[0038] Example
[0039] Such as figure 1 , 2 The illustrated material handling transfer manipulator includes a first material support assembly 1, a first material handling manipulator assembly 2, a second material handling manipulator assembly 3, and a material 4, and the material 4 is arranged on the first material support assembly 1. The first material handling manipulator assembly 2 and the second material handling manipulator assembly 3 are symmetrically arranged on both sides of the first material support assembly 1; wherein, the first material handling manipulator assembly 2 and the second material handling manipulator assembly 3 include The base 31, the support platform 32, the first lifting drive assembly 33, the first support frame 34, the first linear module 35, the first support plate 36, the first material transfer assembly 37, the first material transfer manipulator 38 and the first The material handling manipulator 39, the support platform 32 is arranged on the side of the base 31 close to the first material support assembly 1, the first lifting drive assembly 33 is arranged on the support platform 32, and the lower end of the first support frame 34 Part is fixed on the upper end surface of the first lifting drive assembly 33, the first support plate 36 is fixedly arranged on the first support frame 34, and the first linear module 35 is arranged on the lower end surface of the first support plate 36 , The first material handling manipulator 39 is arranged on the first linear module 35, and the first material handling manipulator 39 can be between the first material support assembly 1 and the first material transfer assembly 37 through the first linear module 35 To transfer the material 4, the first material transfer assembly 37 and the first material transfer manipulator 38 are both arranged on the base 31, and the first material transfer assembly 37 is located between the first material transfer manipulator 38 and the support platform 32. The first material transfer manipulator 38 can transfer the material 4 on the first material transfer component 37. In addition, the first lifting drive assembly 33 includes an adapter plate 331, a lifting cylinder 332, a set of guide sleeves 333, a set of guide posts 334, and a set of first sliding blocks 335, and the first sliding blocks 335 are arranged on the adapter plate The first sliding block 335 can slide on the support platform 32, the guide sleeve 333 is fixed on the four corners of the upper end surface of the adapter plate 331, and the upper end of the guide post 334 is fixed Are arranged on the four corners of the lower end surface of the first support frame 34, and the lower end of the guide column 334 is arranged in the guide sleeve 333, the lifting cylinder 332 is arranged at the middle position of the upper end surface of the adapter plate 331, and the lifting cylinder The upper end of the 332 is connected to the lower end of the first support frame 34. The first lifting drive assembly 33 is mainly used to drive the first material handling manipulator 39 to rise or fall, thereby clamping, transferring, and placing the material 4.
[0040] Since the first material handling manipulator assembly 2 and the second material handling manipulator assembly 3 are symmetrically arranged, a plurality of first material supports for placing materials 4 can be provided between the first material handling manipulator assembly 2 and the second material handling manipulator assembly 3 Component 1, therefore, the first material handling manipulator assembly 2 and the second material handling manipulator assembly 3 are slidable structures. Specifically, two parallel first slide grooves 321 are provided on the support platform 32, and the first slide The block 335 is arranged in the first sliding groove 321, and the first sliding block 335 can move in the first sliding groove 321, and the cross sections of the first sliding block 335 and the first sliding groove 321 are T-shaped.
[0041] In addition, the first linear module 35 and the first support plate 36 need to be provided with a stable support structure to ensure the stability of the first linear module 35 sliding on the first support plate 36. Therefore, the first support frame 34 includes a Set the first upright post 341 and the bottom plate 342, the number of the first upright post 341 is 4, and the first upright post 341 is disposed on the four corners of the bottom plate 342, and the bottom plate 342 is disposed on the upper end of the guide post 334, The first support plate 36 is arranged on the upper end of the first column 341, the first linear module 35 is located between the adjacent guide columns 334 along the length of the first support plate 36, and the first linear module The group 35 can drive the first material handling manipulator 39 to transfer the material 4 between the first material support assembly 1 and the first material transfer assembly 37.
