CN109794925A - A feeding robot arm for log rotary cutting machine - Google Patents
A feeding robot arm for log rotary cutting machine Download PDFInfo
- Publication number
- CN109794925A CN109794925A CN201711139403.4A CN201711139403A CN109794925A CN 109794925 A CN109794925 A CN 109794925A CN 201711139403 A CN201711139403 A CN 201711139403A CN 109794925 A CN109794925 A CN 109794925A
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- Prior art keywords
- claw
- gripper
- guide rail
- round log
- log
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- 210000000078 claw Anatomy 0.000 claims abstract description 57
- 229910000746 Structural steel Inorganic materials 0.000 claims 2
- 230000008602 contraction Effects 0.000 claims 1
- 210000000245 forearm Anatomy 0.000 abstract description 12
- 210000000707 wrist Anatomy 0.000 abstract description 10
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 abstract description 8
- 230000005484 gravity Effects 0.000 abstract description 5
- 230000007246 mechanism Effects 0.000 abstract description 5
- 238000004088 simulation Methods 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 4
- 230000005611 electricity Effects 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000011068 loading method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000005314 correlation function Methods 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 239000002023 wood Substances 0.000 description 1
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- Manipulator (AREA)
Abstract
Technical problem to be solved by the present invention lies in a kind of high degree of automations, facilitate feeding, increase efficiency and safety, a kind of time saving and energy saving feeding manipulator arm applied to round log peeler.The present invention more focuses in terms of saving crawl space, promotion grab precision, improvement grabs gravity center instability and easily.A kind of feeding manipulator arm for round log peeler, gripper structure and standard sixdegree-of-freedom simulation including realizing round log crawl；Wherein claw structure includes ring flange, connection sheet, angle bar, guide rail, rack gear, claw slot, gripper, fastening pawl；Sixdegree-of-freedom simulation includes the mechanical arm pedestal connecting with feeding mechanism, waist revolving bed, large arm, ancon joint, forearm and wrist.When work, mechanical arm is moved to designated position according to signal, and relative distance is adjusted as desired to adapt to crawl center of gravity in two rack gears, and gripper pop-up encases round log after semicircle claw slot is buckled on round log, and round log is fixed in fastening pawl pop-up.
Description
Technical field
The present invention relates to industry mechanical arm field more particularly to a kind of feeding manipulators for round log peeler
Arm.
Background technique
With intelligent, automatic industrial development and propulsion, more and more robotic devices apply to actual production
In assembly line, automation goes the manipulator type for sending material more and more, and function is stronger and stronger.Currently, most timber processing
Plant machinery arm application surface is relatively narrow, especially revolves the equipment of the processing round log such as wooden machine, and the mechanical arm of correlation function is more deficient
It is weary.Peeler is a kind of wood processing equipment fed above equipment.Cutter at high speeds operates when equipment works, artificial loading
Accuracy and efficiency are difficult to improve, while risk also becomes hidden danger.
Summary of the invention
Technical problem to be solved by the present invention lies in a kind of high degree of automations, facilitate feeding, increase efficiency and safety
Property, a kind of time saving and energy saving feeding manipulator arm applied to round log peeler.The present invention is saving crawl space, is promoting crawl
Precision improves to grab gravity center instability and easily slide etc. and more focus on.
To achieve the goals above, the technical solution that the present invention improves is:
A kind of feeding manipulator arm for round log peeler, gripper structure and standard six including realization round log crawl are certainly
By degree mechanical arm；Wherein claw structure includes ring flange, connection sheet, angle bar, guide rail, rack gear, claw slot, gripper, fastening pawl；Six certainly
It include the mechanical arm pedestal being connect with feeding mechanism, waist revolving bed, large arm, ancon joint, forearm and wrist by degree mechanical arm
Part.The sixdegree-of-freedom simulation and claw structure are hinged by ring flange.
