Material taking method of engineering robot
阅读说明：本技术 一种工程机器人的取料方法 (Material taking method of engineering robot ) 是由 周超 徐卫枫 丁雨欣 王崟 于 2020-12-18 设计创作，主要内容包括：本发明提供一种工程机器人的取料方法,取料方法包括以下步骤：驱动底盘上设置的车轮,带动车体移动至适当位置；滑动电机驱动同步轮,同步轮带动同步带,同时同步带带动翻转取料装置通过第一滑车和在取料架滑轨在滑动架上滑动至合适位置；伸缩气缸驱动取料夹具沿取料滑槽伸出,翻转电机驱动翻转齿轮,从而带动取料夹具翻转至用于容纳物料的料箱两侧,夹持气缸驱动夹持滑轨两侧的L型夹持手指夹紧容器；滑动电机驱动翻转取料装置回到弹仓的正上方,翻转电机再次驱动,将料箱内的物料倒入车体,物料依次进弹仓内,弹箱气缸驱动弹箱板将料箱弹离取料夹具；本发明可通过遥控的方式,控制机器人到指定位置进行多个位置的取料。(The invention provides a material taking method of an engineering robot, which comprises the following steps: driving wheels arranged on the chassis to drive the vehicle body to move to a proper position; the sliding motor drives a synchronous wheel, the synchronous wheel drives a synchronous belt, and meanwhile, the synchronous belt drives the overturning material taking device to slide to a proper position on the sliding frame through the first pulley and a material taking frame sliding rail; the telescopic cylinder drives the material taking clamp to extend out along the material taking chute, the overturning motor drives the overturning gear so as to drive the material taking clamp to overturn to two sides of a material box for containing materials, and the clamping cylinder drives L-shaped clamping fingers at two sides of the clamping slide rail to clamp the container; the sliding motor drives the overturning material taking device to return to the position right above the magazine, the overturning motor is driven again to pour materials in the material box into the vehicle body, the materials sequentially enter the magazine, and the magazine cylinder drives the magazine plate to eject the material box from the material taking clamp; the robot can be controlled to a designated position to take materials at a plurality of positions in a remote control mode.)
1. The utility model provides a material method is got to engineering robot which characterized in that: the automatic feeding device comprises a vehicle body, wherein the vehicle body comprises a chassis, a vehicle frame, a sliding device, a magazine, a turnover material taking device, a vision device and a transmission module; wheels are arranged on the chassis, the frame is positioned above the chassis and comprises a lower layer frame, an upper layer frame and a support frame; the lower-layer frame is formed by connecting longitudinal beams and cross beams, the upper-layer frame is formed by connecting longitudinal beams and cross beams, and the support frame comprises support rods and a support cross beam connected between the support rods; the lower layer frame is positioned below the upper layer frame, and the support frame is connected between the lower layer frame and the upper layer frame; the bottom of the lower frame is provided with a lower bottom plate, the bottom of the upper frame is provided with an upper bottom plate, and the top of the upper frame is provided with an upper top plate; the magazine is installed in the support frame, the transmission module is arranged on the frame, the sliding device is arranged on the upper-layer top plate in a sliding mode, the overturning material taking device is connected with the sliding device in a sliding mode, and the vision device is fixedly installed on one side of the upper-layer top plate;
the sliding device comprises a sliding frame, synchronous wheels, synchronous belts, a sliding motor, a material taking rack sliding rail, a sliding frame sliding block, a synchronous belt pressing piece, a first pulley and a second pulley, wherein the sliding frame is rectangular, a first connecting rod and a second connecting rod which are connected with the two ends of the sliding frame are symmetrically arranged on the two sides in the sliding frame respectively, the synchronous wheels are arranged at the two ends of the sliding frame respectively, the synchronous wheels at the two ends are connected through the synchronous belts, the sliding motor is fixedly arranged on the sliding frame and is positioned on one side of the synchronous wheels, the output end of the sliding motor is connected with the synchronous wheels, the sliding frame sliding block is fixed on one side, close to the synchronous belts, of the frame, the synchronous belt pressing piece is fixedly arranged on one side, close to the sliding frame; lower guide plates extending downwards from the two ends to the middle part are respectively arranged at the two ends of the sliding frame, a lower guide hole is formed between the lower guide plates, and lower guide plates are respectively arranged at the two sides of the lower guide plates; the material taking rack sliding rail is fixedly arranged on the first connecting rod, and the overturning material taking device is connected with the material taking rack sliding rail in a sliding manner; the first pulley is provided with a sliding frame on one side far away from the synchronous wheel, the first pulley is fixedly connected with the overturning material taking device through the sliding frame, and the second pulley is fixedly arranged on the frame;
the overturning material taking device comprises a material taking frame, a material taking side plate, a material taking bottom plate, a drawer outer guide rail, a drawer inner guide rail, a drawer guide rail pad, a material taking beam, a material taking connecting plate, a telescopic cylinder, a material taking clamp, a material taking filter screen, a box ejection plate and a box ejection cylinder;
the material taking side plates are fixedly connected to two sides of the material taking frame, the material taking bottom plate is installed at the bottom of the material taking frame, the inner side surface of the material taking point is fixedly provided with an outer drawer guide rail, the outer drawer guide rail is provided with an inner drawer guide rail in a sliding manner, the inner side surface of the inner drawer guide rail is fixedly provided with a drawer guide rail pad, the inner side surface of the drawer guide rail pad is fixedly provided with a material taking beam, and the bottom of the material taking beam is fixedly provided with a material taking connecting plate; the cylinder body of the telescopic cylinder is hinged to the material taking frame, the piston rod of the telescopic cylinder is hinged to the material taking connecting plate, and the material taking clamp is fixedly connected with the material taking connecting plate; the material taking filter screen is arranged between the two material taking beams; the material taking filter screen comprises two material taking filter screen beams and a plurality of material taking filter screen rods, the two material taking filter screen beams are arranged on the material taking beams, filter screen clamping grooves are formed in the material taking filter screen beams, the material taking filter screen rods are clamped in the filter screen clamping grooves, the material taking filter screen rods are arranged in an inclined mode, a blanking groove cartridge box cylinder is arranged between the adjacent material taking filter screen rods, one end of the cartridge box cylinder is hinged to the material taking beams, the other end of the cartridge box cylinder is hinged to the middle of a cartridge box plate through a driving block, and one end of the cartridge box plate is hinged to the material taking beams;