[0042] Such as image 3 The first material handling manipulator 39 shown includes a turntable 391, a first CCD camera 392, a first material clamping assembly 393, and a second lifting cylinder 394. The turntable 391 is connected to the first linear module 35, and the first The CCD camera 392 is arranged on the first linear module 35, the first material clamping assembly 393 and the second lifting cylinder 394 are arranged on the turntable 391, and the second lifting cylinder 394 is connected to the first material clamping assembly 393 . The first material clamping assembly 393 includes a fixed clamping arm 3931 and a movable clamping arm 3932. The fixed clamping arm 3931 has an L-shaped cross section, and one end of the fixed clamping arm 3931 is provided with an extension 3933. The clamping arm 3932 is hinged to the extension 3933, the movable clamping arm 3932 is provided with a stretching rod 3934 at one end close to the fixed clamping arm 3931, and the fixed clamping arm 3931 is provided with an end away from the movable clamping arm 3932 The end of the stretching rod 3934 away from the movable clamping arm 3932 can extend through the first through hole 3935. The second lifting cylinder 394 and the stretching rod 3934 extend out of the first through hole 3935. The ends are connected, and the second lifting cylinder 394 can pull the stretching rod 3934 to rise or fall. The lower ends of the fixed clamping arm 3931 and the movable clamping arm 3932 are wedge-shaped.
[0043] In this application, the first material support assembly 1 and the first material transfer assembly 37 include a base 11, a scissor mechanism 12, an upper pallet 13, and a tray 14. The lower end of the scissor mechanism 12 is set on the base 11, so The upper end of the scissor mechanism 12 is connected to the upper pallet 13, the pallet 14 is arranged on the upper pallet 13, the material 4 is arranged on the pallet 14, the first material clamping assembly 393 can The material 4 on the tray 14 of the material support assembly 1 is transferred to the tray 14 of the first material transfer assembly 37. The lower end surface of the base 11 of the first material transfer assembly 37 is provided with a second sliding block 371, the base 31 is provided with a second sliding groove 311, and the second sliding block 371 is arranged in the second sliding groove 311, And the second sliding block 371 can move in the second sliding groove 311. Since the material 4 on the pallet 14 of the first material support assembly 1 is continuously removed by the first material handling manipulator 39, the scissor mechanism 12 continues to rise, so that the material 4 on the pallet 14 of the first material support assembly 1 is always in the same position. In the horizontal position, when the scissor mechanism 12 extends to the extreme position, only the last layer of the material 4 on the tray 14 of the first material support assembly 1 remains. However, the first material transfer assembly 37 is first in the extended position. After the first material handling manipulator 39 places all the materials on the pallet 14 of the first material transfer assembly 37, the scissor mechanism of the first material transfer assembly 37 is retracted to the extreme position. The first material transfer manipulator 38 continuously transfers the materials of the tray 14 of the first material transfer assembly 37 to a designated position.
[0044] Such as Figure 4 The first material transfer manipulator 38 shown is a five-axis manipulator. The first material transfer manipulator 38 includes a second linear module 381, a screw support seat 382, a screw 383, a third sliding block 384, a fixed seat 385, and a first rotating shaft 386. , The second rotating shaft 387, the robot arm 388, the robot arm 389, the third rotating shaft 3810, the fourth rotating shaft 3811, the fifth rotating shaft 3812, the connecting plate 3813, the arm adapter block 3814 and the first material clamping assembly 393, The second linear module 381 is arranged on the base 31, the screw support seat 382 is arranged on the second linear module 381, the screw 383 is erected on the screw support 382, and the screw 383 can pass through the first Driven by a driving motor, the third sliding block 384 is sleeved on the screw 383, the fixing base 385 is arranged on the third sliding block 384, and the boom adapter block 3814 is connected to the fixing base 385 through a first rotating shaft 386 The robot arm 388 is connected to the arm adapter block 3814 through the second shaft 387, the robot arm 388 is connected to the robot arm 389 through the third shaft 3810, and the robot arm 389 is connected through the fourth shaft 3811. Connected to the connecting plate 3813, the connecting plate 3813 is provided with a fifth rotating shaft 3812, the first material clamping assembly 393 is connected to the connecting plate 3813 through the fifth rotating shaft 3812, the first material transfer manipulator 38 The material clamping assembly 393 can clamp the material 4 on the first material transfer assembly 37.
