CN109866286A - A kind of feeding manipulator arm for beating circular knitting machine for timber - Google Patents
A kind of feeding manipulator arm for beating circular knitting machine for timber Download PDFInfo
- Publication number
- CN109866286A CN109866286A CN201711260657.1A CN201711260657A CN109866286A CN 109866286 A CN109866286 A CN 109866286A CN 201711260657 A CN201711260657 A CN 201711260657A CN 109866286 A CN109866286 A CN 109866286A
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- Prior art keywords
- claw
- timber
- feeding
- log
- grabbing
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- 238000009940 knitting Methods 0.000 title description 7
- 238000010009 beating Methods 0.000 title description 3
- 210000000078 claw Anatomy 0.000 claims abstract description 42
- 239000002023 wood Substances 0.000 claims abstract 3
- 238000009826 distribution Methods 0.000 claims description 2
- 210000000245 forearm Anatomy 0.000 abstract description 12
- 210000000707 wrist Anatomy 0.000 abstract description 10
- 230000005484 gravity Effects 0.000 abstract description 5
- 230000007246 mechanism Effects 0.000 abstract description 5
- 229910000746 Structural steel Inorganic materials 0.000 abstract 1
- 210000002310 elbow joint Anatomy 0.000 abstract 1
- 238000000034 method Methods 0.000 description 7
- 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 description 7
- 230000008569 process Effects 0.000 description 4
- 230000005611 electricity Effects 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
- 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
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
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- Manipulator (AREA)
Abstract
本发明所要解决的技术问题在于一种自动化程度高，方便上料，增加效率和安全性，省时省力的一种应用于木料打圆机的上料机械手臂。本发明在节省抓取空间、提升抓取精度、改善抓取重心不稳和易滑动等方面较为注重。一种用于圆木旋切机的上料机械手臂，包括实现圆木抓取的手爪结构和标准六自由度机械臂；其中爪部结构包括法兰盘、连接片、角铁、导轨、齿条、爪槽、手爪、紧固爪；六自由度机械臂包括与进料机构连接的机械臂底座、腰部回转座、大臂、肘部关节、小臂与手腕部分。工作时，机械臂根据信号移动到指定位置，两个齿条根据要求调节相对距离来适应抓取重心，半圆形爪槽扣在圆木上后手爪弹出包住圆木，紧固爪弹出对圆木进行固定。
The technical problem to be solved by the present invention is a feeding mechanical arm applied to a wood rounding machine, which has a high degree of automation, is convenient for feeding, increases efficiency and safety, and saves time and effort. The present invention pays more attention to the aspects of saving grabbing space, improving grabbing precision, and improving grabbing center of gravity instability and easy sliding. A feeding robotic arm for a log rotary cutting machine includes a gripper structure for realizing log grabbing and a standard six-degree-of-freedom robotic arm; wherein the claw structure includes a flange, a connecting piece, an angle iron, a guide rail, Rack, claw groove, claw, fastening claw; six-degree-of-freedom manipulator includes manipulator base connected with feeding mechanism, waist swivel seat, big arm, elbow joint, forearm and wrist part. When working, the mechanical arm moves to the designated position according to the signal, and the relative distance between the two racks is adjusted according to the requirements to adapt to the center of gravity. The semi-circular claw groove is buckled on the log, and the claw pops out to wrap the log, and the fastening claw pops out. Fix the logs.
Description
Technical field
The present invention relates to industry mechanical arm field more particularly to a kind of feeding manipulators that circular knitting machine is beaten for timber
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, and timber beats circular knitting machine and is also among them, and the mechanical arm of correlation function is deficienter.Beat circular knitting machine
It is a kind of timber process equipment fed above equipment.Cutter at high speeds operates when equipment works, the accuracy and effect of artificial loading
Rate is 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 that circular knitting machine is beaten applied to timber.The present invention is unevenly distributed how clamping diameter
Even timber saves crawl space, promotes crawl precision, improving crawl gravity center instability and easily sliding etc. is more focused on.
To achieve the goals above, the technical solution that the present invention improves is:
A kind of feeding manipulator arm for beating circular knitting machine for timber, gripper structure and standard six including realization timber 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 timber 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 timber process equipment.
2 invention replaces traditional artificial loadings.
3 while realizing automation feeding, is drastically reduced using gripper-claw slot structure required when clamping timber
Space.Accuracy is improved, contacting with each other, damaging for gripper and equipment is avoided.
4 identify transmitting timber 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 timber during clamping sliding
It is dynamic.
6 using first clamp fasten afterwards by the way of meaning be, timber process before diameter be unevenly distributed, directly clamp can not
Row, the mode fastened again after first taking maximum gauge to clamp can solve this problem.