The connection sheet and ring flange are rigidly connected；The guide rail and connection sheet are rigidly connected by angle bar；The guide rail
Both ends are respectively slidably connected a rack gear, and rack gear face can be slided staggeredly and along guide rail T-type track respectively up and down；The two sides tooth
Lower part is rigidly connected with respective claw slot respectively；The inner tracks of the gripper and claw slot are slidably connected, and gripper can be along claw slot
Cambered surface sliding；The fastening pawl is slidably connected with track another inside claw slot, and fastening pawl can be slided along claw slot vertical plane.
The default fixation of mechanical arm pedestal；The waist revolving bed and mechanical arm pedestal are hinged；The large arm and waist
Revolving bed is hinged；The ancon joint and large arm are hinged；The forearm and ancon joint are hinged；The wrist and forearm are cut with scissors
It connects.
Air pump is housed, to push the flexible of gripper at the track that the gripper is connect with claw slot；It is logical that air pump blows afloat air-breathing
Cross the control of PLC signal.
Equipped with air pump at the track that the fastening pawl is connect with claw slot, to push the flexible of fastening pawl；Air pump blows afloat suction
Gas is controlled by PLC signal.
The claw structure is equipped with camera, for identification round log length and position.
The flange hinged place of the claw structure and wrist portion is equipped with servo motor；The servo motor and PLC module electricity
Property connection, pass through PLC and control direction of rotation and angle；The motor direction of rotation is equipped with limit solenoid valve.
The wrist portion and forearm hinged place are equipped with servo motor；The servo motor and PLC module are electrically connected, and are passed through
PLC controls direction of rotation and angle；The motor direction of rotation is equipped with limit solenoid valve.
The forearm and ancon joint hinged place are equipped with servo motor；The servo motor and PLC module are electrically connected, and are led to
Cross the control direction of rotation PLC and angle；The motor direction of rotation is equipped with limit solenoid valve.
The ancon joint and large arm hinged place are equipped with servo motor；The servo motor and PLC module are electrically connected, and are led to
Cross the control direction of rotation PLC and angle；The motor direction of rotation is equipped with limit solenoid valve.
The large arm and waist revolving bed hinged place are equipped with hydraulic pump；The hydraulic pump and PLC module are electrically connected, and are passed through
PLC controls direction of rotation and angle.
The waist revolving bed and mechanical arm pedestal hinged place are equipped with servo motor；The servo motor and PLC module electricity
Property connection, pass through PLC and control direction of rotation and angle；The motor direction of rotation is equipped with limit solenoid valve.
Compared with prior art, beneficial effects of the present invention are；
1 design structure of the present invention is simple, time saving and energy saving, can promote the efficiency and stability of round log process equipment.
2 invention replaces traditional artificial loadings.
3 while realizing automation feeding, is drastically reduced using gripper-claw slot structure required when clamping round log
Space.Accuracy is improved, contacting with each other, damaging for gripper and equipment is avoided.
4 identify transmitting round log length signals by camera, to change the pawl of two grippers away from further improving crawl
When gravity center instability the drawbacks of.
5 can pop up fastening gripper after the completion of clamping by clamp device, to avoid round log during clamping sliding
It is dynamic.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention.
Fig. 2 is overall mechanism side view of the invention.
The position Fig. 3 claw structural schematic diagram of the invention.
Fig. 4 is claw structure front view of the invention.
Fig. 5 is claw structural side view of the invention.
Parts title in attached drawing are as follows: 1 mechanical arm pedestal；2 waist revolving beds；3 large arm；4 ancon joints；5 forearms；6
Wrist；7 ring flanges；8 connection sheets；9 angle bar；10 guide rails；11 rack gears；12 claw slots；13 grippers；14 fastening pawls.
Specific embodiment
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing to the present invention
Specific embodiment be described in detail.
Many details are explained in the following description to fully understand the present invention, but the present invention can also adopt
Implemented with the other methods for being different from describing herein, therefore the present invention is not limited by following public specific example.