one side of the material taking frame is fixedly connected with the first pulley, the other side of the material taking frame is provided with a synchronous belt clamping block, a synchronous belt penetrates through the synchronous belt clamping block, a material taking frame sliding block matched with a material taking frame sliding rail is fixedly arranged below the material taking frame, and the overturning material taking device is respectively connected with the sliding frame in a sliding mode through the first pulley and the matching of the material taking frame sliding block and the material taking frame sliding rail;
the material taking clamp comprises a clamp connecting plate, a mounting seat, a turnover gear, a turnover connecting piece, a clamping slide rail, L-shaped clamping fingers which are arranged on two sides of the clamping slide rail in a sliding manner, a material taking turnover motor for driving the material taking clamp to turn over and a clamping cylinder for driving the clamping fingers, the mounting seat is fixedly arranged on the material taking connecting plate, the material taking turnover motor is fixedly arranged on the mounting seat, the output end of the material taking turnover motor is connected with a driving gear, one end of the turnover connecting piece is fixedly connected with the turnover gear, the other end of the turnover connecting piece is fixedly connected with the clamping slide rail, the turnover connecting piece is hinged on the mounting seat, the driving gear is meshed with the turnover gear, and two ends of the;
the material taking method of the engineering robot comprises the following steps:
a, driving wheels arranged on a chassis to drive a vehicle body to move to a proper position;
b, a sliding motor drives a synchronous wheel, the synchronous wheel drives a synchronous belt, and meanwhile, the synchronous belt drives an overturning material taking device to slide to a proper position on a sliding frame through a first pulley and a material taking frame sliding rail;
c, the telescopic cylinder drives the material taking clamp to extend out, the overturning motor drives the overturning gear to drive the material taking clamp to overturn to two sides of a material box for containing materials, and the clamping cylinder drives L-shaped clamping fingers on two sides of the clamping slide rail to clamp the container;
d, the sliding motor drives the overturning material taking device to return to the position right above the magazine, the overturning motor drives the material taking device again to pour materials in the material box into the trolley body to enter the magazine, and after material taking is completed, the magazine air cylinder drives the magazine plate to eject the material box from the material taking clamp, so that material taking action is completed.
2. The material taking method of the engineering robot as claimed in claim 1, wherein: go up crashproof wheel subassembly including installing respectively on the upper frame about the surface protect horizontal board and installing respectively at last crashproof wheel between the horizontal board of last protection, including two last crashproof wheelsets that go up crashproof wheel and constitute in the vertical direction and pass and have the round pin axle, anticollision wheel in easy to assemble and dismantlement, through installing crashproof wheel, then protect the automobile body.
3. The material taking method of the engineering robot as claimed in claim 1, wherein: the second pulley comprises a second pulley cushion block, a second pulley bottom plate, a second pulley top plate, a second pulley side plate and a second pulley block; the second pulley cushion block is fixed on the frame; the second pulley bottom plate is fixed on the second pulley cushion block, second slider bottom plate bulges are respectively arranged on two sides of the second pulley bottom plate, and a second slider bottom plate avoidance hole is formed in the position, corresponding to the second pulley block, of the second pulley bottom plate; two sides of the second pulley top plate are respectively provided with a second slider top plate bulge, and a second slider top plate avoidance hole is formed in the position, corresponding to the second pulley block, of the second pulley top plate; the upper side and the lower side of the second pulley side plate are respectively provided with a second slider side plate groove, and a second slider side plate avoidance hole is formed in the position, corresponding to the second pulley block, of the second pulley side plate; the second pulley bottom plate bulge is clamped in a second pulley side plate groove at the lower end of the second pulley side plate, and the second pulley top plate bulge is clamped in a second pulley side plate groove at the upper end of the second pulley side plate;
the second pulley block comprises a second bottom pulley block, a second top pulley block and a second side pulley block, the second bottom pulley block, the second top pulley block and the second side pulley block are respectively composed of two second pulleys, and each second pulley comprises a second pulley shaft and a second pulley arranged on the second pulley shaft; a second pulley shaft of the second bottom pulley block is arranged on the second pulley bottom plate, and the bottom of a second pulley in the second bottom pulley block extends into the second pulley bottom plate avoiding hole; a second pulley shaft of the second top pulley block is arranged on the second pulley top plate, and the top of a second pulley of the second top pulley block extends into the second pulley top plate avoiding hole; second pulley shafts of the second side pulley block are respectively arranged on the second pulley side plate, and the outer side surface of a second pulley of the second side pulley block extends into the second pulley side plate avoiding hole; a second pulley in the second pulley is in rolling contact with the second connecting rod, and the sliding frame is guided and limited through the second pulley and the second pulley group; the second pulley is provided with a photoelectric sensor at one side close to the first pulley.