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 timber 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 timber along correct direction
On, gripper diameter generally higher than grabs position diameter；Further cylinder charge, pops up gripper, and entire claw mechanism encases
Timber；Fastening pawl 14 is a kind of device of optimization clamping, it can pass through cylinder charge bullet when above-mentioned clamping acts completion
Out, the arc surface of pop-up, which is extruded on timber, plays the role of fastening, prevents timber from breakking away；Due to revolve the wooden machine be from top into
Material, and feed inlet is not relatively narrow easy to operate, can save clamping space with this claw slot-gripper clamping method, it can also be in feeding
When closer to feed inlet, enhance accuracy and safety；After the completion of a whole set of clamping movement, manipulator is controlled by PLC electric signal
Arm is mobile, and timber is driven to be directed at feed inlet；After the completion of above-mentioned movement, claw slot inner cylinders air-breathing, gripper 13 and fastening pawl 14 are received
Contracting, timber freely falling body enter feed inlet.Using first clamp fasten afterwards by the way of meaning be, timber process before diameter distribution not
Uniformly, directly clamp infeasible, the mode that fastens again can solve this problem after first taking maximum gauge to clamp.
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 (1)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711260657.1A CN109866286A (en) | 2017-12-04 | 2017-12-04 | A kind of feeding manipulator arm for beating circular knitting machine for timber |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711260657.1A CN109866286A (en) | 2017-12-04 | 2017-12-04 | A kind of feeding manipulator arm for beating circular knitting machine for timber |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109866286A true CN109866286A (en) | 2019-06-11 |
Family
ID=66915558
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711260657.1A Pending CN109866286A (en) | 2017-12-04 | 2017-12-04 | A kind of feeding manipulator arm for beating circular knitting machine for timber |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109866286A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110641991A (en) * | 2019-09-06 | 2020-01-03 | 佛山科学技术学院 | A composite fixture for pipe fittings |
| CN110641990A (en) * | 2019-09-06 | 2020-01-03 | 佛山科学技术学院 | Pipe fitting transfer device |
| CN110861899A (en) * | 2019-12-11 | 2020-03-06 | 浙江亚厦装饰股份有限公司 | Plate conveying and processing system and plate conveying and processing method |
| CN111716088A (en) * | 2020-04-29 | 2020-09-29 | 东创智造(浙江)有限公司 | Automatic module for overturning alignment |
| CN114455320A (en) * | 2022-04-12 | 2022-05-10 | 徐州巴特工程机械股份有限公司 | Rotary hydraulic type wood grabber based on excavator |
| CN114772267A (en) * | 2022-05-18 | 2022-07-22 | 贺贝佳 | Transfer manipulator |
| CN115383655A (en) * | 2022-10-27 | 2022-11-25 | 泰兴市兴华气阀有限公司 | Pneumatic valve body adds clamping apparatus |
| CN116423555A (en) * | 2023-06-13 | 2023-07-14 | 中铁四局集团路桥工程有限公司 | Mechanical arm |
-
2017
- 2017-12-04 CN CN201711260657.1A patent/CN109866286A/en active Pending
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110641991A (en) * | 2019-09-06 | 2020-01-03 | 佛山科学技术学院 | A composite fixture for pipe fittings |
| CN110641990A (en) * | 2019-09-06 | 2020-01-03 | 佛山科学技术学院 | Pipe fitting transfer device |
| CN110641990B (en) * | 2019-09-06 | 2021-11-02 | 佛山科学技术学院 | Pipe fitting transfer device |
| CN110861899A (en) * | 2019-12-11 | 2020-03-06 | 浙江亚厦装饰股份有限公司 | Plate conveying and processing system and plate conveying and processing method |
| CN111716088A (en) * | 2020-04-29 | 2020-09-29 | 东创智造(浙江)有限公司 | Automatic module for overturning alignment |
| CN114455320A (en) * | 2022-04-12 | 2022-05-10 | 徐州巴特工程机械股份有限公司 | Rotary hydraulic type wood grabber based on excavator |
| CN114772267A (en) * | 2022-05-18 | 2022-07-22 | 贺贝佳 | Transfer manipulator |
| CN115383655A (en) * | 2022-10-27 | 2022-11-25 | 泰兴市兴华气阀有限公司 | Pneumatic valve body adds clamping apparatus |
| CN116423555A (en) * | 2023-06-13 | 2023-07-14 | 中铁四局集团路桥工程有限公司 | Mechanical arm |
| CN116423555B (en) * | 2023-06-13 | 2023-10-31 | 中铁四局集团有限公司 | Mechanical arm |
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Legal Events
| Date | Code | Title | Description |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20190611 |