission assembly and a driving device, and the fixed frame slides on the slide rail under the driving of the driving device;
a bidirectional screw is inserted into the fixed frame, a left thread block and a right thread block are arranged on the bidirectional screw, and the tops of the left thread block and the right thread block are fixedly connected with a fixed clamp; and a rotating handle is arranged on one side of the bidirectional screw rod.
In a further embodiment, the conveying platform comprises a conveying roller group arranged on the robot body and a conveying motor in transmission connection with the conveying roller group.
In a further embodiment, the following working steps are included:
s1, arranging foam cushion blocks between stacked plates in the plate stacking process to enable a part taking gap and a buffering gap to be reserved between the plates, integrally placing the plate stack on a conveying carrier roller group on a conveying platform through a mechanical arm, and driving the plate stack to move to the bottom of a splitting and clamping mechanism by the rotation of a conveying motor;
s2, controlling the hydraulic jacking seats on the two sides of the conveying platform to drive the pulley assemblies to move downwards by the carrying robot controller, and further driving the forking mechanism clamped on the support to move downwards to enable the clamping fork assemblies to be located in gaps among plate stacks;
s3, the power output of the driving motor is in transmission connection with a rotating shaft, power drives a transmission gear to rotate through the rotating shaft, and then drives a transmission chain sleeved on the transmission gear and the rotating shaft sleeved at the other end of the transmission chain to rotate, so that two fork blocks fixedly connected to the rotating shaft rotate in the same direction, and the two fork blocks are positioned at the bottom of a gap of a plate and are perpendicular to the edge of the plate;
s4, controlling the hydraulic jacking seats on the two sides of the conveying platform to drive the pulley assemblies to move upwards by the carrying robot controller, and further driving the forking mechanism clamped on the support to move upwards, so that the two groups of fork blocks drive the plates to move upwards relative to the plate stack;
s5, the piston rod of the main hydraulic cylinder outputs upwards to drive the acute angle end of the roll-over stand to rotate upwards, so as to drive the mounting base on the roll-over stand to turn over towards the splitting and clamping mechanism, and the piston rod of the hydraulic cylinder drives the mounting base to carry out angle adjustment again to enable the mounting base to be arranged at the bottoms of the two groups of fork blocks;
s6, an operator translates the plate placed on the fork block to the plate clamping assembly to clamp the plate, and the main hydraulic cylinder and the slave hydraulic cylinder drive the mounting base to be adjusted again to enable the mounting angle to be met.
Has the advantages that: the integral splitting and continuous carrying of the plate stack are realized through the splitting and clamping mechanism and the clamping mechanical arm, the splitting, carrying and loading integrated operation of workers on the decoration plate stack can be assisted in a construction site, the decoration process is improved, and the operation of the workers is facilitated; secondly, press from both sides the hydraulic pressure lifting devices adjustment mounting base that gets in the arm and be located distance and position between the centre gripping fork subassembly, drive arrangement drives fixed frame and moves on the mounting base slide rail simultaneously, makes fixed frame be close to the panel of lifting, makes things convenient for the workman to translate panel to fixed frame in fixed frame fixed, places panel and takes place to warp in handling.
Drawings
FIG. 1 is a schematic view of the structure of the auxiliary arm set for transporting plates of the present invention.
Fig. 2 is a schematic structural diagram of the split clamping mechanism of the invention.
Fig. 3 is a perspective view of the split clamping mechanism of the present invention.
Fig. 4 is a schematic structural view of the forking mechanism of the present invention.
Fig. 5 is a schematic structural view of the gripping robot arm of the present invention.
Fig. 6 is a schematic structural view of the fixing frame of the present invention.
The reference signs are: the device comprises a splitting clamping mechanism 1, a support 10, a forking mechanism 11, a hydraulic jacking seat 110, a pulley assembly 111, a
Detailed Description
In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the invention.
Due to the limitation of a construction site, a traditional linear conveying mechanism is difficult to enter the construction site, manual carrying and installation can be adopted on a small construction site in the installation process of the plate-shaped materials, but in a large decoration construction site, the applicant finds that the existing plate carrying device can only realize the transportation and installation of a single plate in the construction process, so that the plate stacking is not required to be manually unstacked in the installation process, and the carrying is adjusted according to the installation position, so that the whole decoration process is slow, and the normal use of the decoration plate is influenced due to the fact that the edge warping and the deformation of the edge of the plate are easy to occur in the manual carrying process due to the special shape of the plate.
As shown in fig. 1 to 6, a panel handling assist arm set includes: the device comprises a splitting clamping mechanism 1, a support 10, a forking mechanism 11, a hydraulic jacking seat 110, a pulley assembly 111, a
The auxiliary arm set for carrying the plates is applied to the carrying robot, and can assist workers in performing disassembly-carrying-loading integrated operation on a finished plate stack on a construction site, so that the finishing process is improved, and the operation of the workers is facilitated. The splitting and clamping mechanism 1 and the clamping mechanical arm 2 are both fixedly arranged on the carrying robot body 4, the clamping mechanical arm 2 is positioned on one side of the splitting and clamping mechanism 1, so that the split plates can be conveniently clamped and installed, and the splitting and clamping mechanism 1 and the clamping mechanical arm 2 are positioned on the same horizontal plane in the vertical direction; the
The existing plate manipulator usually adopts a vacuum suction mode, but for plates with larger side length difference, the gravity center needs to be calculated in the suction process, the suction position is effectively selected to keep the stability of the plates in the suction process, and the method of forking is simple and rapid, and has cost and time superiority compared with a vacuum manipulator; the split clamping mechanism 1 comprises: the conveying device comprises a support 10 and two forking mechanisms 11 arranged on the support 10, wherein the support 10 is arranged on two sides of the
the forking mechanism 11 includes: the hydraulic lifting seat 110 is fixedly arranged on the support 10, the pulley 1111 component 111 is arranged at the output end of the hydraulic lifting seat 110, and the
Considering that the clamping fork is easy to collide with the plate in the linear descending process in the forking process to cause damage to the edge of the plate, the clamping fork capable of being rotatably retracted is adopted; the pinch fork assembly 113 includes: the fork taking mechanism comprises a groove 1130 fixedly installed on the
The board fixed on the forking mechanism 11 needs to be transferred to the clamping mechanical arm 2 to adjust the included angle between the board and the horizontal plane according to the installation position, more than two workers are needed to rotate the board in the same direction in the process of adjusting the board by manual work, and the deformation or edge warping of the board in the installation process is easily caused by the particularity of the material and the incongruity of the worker in the cooperation process of part of light boards, so that the clamping mechanical arm 2 is adopted to adjust the overall installation surface of the board, the laying cost of the workers is reduced, and the operation is convenient and fast.
The clamping mechanical arm 2 adopts a twice turning mode to meet the requirement of adjusting the installation angle of the plate as much as possible; the gripping arm 2 includes: the plate clamping device comprises a
The
After the plate is horizontally moved onto the
Conveying
The working principle is as follows: in the plate stacking process, a foam cushion block is arranged between stacked plates, so that a part taking gap and a buffer gap are reserved between the plates, the plate stack is integrally placed on a conveying
According to the plate stacking and continuous conveying device, the whole stacking and continuous conveying of plates are realized through the splitting clamping mechanism 1 and the clamping mechanical arm 2, then, the hydraulic lifting device in the clamping mechanical arm 2 adjusts the distance and the position of the
The preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, however, the present invention is not limited to the specific details of the embodiments, and various equivalent changes can be made to the technical solution of the present invention within the technical idea of the present invention, and these equivalent changes are within the protection scope of the present invention.
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