In conjunction with Fig. 1, Fig. 2, Fig. 3, Fig. 4 and Fig. 5, a kind of six degree of freedom feeding manipulator arm of the present embodiment, including 1 machinery
Arm pedestal；2 waist revolving beds；3 large arm；4 ancon joints；5 forearms；6 wrists；7 ring flanges；8 connection sheets；9 angle bar；10 lead
Rail；11 rack gears；12 claw slots；13 grippers；14 fastening pawls.The first axle and waist that the pedestal 1 is placed by vertical direction are turned round
Seat 2 is hinged；The second axis that the waist revolving bed 2 is placed by horizontal direction is hinged with 3 one end of large arm；It is described
3 other end of large arm is hinged by one end of horizontal positioned third axis and ancon joint 4, and third axis is parallel to each other with the second axis
It places；The other end in the ancon joint 4 is hinged by one end of horizontal positioned the 4th axis and forearm 5, the 4th axis and the
Three axis are mutually perpendicular to place；The other end of the forearm 5 is hinged by one end of horizontal positioned the 5th axis and wrist portion 6
It connects, the 5th axis is mutually perpendicular to place with the 4th axis；The other end of the wrist portion 6 is hinged with ring flange 7, the 6th axis and the 5th
Axis is mutually perpendicular to place；The connection sheet 8 is rigidly connected with ring flange 7；The guide rail 10 and connection sheet 8 pass through 9 rigidity of angle bar
Connection；10 both ends of guide rail are respectively slidably connected a rack gear 11, and rack gear face is up and down staggeredly and can be respectively along guide rail T-type rail
Road sliding；11 lower part of two sides rack gear is rigidly connected with respective claw slot 12 respectively；The inside of the gripper 13 and claw slot 12
Track is slidably connected, and gripper 13 can be slided along claw slot cambered surface；The fastening pawl 14 is slidably connected with the 12 another track in inside of claw slot,
Fastening pawl 14 can be slided along 12 vertical plane of claw slot.
Referring to Fig. 1, robot base 1 is rigidly attached on charging desktop, is equipped with PLC control module, servo motor.
The waist revolving bed 2 and 3 junction of large arm are equipped with hydraulic cylinder, larger power needed for providing for large arm；The large arm 3 and ancon
After joint 4 is hinged, driven by the servo motor that junction is equipped with；Ancon joint 4 and 5 junction of forearm are equipped with small servo electricity
Machine；Forearm 5 and 6 junction of wrist are equipped with Miniature servo-motors；What the servo motor and hydraulic cylinder were all issued by PLC
Electric signal control, according to actual requirement execution.
Referring to Fig. 3, rack gear 11 is slidably connected with guide rail 10, and there is baltimore groove in 11 lower end of rack gear, and semi-surrounding is connected to guide rail 10
T-type track on；The rack gear 11 totally two, it is separately mounted to guide rail two sides；The two sides rack gear is staggered along about 10 guide rail,
Relative movement distance is increased, avoids generating collision mobile；It is respectively provided with servo motor at two circular holes on guide rail 10, is led to
The relative distance of rack gear 11 described in motor control is crossed, position of centre of gravity when round log is further clamped to adjust；Claw slot 12 and tooth
Item 11 is rigidly connected, to drive gripper 13 and fastening pawl 14 that rack gear is followed to be moved；Have inside the claw slot along claw slot song
The arc inside groove in face, gripper 13 are connect with claw slot internal slide, and air pump is housed inside claw slot；When work, gripper is contracted in claw slot
It is internal；Claw mechanism is driven by PLC signal controlling machine tool arm, so that semicircle claw slot is anchored to round log along correct direction
On；Further cylinder charge, pops up gripper, and entire claw mechanism encases round log；Fastening pawl 14 is a kind of optimization clamping
Device, it can be popped up, the arc surface of pop-up is extruded on round log and plays when above-mentioned clamping acts completion by cylinder charge
The effect of fastening, prevents round log from breakking away；It is to be fed from top, and feed inlet is not relatively narrow easy to operate due to revolving the wooden machine, with this pawl
Slot-gripper clamping method can save clamping space, can also enhance accuracy and safety in feeding closer to feed inlet
Property；After the completion of a whole set of clamping movement, mechanical arm movement is controlled by PLC electric signal, round log is driven to be directed at feed inlet；It is above-mentioned dynamic
After the completion of work, claw slot inner cylinders air-breathing, gripper 13 and fastening pawl 14 are shunk, and round log freely falling body enters feed inlet.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Any modifications, equivalent replacements, and improvements etc. done within mind and principle, should all be included in the protection scope of the present invention.