4. The material taking method of the engineering robot as claimed in claim 3, wherein the material taking method comprises the following steps: the first pulley comprises a first pulley cushion block, a first pulley bottom plate, a first pulley top plate, a first pulley side plate and a first pulley block; the first pulley cushion block is fixed on the overturning material taking device; the first pulley top plate is fixed on the first pulley cushion block, first slider bottom plate bulges are respectively arranged on two sides of the first pulley bottom plate, and a first slider bottom plate avoidance hole is formed in the position, corresponding to the first pulley block, of the first pulley bottom plate; two sides of the first pulley top plate are respectively provided with a first slider top plate bulge, and a first slider top plate avoidance hole is formed in the position, corresponding to the first pulley block, of the first pulley top plate; the upper side and the lower side of the first pulley side plate are respectively provided with a first slider side plate groove, and a first slider side plate avoidance hole is formed in the position, corresponding to the first pulley block, of the first pulley side plate; a first pulley lug is arranged at the upper end of the first pulley side plate and is installed on the turnover material taking device through a first cushion block; the first pulley bottom plate bulge is clamped in a first pulley side plate groove at the lower end of the first pulley side plate, and the first pulley top plate bulge is clamped in a first pulley side plate groove at the upper end of the first pulley side plate;
the first pulley block comprises a first bottom pulley block, a first top pulley block and a first side pulley block, the first bottom pulley block, the first top pulley block and the first side pulley block are respectively composed of two first pulleys, and each first pulley comprises a first pulley shaft and a first pulley arranged on the first pulley shaft; a first pulley shaft of the first bottom pulley block is arranged on the first pulley bottom plate, and the bottom of a first pulley in the first bottom pulley block extends into the first pulley bottom plate avoiding hole; a first pulley shaft of the first top pulley block is arranged on the first pulley top plate, and the top of a first pulley of the first top pulley block extends into the first pulley top plate avoiding hole; a first pulley shaft of a first side pulley block is respectively arranged on the first pulley side plate, and the outer side surface of a first pulley of the first side pulley block extends into the first pulley side plate avoiding hole; the first pulley passes through the sliding frame, a first pulley of the first pulley is in sliding contact with the sliding frame, and the sliding frame is guided and limited through the first pulley and the first pulley group; one side that is close to the second coaster on the first coaster is equipped with the detection round pin, detects round pin and photoelectric sensor cooperation and is used for detecting upset extracting device position.
5. The material taking method of the engineering robot as claimed in claim 1, wherein: the material taking frame is obliquely provided with an angle plate at one side far away from the material taking clamp, and the falling materials are guided through the angle plate.
6. The material taking method of the engineering robot as claimed in claim 1, wherein: and the L-shaped clamping finger is provided with an ejection rotating part to prevent the materials in the material box from being spilled in the overturning process when the step D is carried out.
Technical Field
The invention relates to the technical field of robots, in particular to a material taking method of an engineering robot.
Background
In the modern day with the technology changing day by day, the research and development of robots are also rapidly developing. The remote control robot is a remote operation device which can replace people to complete certain tasks in the environment harmful to people or inaccessible to people, and the dangerous, severe and harmful environment promotes the development of the robot.
Just because in the environment harmful to people or people can not be close, people are difficult to be close, carry out supply, rescue maintenance greatly increased the degree of difficulty to people or machine, if can adopt the robot to get the material, then greatly reduced the risk of casualties in the environment harmful to people or people can not be close, the work efficiency of robot is higher moreover.
Disclosure of Invention
The invention provides a material taking method of an engineering robot.
In order to achieve the purpose, the technical scheme of the invention is as follows: a material taking method of an engineering robot comprises a vehicle body, wherein the vehicle body comprises a chassis, a vehicle frame, a sliding device, a magazine, an overturning material taking device, a vision device and a transmission module; wheels are arranged on the chassis, the frame is positioned above the chassis and comprises a lower layer frame, an upper layer frame and a support frame; the lower-layer frame is formed by connecting longitudinal beams and cross beams, the upper-layer frame is formed by connecting longitudinal beams and cross beams, and the support frame comprises support rods and a support cross beam connected between the support rods; the lower layer frame is positioned below the upper layer frame, and the support frame is connected between the lower layer frame and the upper layer frame; the bottom of the lower frame is provided with a lower bottom plate, the bottom of the upper frame is provided with an upper bottom plate, and the top of the upper frame is provided with an upper top plate; the magazine is installed in the support frame, the transmission module is arranged on the frame, the sliding device is arranged on the upper-layer top plate in a sliding mode, the overturning material taking device is connected with the sliding device in a sliding mode, and the vision device is fixedly installed on one side of the upper-layer top plate;
the sliding device comprises a sliding frame, synchronous wheels, synchronous belts, a sliding motor, a material taking rack sliding rail, a sliding frame sliding block, a synchronous belt pressing piece, a first pulley and a second pulley, wherein the sliding frame is rectangular, a first connecting rod and a second connecting rod which are connected with the two ends of the sliding frame are symmetrically arranged on the two sides in the sliding frame respectively, the synchronous wheels are arranged at the two ends of the sliding frame respectively, the synchronous wheels at the two ends are connected through the synchronous belts, the sliding motor is fixedly arranged on the sliding frame and is positioned on one side of the synchronous wheels, the output end of the sliding motor is connected with the synchronous wheels, the sliding frame sliding block is fixed on one side, close to the synchronous belts, of the frame, the synchronous belt pressing piece is fixedly arranged on one side, close to the sliding frame; lower guide plates extending downwards from the two ends to the middle part are respectively arranged at the two ends of the sliding frame, a lower guide hole is formed between the lower guide plates, and lower guide plates are respectively arranged at the two sides of the lower guide plates; the material taking rack sliding rail is fixedly arranged on the first connecting rod, and the overturning material taking device is connected with the material taking rack sliding rail in a sliding manner; the first pulley is provided with a sliding frame on one side far away from the synchronous wheel, the first pulley is fixedly connected with the overturning material taking device through the sliding frame, and the second pulley is fixedly arranged on the frame;