[0045] At work, based on the above institutional foundation, the following steps are specifically included:
[0046] 1) Place the pallet 14 with material 4 on the first material support assembly 1 by a forklift, and the scissor mechanism 12 on the first material support assembly 1 is in a retracted state;
[0047] 2) The first lifting drive assembly 33 rises;
[0048] 3) The first linear module 35 on the first material handling manipulator assembly 2 and the second material handling manipulator assembly 3 drives the first material clamping assembly 393 to be above the material 4 on the first material support assembly 1;
[0049] 4) The first CCD camera 392 on the first material handling manipulator assembly 2 and the second material handling manipulator assembly 3 respectively scan the boundary position of the material 4 on the first material support assembly 1;
[0050] 5) The first lifting drive assembly 33 descends, the fixed gripping arm 3931 and the movable gripping arm 3932 are inserted between the material 4, the second lifting cylinder 394 starts to contract, pulls the stretch rod 3934 to lift up, so that the movable gripping arm 3932 Rotate to the direction of the fixed clamping arm 3931, and press the material 4 between the fixed clamping arm 3931 and the movable clamping arm 3932;
[0051] 6) The first lifting drive assembly 33 rises until the material 4 clamped by the fixed clamping arm 3931 and the movable clamping arm 3932 is higher than the height of the material 4 on the first material support assembly 1;
[0052] 7) The first linear module 35 drives the first material clamping assembly 393 to move in the direction of the first material transfer assemblies 37 on both sides;
[0053] 8) The scissor mechanism 12 of the first material transfer assembly 37 is unfolded, and the first lifting drive assembly 33 is lowered until the material on the first material clamping assembly 393 contacts the tray 14 on the first material transfer assembly 37, and the first material clamp The holding component 393 places the material 4 on the tray 14 on the first material transfer component 37;
[0054] 9) The first lifting drive assembly 33 rises, the first linear module 35 drives the first material clamping assembly 393 to move in the direction of the first material support assembly 1, repeat steps 3)-8), and continue to move the first material support assembly The material 4 on 1 is transferred to the first material transfer assembly 37. At the same time, there are more and more materials on the first material transfer assembly 37. The scissor mechanism 12 of the first material transfer assembly 37 gradually descends, so that the first material transfer assembly 37 The upper material is always at a certain distance from the first material handling manipulator 39, and as the material 4 on the first material support assembly 1 becomes less and less, the scissor mechanism 12 of the first material support assembly 1 gradually rises;
[0055] 10) The scissor mechanism 12 of the first material transfer assembly 37 shrinks, and the first material transfer manipulator 38 clamps the material 4 on the first material transfer assembly 37 and places it at a designated position;
[0056] 11) The first material transfer assembly 37 moves along the second chute 311, while the second linear module 381 moves synchronously with the first material transfer assembly 37, and the first material transfer manipulator 38 clamps the material on the first material transfer assembly 37 4Place the next designated location.
[0057] The above working process is the process in which the first material handling manipulator assembly 2 and the second material handling manipulator assembly 3 take materials from the first material support assembly 1 and discharge the materials to both sides. On the contrary, the first material transfer manipulator 38 can be used first Clamp the materials on both sides and place the materials on the first material transfer assembly 37. The second linear module 381 drives the first material clamping assembly 393 to move along the base, while the first material transfer assembly 37 moves along the base. Place all the materials on the same side on the pallet 14 of the first material transfer assembly 37, the first material transfer assembly 37 rises to the upper end of the material close to the first material handling manipulator 39, and the scissor mechanism 12 of the first material support assembly 1 extends To the maximum position, the first linear module 35 drives the first material handling manipulator 39 to move to the top of the tray 14 of the first material transfer assembly 37, clamps the material on the first material transfer assembly 37, and places the material 4 on the first material On the tray 14 of the support assembly 1, the first linear module 35 drives the first material handling manipulator 39 to continuously reciprocate the material until the material handling is completed. During this process, the first material transfer assembly 37 continues to rise as the material decreases, and the first material The support assembly 1 keeps dropping as the material increases.