Claims (4)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711139403.4A CN109794925A (en) | 2017-11-16 | 2017-11-16 | A feeding robot arm for log rotary cutting machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711139403.4A CN109794925A (en) | 2017-11-16 | 2017-11-16 | A feeding robot arm for log rotary cutting machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109794925A true CN109794925A (en) | 2019-05-24 |
Family
ID=66555680
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711139403.4A Pending CN109794925A (en) | 2017-11-16 | 2017-11-16 | A feeding robot arm for log rotary cutting machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109794925A (en) |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110326445A (en) * | 2019-07-10 | 2019-10-15 | 朱雯煜 | A kind of delimbing robot capable of climbing trees |
| CN110524569A (en) * | 2019-08-13 | 2019-12-03 | 苏州大学 | A kind of clamp mechanism of view-based access control model identification |
| CN111618896A (en) * | 2020-04-26 | 2020-09-04 | 广州富港万嘉智能科技有限公司 | Claw replacing mechanism capable of automatically realizing electric connection and high in applicability and manipulator equipment |
| CN112758124A (en) * | 2020-12-31 | 2021-05-07 | 陕西航泰电气股份有限公司 | Bolt gripper and application and use method thereof |
| CN112958714A (en) * | 2021-05-18 | 2021-06-15 | 机械科学研究总院江苏分院有限公司 | Plate stamping system and processing method thereof |
| CN113211490A (en) * | 2021-05-12 | 2021-08-06 | 赵丽丽 | Automatic multi-finger linkage type manipulator |
| CN113334402A (en) * | 2021-05-31 | 2021-09-03 | 博锲思智能装备(青岛)有限公司 | Automatic reloading robot |
| CN113927579A (en) * | 2021-11-08 | 2022-01-14 | 宜宾职业技术学院 | Intelligent manufacturing equipment for industrial robot |
| CN113978803A (en) * | 2021-10-27 | 2022-01-28 | 苏州福斯特光伏材料有限公司 | Clamping device |
| CN114063549A (en) * | 2021-08-18 | 2022-02-18 | 国网江苏省电力有限公司泰州供电分公司 | Automatic grabbing and fixing system for cable head of full-automatic cable reel |
| WO2023165095A1 (en) * | 2022-03-01 | 2023-09-07 | 广东海洋大学 | Underwater manipulator |
| CN117621131A (en) * | 2024-01-25 | 2024-03-01 | 安徽农业大学 | Loading manipulator and method for solid wood rotary cutting processing |
| CN117985590A (en) * | 2024-03-15 | 2024-05-07 | 山东港口渤海湾港集团有限公司 | Telescopic lifting appliance for port stacking machine |
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| CN107243916A (en) * | 2017-07-08 | 2017-10-13 | 佛山市正略信息科技有限公司 | A kind of mechanical paw of tubular |
| CN207465221U (en) * | 2017-11-16 | 2018-06-08 | 东北林业大学 | A kind of feeding manipulator arm for round log peeler |
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| US4432691A (en) * | 1981-10-16 | 1984-02-21 | Kiddie, Inc. | Pipe manipulator |
| JPH1072183A (en) * | 1996-06-24 | 1998-03-17 | Takeya Saito | Suspending gripping device |
| EP0993916A2 (en) * | 1998-10-15 | 2000-04-19 | Tecan AG | Robot gripper |
| CN100999282A (en) * | 2006-12-18 | 2007-07-18 | 冯士祥 | Lumber feeding mechanism |