the overturning material taking device comprises a material taking frame, a material taking side plate, a material taking bottom plate, a drawer outer guide rail, a drawer inner guide rail, a drawer guide rail pad, a material taking beam, a material taking connecting plate, a telescopic cylinder, a material taking clamp, a material taking filter screen, a box ejection plate and a box ejection cylinder;
the material taking side plates are fixedly connected to two sides of the material taking frame, the material taking bottom plate is installed at the bottom of the material taking frame, the inner side surface of the material taking point is fixedly provided with an outer drawer guide rail, the outer drawer guide rail is provided with an inner drawer guide rail in a sliding manner, the inner side surface of the inner drawer guide rail is fixedly provided with a drawer guide rail pad, the inner side surface of the drawer guide rail pad is fixedly provided with a material taking beam, and the bottom of the material taking beam is fixedly provided with a material taking connecting plate; the cylinder body of the telescopic cylinder is hinged to the material taking frame, the piston rod of the telescopic cylinder is hinged to the material taking connecting plate, and the material taking clamp is fixedly connected with the material taking connecting plate; the material taking filter screen is arranged between the two material taking beams; the material taking filter screen comprises two material taking filter screen beams and a plurality of material taking filter screen rods, the two material taking filter screen beams are arranged on the material taking beams, filter screen clamping grooves are formed in the material taking filter screen beams, the material taking filter screen rods are clamped in the filter screen clamping grooves, the material taking filter screen rods are arranged in an inclined mode, a blanking groove cartridge box cylinder is arranged between the adjacent material taking filter screen rods, one end of the cartridge box cylinder is hinged to the material taking beams, the other end of the cartridge box cylinder is hinged to the middle of a cartridge box plate through a driving block, and one end of the cartridge box plate is hinged to the material taking beams;
one side of the material taking frame is fixedly connected with the first pulley, the other side of the material taking frame is provided with a synchronous belt clamping block, a synchronous belt penetrates through the synchronous belt clamping block, a material taking frame sliding block matched with a material taking frame sliding rail is fixedly arranged below the material taking frame, and the overturning material taking device is respectively connected with the sliding frame in a sliding mode through the first pulley and the matching of the material taking frame sliding block and the material taking frame sliding rail;
the material taking clamp comprises a clamp connecting plate, a mounting seat, a turnover gear, a turnover connecting piece, a clamping slide rail, L-shaped clamping fingers which are arranged on two sides of the clamping slide rail in a sliding manner, a material taking turnover motor for driving the material taking clamp to turn over and a clamping cylinder for driving the clamping fingers, the mounting seat is fixedly arranged on the material taking connecting plate, the material taking turnover motor is fixedly arranged on the mounting seat, the output end of the material taking turnover motor is connected with a driving gear, one end of the turnover connecting piece is fixedly connected with the turnover gear, the other end of the turnover connecting piece is fixedly connected with the clamping slide rail, the turnover connecting piece is hinged on the mounting seat, the driving gear is meshed with the turnover gear, and two ends of the;
the material taking method of the engineering robot comprises the following steps:
a, driving wheels arranged on a chassis to drive a vehicle body to move to a proper position;
b, a sliding motor drives a synchronous wheel, the synchronous wheel drives a synchronous belt, and meanwhile, the synchronous belt drives an overturning material taking device to slide to a proper position on a sliding frame through a first pulley and a material taking frame sliding rail;
c, the telescopic cylinder drives the material taking clamp to extend out, the overturning motor drives the overturning gear to drive the material taking clamp to overturn to two sides of a material box for containing materials, and the clamping cylinder drives L-shaped clamping fingers on two sides of the clamping slide rail to clamp the container;
d, the sliding motor drives the overturning material taking device to return to the position right above the magazine, the overturning motor drives the material taking device again to pour materials in the material box into the trolley body to enter the magazine, and after material taking is completed, the magazine air cylinder drives the magazine plate to eject the material box from the material taking clamp, so that material taking action is completed.
In the method, when the vehicle body takes materials, an operator controls the vehicle body to move the vehicle body by wheels arranged on a driving chassis of the vehicle body according to images transmitted by a transmission vision device of a transmission module, the vehicle body is moved to a proper position, a lower side of a synchronous belt is tightly pressed on the top of the vehicle frame by a synchronous belt pressing piece, a turnover material taking device is connected with the synchronous belt, when the sliding device slides, a sliding motor drives the synchronous wheel, the synchronous wheel drives the synchronous belt, the sliding device is matched with a sliding frame sliding block through a sliding frame sliding rail and slides on the vehicle frame, meanwhile, the synchronous belt drives the turnover material taking device to slide on the sliding frame through a first pulley and a material taking frame sliding rail, so that the turnover material taking device can slide to the right or left on the sliding frame to a proper position, a telescopic cylinder drives a material taking clamp to extend out, the turnover motor, the centre gripping cylinder drive centre gripping slide rail both sides L type centre gripping finger presss from both sides tight container, and slip motor drive upset extracting device gets back to directly over the magazine, and the upset motor drives once more, pours the material in the workbin into the automobile body, and the material divides the material through getting the material filter screen, and the material is advanced in the magazine in proper order, gets the material and accomplishes the back, and the magazine cylinder drives the magazine board and leaves the material anchor clamps of getting, accomplishes and gets the material action.
Further, go up crashproof wheel subassembly including installing respectively on the upper frame about the surface protect horizontal board and install respectively at last crashproof wheel between the horizontal board of last protection, including two last crashproof wheelsets that go up crashproof wheel and constitute in the vertical direction and pass and have the round pin axle, like this, crashproof wheel in easy to assemble and the dismantlement, through installing crashproof wheel, then protect the automobile body, avoid hitting or losing the automobile body.