| JP2011079490A (en) * | 2009-10-09 | 2011-04-21 | Car Mate Mfg Co Ltd | Clamp device |
| DE102009050861A1 (en) * | 2009-10-27 | 2011-04-28 | Induo Gesellschaft Zur Verwertung Von Schutzrechten Mbh & Co. Kg | Device for setting a roundwood |
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| CN204640232U (en) * | 2015-03-05 | 2015-09-16 | 成都佳美嘉科技有限公司 | A kind of mechanical paw clamping different objects |
| CN204604315U (en) * | 2015-03-15 | 2015-09-02 | 东北林业大学 | A kind of automatic mechanical arm |
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Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110326445B (en) * | 2019-07-10 | 2021-08-03 | 日照朝力信息科技有限公司 | A tree-climbing robot for branching |
| CN110326445A (en) * | 2019-07-10 | 2019-10-15 | 朱雯煜 | A kind of delimbing robot capable of climbing trees |
| CN110524569A (en) * | 2019-08-13 | 2019-12-03 | 苏州大学 | A kind of clamp mechanism of view-based access control model identification |
| CN111618896A (en) * | 2020-04-26 | 2020-09-04 | 广州富港万嘉智能科技有限公司 | Claw replacing mechanism capable of automatically realizing electric connection and high in applicability and manipulator equipment |
| CN112758124A (en) * | 2020-12-31 | 2021-05-07 | 陕西航泰电气股份有限公司 | Bolt gripper and application and use method thereof |
| CN113211490A (en) * | 2021-05-12 | 2021-08-06 | 赵丽丽 | Automatic multi-finger linkage type manipulator |
| CN112958714A (en) * | 2021-05-18 | 2021-06-15 | 机械科学研究总院江苏分院有限公司 | Plate stamping system and processing method thereof |
| CN113334402A (en) * | 2021-05-31 | 2021-09-03 | 博锲思智能装备(青岛)有限公司 | Automatic reloading robot |
| CN114063549A (en) * | 2021-08-18 | 2022-02-18 | 国网江苏省电力有限公司泰州供电分公司 | Automatic grabbing and fixing system for cable head of full-automatic cable reel |
| CN113978803B (en) * | 2021-10-27 | 2024-01-02 | 苏州福斯特光伏材料有限公司 | Clamping device |
| CN113978803A (en) * | 2021-10-27 | 2022-01-28 | 苏州福斯特光伏材料有限公司 | Clamping device |
| CN113927579A (en) * | 2021-11-08 | 2022-01-14 | 宜宾职业技术学院 | Intelligent manufacturing equipment for industrial robot |
| CN113927579B (en) * | 2021-11-08 | 2022-07-15 | 宜宾职业技术学院 | Intelligent manufacturing equipment for industrial robot |
| WO2023165095A1 (en) * | 2022-03-01 | 2023-09-07 | 广东海洋大学 | Underwater manipulator |
| CN117621131A (en) * | 2024-01-25 | 2024-03-01 | 安徽农业大学 | Loading manipulator and method for solid wood rotary cutting processing |
| CN117621131B (en) * | 2024-01-25 | 2024-04-09 | 安徽农业大学 | A feeding robot and method for solid wood peeling |
| CN117985590A (en) * | 2024-03-15 | 2024-05-07 | 山东港口渤海湾港集团有限公司 | Telescopic lifting appliance for port stacking machine |
| CN117985590B (en) * | 2024-03-15 | 2024-06-18 | 山东港口渤海湾港集团有限公司 | Telescopic lifting appliance for port stacking machine |
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| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20190524 |
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