Further, the second pulley comprises a second pulley cushion block, a second pulley bottom plate, a second pulley top plate, a second pulley side plate and a second pulley block; the second pulley cushion block is fixed on the frame; the second pulley bottom plate is fixed on the second pulley cushion block, second slider bottom plate bulges are respectively arranged on two sides of the second pulley bottom plate, and a second slider bottom plate avoidance hole is formed in the position, corresponding to the second pulley block, of the second pulley bottom plate; two sides of the second pulley top plate are respectively provided with a second slider top plate bulge, and a second slider top plate avoidance hole is formed in the position, corresponding to the second pulley block, of the second pulley top plate; the upper side and the lower side of the second pulley side plate are respectively provided with a second slider side plate groove, and a second slider side plate avoidance hole is formed in the position, corresponding to the second pulley block, of the second pulley side plate; the second pulley bottom plate bulge is clamped in a second pulley side plate groove at the lower end of the second pulley side plate, and the second pulley top plate bulge is clamped in a second pulley side plate groove at the upper end of the second pulley side plate;
the second pulley block comprises a second bottom pulley block, a second top pulley block and a second side pulley block, the second bottom pulley block, the second top pulley block and the second side pulley block are respectively composed of two second pulleys, and each second pulley comprises a second pulley shaft and a second pulley arranged on the second pulley shaft; a second pulley shaft of the second bottom pulley block is arranged on the second pulley bottom plate, and the bottom of a second pulley in the second bottom pulley block extends into the second pulley bottom plate avoiding hole; a second pulley shaft of the second top pulley block is arranged on the second pulley top plate, and the top of a second pulley of the second top pulley block extends into the second pulley top plate avoiding hole; second pulley shafts of the second side pulley block are respectively arranged on the second pulley side plate, and the outer side surface of a second pulley of the second side pulley block extends into the second pulley side plate avoiding hole; and a second pulley in the second pulley is in rolling contact with the second connecting rod. The photoelectric sensor is arranged on one side of the second pulley close to the first pulley, so that the quick connection among the second pulley bottom plate, the second pulley top plate and the second pulley side plate can be realized, and the mutual positioning can be realized; in addition, keep away the hole through second coaster bottom plate, roof and curb plate and can carry on spacingly to the second pulley.
Further, the first pulley comprises a first pulley cushion block, a first pulley bottom plate, a first pulley top plate, a first pulley side plate and a first pulley block; the first pulley cushion block is fixed on the overturning material taking device; the first pulley top plate is fixed on the first pulley cushion block, first slider bottom plate bulges are respectively arranged on two sides of the first pulley bottom plate, and a first slider bottom plate avoidance hole is formed in the position, corresponding to the first pulley block, of the first pulley bottom plate; two sides of the first pulley top plate are respectively provided with a first slider top plate bulge, and a first slider top plate avoidance hole is formed in the position, corresponding to the first pulley block, of the first pulley top plate; the upper side and the lower side of the first pulley side plate are respectively provided with a first slider side plate groove, and a first slider side plate avoidance hole is formed in the position, corresponding to the first pulley block, of the first pulley side plate; a first pulley lug is arranged at the upper end of the first pulley side plate and is installed on the turnover material taking device through a first cushion block; the first pulley bottom plate bulge is clamped in a first pulley side plate groove at the lower end of the first pulley side plate, and the first pulley top plate bulge is clamped in a first pulley side plate groove at the upper end of the first pulley side plate; the first pulley block comprises a first bottom pulley block, a first top pulley block and a first side pulley block, the first bottom pulley block, the first top pulley block and the first side pulley block are respectively composed of two first pulleys, and each first pulley comprises a first pulley shaft and a first pulley arranged on the first pulley shaft; a first pulley shaft of the first bottom pulley block is arranged on the first pulley bottom plate, and the bottom of a first pulley in the first bottom pulley block extends into the first pulley bottom plate avoiding hole; a first pulley shaft of the first top pulley block is arranged on the first pulley top plate, and the top of a first pulley of the first top pulley block extends into the first pulley top plate avoiding hole; a first pulley shaft of a first side pulley block is respectively arranged on the first pulley side plate, and the outer side surface of a first pulley of the first side pulley block extends into the first pulley side plate avoiding hole;
the first pulley passes through the sliding frame, and a first pulley of the first pulley is in sliding contact with the sliding frame; the detection pin is arranged on one side of the first pulley, which is close to the second pulley, so that the quick connection among the first pulley bottom plate, the first pulley top plate and the first pulley side plate can be realized, and the mutual positioning can be realized; the first pulley can be limited through the first pulley bottom plate, the top plate and the side plate avoiding hole; in addition, the detection pin on the second pulley is matched with the photoelectric sensor on the first pulley, so that the current position of the turnover material taking device can be detected.
Furthermore, the material taking frame is obliquely provided with an angle plate on one side away from the material taking clamp, and the falling materials are guided through the angle plate.
Furthermore, the L-shaped clamping fingers are provided with the bullet taking and rotating pieces, so that the materials in the material box are prevented from being spilled in the overturning process when the step D is carried out.
Drawings
Fig. 1 is a schematic front view of an embodiment of the present invention.
Fig. 2 is a schematic diagram of an explosive structure according to an embodiment of the present invention.
Fig. 3 is a schematic perspective view of the sliding device and the reverse material-taking device according to the present invention.
Fig. 4 is a schematic perspective view of another angle of the slide assembly and the reverse take-out assembly of the present invention.
Fig. 5 is a schematic top view of the slide assembly and the reverse take-out assembly of the present invention.
Fig. 6 is a schematic bottom view of the slide assembly and the reverse take-out assembly of the present invention.
Fig. 7 is a perspective view of the carriage.
Fig. 8 is a perspective view of the second head block.
Fig. 9 is an exploded view of the second head block.
Fig. 10 is a perspective view of the first head block.
Fig. 11 is an exploded view of the first head block.
Fig. 12 is an enlarged view of a in fig. 4.
Fig. 13 is a perspective view of a material taking rack, a material taking side plate, a material taking bottom plate, a drawer outer guide rail, a drawer inner guide rail, a drawer guide rail pad, a material taking beam, a material taking connecting plate, a telescopic cylinder, a material taking filter screen, a magazine plate and a magazine cylinder of the turnover material taking device.
Fig. 14 is a perspective view of another view of the material taking rack, the material taking side plate, the material taking bottom plate, the drawer outer guide rail, the drawer inner guide rail, the drawer guide rail pad, the material taking beam, the material taking connecting plate, the telescopic cylinder, the material taking filter screen, the magazine plate and the magazine cylinder of the turnover material taking device.
Fig. 15 is a perspective view of the take out jig.
Fig. 16 is a schematic structural diagram of an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1 to 16, in the present embodiment, a material taking method of an engineering robot includes a vehicle body, where the vehicle body includes a chassis 1, a vehicle frame 2, a sliding device 4, a magazine 21, an overturning material taking device 5, a vision device 6, and a transmission module 7; the chassis 1 is provided with wheels 10, and one side of the wheels 10 is provided with a wheel motor 11.
As shown in fig. 1-2 and 16, the frame 2 is positioned above the chassis 1, the frame 2 comprises a lower layer frame 23 and an upper layer frame 24 support frame 26, the lower layer frame 23 is formed by connecting longitudinal beams and cross beams, the upper layer frame 24 is formed by connecting longitudinal beams and cross beams, and the support frame 26 comprises support rods 261 and support cross beams 262 connected between the support rods; the lower frame 23 is positioned below the upper frame 24, and the support frame 26 is connected between the lower frame 23 and the upper frame 24; a lower floor 231 is mounted at the bottom of the lower frame 23, and an upper roof 241 is mounted at the top of the upper frame 24; the magazine 21 is arranged in the support frame 26, the transmission module 7 is arranged on the frame 2, the sliding device 4 is arranged on the upper-layer top plate 242 in a sliding mode, the overturning material taking device 5 is connected with the sliding device in a sliding mode, and the vision device 6 is fixedly arranged on one side of the upper-layer top plate 242; a driving power supply 3 is installed at one side of the chassis 2.
The sliding device 4 comprises a sliding frame 41, a synchronizing wheel 421, a synchronizing belt 422, a sliding motor 43, a material taking frame slide rail 44, a sliding frame slide rail 45, a sliding frame slide block 46, a synchronizing belt pressing piece 47, a first pulley 481 and a second pulley 482, the sliding frame 41 is rectangular, two sides in the sliding frame 41 are respectively and symmetrically provided with a first connecting rod 411 and a second connecting rod 412 which are connected with two ends of the sliding frame 41, the synchronizing wheels 421 are respectively arranged at two ends of the sliding frame 41, the synchronizing wheels 421 at two ends are connected through a synchronizing belt 422, the sliding motor 43 is fixedly arranged on the sliding frame 41 and is positioned at one side of the synchronizing wheels 421, the output end of the sliding motor 43 is connected with the synchronizing wheels 421, the sliding frame sliding block 46 is fixed on the frame 2, a synchronizing belt pressing piece 47 is fixedly arranged at one side of the frame 2 close to the sliding frame sliding block 46, the lower side of the synchronizing belt 422 is clamped and pressed by the pressing piece 47, and the sliding frame sliding rail 45 is; as shown in fig. 7, lower guide plates 41a extending downward from both ends to a middle portion are installed at both ends of the carriage 41, respectively, a drop hole 41b is formed between the lower guide plates 41a, and lower guide plates 41c are installed at both sides of the lower guide plates 41a, respectively. As shown in fig. 1 to 4, the material taking rack slide rail 44 is fixedly mounted on the first connecting rod 411, and the turnover material taking device 5 is slidably connected with the material taking rack slide rail 44; the first pulley 481 is provided with a sliding frame 41 on one side far away from the synchronizing wheel 422, the first pulley 481 is fixedly connected with the turnover material taking device 5 through the sliding frame 41, and the second pulley 482 is fixedly arranged on the frame 2.
As shown in fig. 8 and 9, the second head block 482 includes a second head block 4821, a second head block bottom plate 4822, a second head block top plate 4823, a second head block side plate 4824, and a second pulley block 4825. A second tackle block 4821 is fixed on the frame 2; a second pulley bottom plate 4822 is fixed on the second pulley pad 4821, two sides of the second pulley bottom plate 4822 are respectively provided with a second slider bottom plate protrusion 48221, and a second slider bottom plate avoiding hole 48222 is arranged at a position of the second pulley bottom plate 4822 corresponding to the second pulley block 4825; two sides of the second pulley top plate 4823 are respectively provided with a second slider top plate protrusion 48231, and a second slider top plate avoiding hole 48232 is arranged at a position of the second pulley top plate 4823 corresponding to the second pulley block 4825; the upper and lower sides of the second pulley side plate 4824 are respectively provided with a second slider side plate groove 48241, and the position of the second pulley side plate 4824 corresponding to the second pulley block 4825 is provided with a second slider side plate avoiding hole 48242. The protruding 48221 card of second coaster bottom plate is put in the second coaster curb plate recess that is located second coaster curb plate lower extreme, and the protruding 48231 card of second coaster top plate is put in the second coaster curb plate recess that is located second coaster curb plate upper end, like this, can realize the high-speed joint between second coaster bottom plate 4822, second coaster roof 4823, the second coaster curb plate 4824, can realize location each other moreover. In this embodiment, two sets of second pulley sets 4825 are provided; the second pulley block 4825 includes a second bottom pulley block, a second top pulley block, and a second side pulley block, each of the second bottom pulley block, the second top pulley block, and the second side pulley block is composed of two second pulleys, and each of the second pulleys includes a second pulley shaft and a second pulley 48252 disposed on the second pulley shaft 48251. A second pulley shaft of the second bottom pulley block is arranged on the second pulley bottom plate, and the bottom of a second pulley in the second bottom pulley block extends into the second pulley bottom plate avoiding hole; a second pulley shaft of the second top pulley block is arranged on the second pulley top plate, and the top of a second pulley of the second top pulley block extends into the second pulley top plate avoiding hole; second pulley shafts of the second side pulley block are respectively arranged on the second pulley side plate, and the outer side surface of a second pulley of the second side pulley block extends into the second pulley side plate avoiding hole; like this, dodge the hole through second coaster bottom plate, roof and curb plate and can carry on spacingly to the second pulley.
A second pulley in the second head block 482 is in rolling contact with the second connecting rod 412. The second sled 482 is provided with a photosensor 4820 on a side close to the first sled 481.
As shown in fig. 10 and 11, the first head block 481 includes a first head block 4811, a first head block bottom plate 4812, a first head block top plate 4813, a first head block side plate 4814, and a first pulley block 4815. A first pulley cushion block 4811 is fixed on the turnover material taking device 5; a first pulley top plate 4813 is fixed on the first pulley cushion block 4811, first slider bottom plate protrusions 48121 are respectively disposed on two sides of the first pulley bottom plate 4812, and first slider bottom plate avoidance holes 48122 are disposed on the first pulley bottom plate 4812 corresponding to the first pulley block 4815; two sides of the first pulley top plate 4813 are respectively provided with a first slider top plate protrusion 48131, and a first slider top plate avoiding hole 48132 is arranged at a position of the first pulley top plate 4813 corresponding to the first pulley block 4815; the upper side and the lower side of the first pulley side plate 4814 are respectively provided with a first slider side plate groove 48141, and the position of the first pulley side plate 4814 corresponding to the first pulley block 4815 is provided with a first slider side plate avoiding hole 48142; a first block lug 48143 is provided on the upper end of the first block side plate, and the first block lug 48143 is mounted on the reverse material taking device 5 through a first block 4816. The protruding 48121 card of first coaster bottom plate is put in the first coaster curb plate recess that is located first coaster curb plate lower extreme, and the protruding 48131 card of first coaster roof is put in the first coaster curb plate recess that is located first coaster curb plate upper end, like this, can realize the high-speed joint between first coaster bottom plate 4812, first coaster roof 4813, the first coaster curb plate 4814, can realize location each other moreover. In this embodiment, the first pulley sets 4815 are provided in two sets, and only one set of the first pulley sets is shown in fig. 9; the first pulley block 4815 includes a first bottom pulley block, a first top pulley block, and a first side pulley block, where the first bottom pulley block, the first top pulley block, and the first side pulley block are respectively composed of two first pulleys, and the first pulleys include a first pulley shaft and a first pulley 48152 disposed on the first pulley shaft 48151. A first pulley shaft of the first bottom pulley block is arranged on the first pulley bottom plate, and the bottom of a first pulley in the first bottom pulley block extends into the first pulley bottom plate avoiding hole; a first pulley shaft of the first top pulley block is arranged on the first pulley top plate, and the top of a first pulley of the first top pulley block extends into the first pulley top plate avoiding hole; a first pulley shaft of a first side pulley block is respectively arranged on the first pulley side plate, and the outer side surface of a first pulley of the first side pulley block extends into the first pulley side plate avoiding hole; like this, dodge the hole through first coaster bottom plate, roof and curb plate and can carry on spacingly to first pulley.
The first sled 481 passes through the carriage 41, and the first pulley of the first sled 481 is in sliding contact with the carriage 41; the first block 481 is provided with a detection pin 4810 on a side close to the second block 482.
As shown in fig. 3 to 5, 13 and 15, the turnover extracting device 5 includes an extracting frame 51, an extracting side plate 510, an extracting bottom plate 511, a drawer outer guide 520, a drawer inner guide 521, a drawer guide pad 522, an extracting beam 523, an extracting connecting plate 524, a telescopic cylinder 53, an extracting clamp 55, an extracting filter screen 56, an ejection box plate 571 and an ejection box cylinder 572.
The material taking side plates 510 are fixedly connected to two sides of the material taking frame 51, the material taking bottom plate 511 is installed at the bottom of the material taking frame 51, the drawer outer guide rail 520 is fixed on the inner side surface of the material taking point 511, the drawer outer guide rail 520 is provided with a drawer inner guide rail 521 in a sliding manner, the drawer inner guide rail 521 is fixed on the inner side surface of the drawer inner guide rail 521, the material taking beam 523 is fixed on the inner side surface of the drawer guide rail pad 522, and the material taking connecting plate 524 is fixed at the bottom of the material taking beam 523; the cylinder body of telescopic cylinder 53 articulates on the material taking frame 51, and telescopic cylinder 53's piston rod articulates at material taking connecting plate 524. The material taking clamp 55 is fixedly connected with the material taking connecting plate 524. The material taking filter screen 56 is installed between the two material taking beams 523; get material filter screen 56 including getting material filter screen crossbeam 561 and many and get material filter screen pole 562, get material filter screen crossbeam 561 and be provided with two, get the material filter screen crossbeam and install on getting material roof beam 523, be equipped with the filter screen draw-in groove on getting the material filter screen crossbeam, get material filter screen pole 562 card and put on the filter screen draw-in groove, get material filter screen pole slope setting, adjacent get and be equipped with the silo between the material filter screen pole. One end of the magazine cylinder 572 is hinged to the material taking beam 523, the other end of the magazine cylinder 572 is hinged to the middle of the magazine plate 571 through the driving block 573, and one end of the magazine plate 571 is hinged to the material taking beam 523.
One side of the material taking frame 51 is fixedly connected with the first pulley 481, the other side of the material taking frame 51 is provided with a synchronous belt clamping block 58, the synchronous belt 422 penetrates through the fixed connection synchronous belt clamping block 58, a material taking frame sliding block 52 matched with the material taking frame sliding rail 44 is fixedly installed below the material taking frame 51, and the overturning material taking device 5 is respectively connected with the sliding frame 51 through the first pulley 481, the material taking frame sliding block 52 and the material taking frame sliding rail 54 in a sliding mode.
The material taking frame 51 is obliquely provided with an angle plate 500 at one side far away from the material taking clamp 55, and the falling shot is guided by the angle plate 500.
When the sliding motor 43 works, the sliding motor 43 drives the synchronizing wheel 421 to rotate, the synchronizing wheel 421 drives the synchronous belt 422 to move, the synchronous belt 422 drives the material taking frame 51 to move through the synchronous belt clamping block 58, meanwhile, the sliding frame 41 moves, in the process, the sliding frame 41 slides on the sliding frame sliding rail 45 through the sliding frame sliding block 46, the sliding frame 41 slides in the second pulley, the material taking frame 51 slides on the material taking frame sliding rail 44 through the material taking frame sliding block 52, and meanwhile, the second pulley slides on the sliding frame 41. In the process, because hold-in range compresses tightly piece 47 and fixes on frame 2, hold-in range grip block 58 fixes on material taking frame 51, like this, when hold-in range 422 moves, drives carriage 41 and material taking frame 51 through same power and moves to same direction in step, like this, can be quick drive through the second grade removal and get the motion of material anchor clamps 55, raise the efficiency. In addition, through the direction of second coaster to lead through the second pulley, then can lead to carriage 41 and spacing, simultaneously, lead through first coaster, and lead through first pulley, can lead to and spacing to the work or material rest.
As shown in fig. 4, 12 and 15, the material taking clamp 55 includes a mounting seat 552, a turning gear 553, a turning connector 554, a clamping slide rail 555, L-shaped clamping fingers 556 slidably disposed at both sides of the clamping slide rail 555, a material taking turning motor 557 for driving the material taking clamp to turn, and a clamping cylinder 558 for driving the clamping fingers 556, the mounting seat 552 is fixedly mounted on the material taking connecting plate 524, the material taking turning motor 557 is fixedly mounted on the mounting seat 552, an output end of the material taking turning motor 557 is connected with a driving gear 5571, one end of the turning connector 554 is fixedly connected with the turning gear 553, the other end of the turning connector 554 is fixedly connected with the clamping slide rail 555, the turning connector 554 is hinged on the mounting seat 552, the driving gear 5571 is meshed with the turning gear 553, and two ends of the clamping cylinder 558 are respectively and fixedly connected to the two; the L-shaped clamping finger 556 is provided with an ejection rotating piece 5561.
When the material taking turnover motor 557 works, the material taking turnover motor 557 drives the turnover gear 553 to rotate through the driving gear 5571, the turnover gear 553 drives the turnover connecting piece 554 to swing, and the turnover connecting piece 554 drives the turnover sliding rail 55 to swing. If the clamping cylinder 558 works, the L-shaped clamping fingers 556 can be driven to slide on the clamping slide rail 555.
The material taking method of the engineering robot comprises the following steps:
a, driving wheels arranged on a chassis to drive a vehicle body to move to a proper position;
b, a sliding motor drives a synchronous wheel, the synchronous wheel drives a synchronous belt, and meanwhile, the synchronous belt drives an overturning material taking device to slide to a proper position on a sliding frame through a first pulley and a material taking frame sliding rail;
c, the telescopic cylinder drives the material taking clamp to extend out, the overturning motor drives the overturning gear to drive the material taking clamp to overturn to two sides of a material box for containing materials, and the clamping cylinder drives L-shaped clamping fingers on two sides of the clamping slide rail to clamp the container;
d, the sliding motor drives the overturning material taking device to return to the position right above the magazine, the overturning motor drives the material taking device again to pour materials in the material box into the trolley body to enter the magazine, and after material taking is completed, the magazine air cylinder drives the magazine plate to eject the material box from the material taking clamp, so that material taking action is completed.
In the method, when the vehicle body takes materials, an operator controls the vehicle body to move the vehicle body by wheels arranged on a driving chassis of the vehicle body according to images transmitted by a transmission vision device of a transmission module, the vehicle body is moved to a proper position, a lower side of a synchronous belt is tightly pressed on the top of the vehicle frame by a synchronous belt pressing piece, a turnover material taking device is connected with the synchronous belt, when the sliding device slides, a sliding motor drives the synchronous wheel, the synchronous wheel drives the synchronous belt, the sliding device is matched with a sliding frame sliding block through a sliding frame sliding rail and slides on the vehicle frame, meanwhile, the synchronous belt drives the turnover material taking device to slide on the sliding frame through a first pulley and a material taking frame sliding rail, so that the turnover material taking device can slide to the right or left on the sliding frame to a proper position, a telescopic cylinder drives a material taking clamp to extend out, the turnover motor, the centre gripping cylinder drive centre gripping slide rail both sides L type centre gripping finger presss from both sides tight container, and slip motor drive upset extracting device gets back to directly over the magazine, and the upset motor drives once more, pours the material in the workbin into the automobile body, and the material divides the material through getting the material filter screen, and the material is advanced in the magazine in proper order, gets the material and accomplishes the back, and the magazine cylinder drives the magazine board and leaves the material anchor clamps of getting, accomplishes and gets the material action.