一种机械手装夹车

Abstract

一种机械手装夹车，包括底盘，底盘的底部设置有行走转向机构，底盘的前端设置有第一防碰撞测距传感器，底盘上设置有底座，底座上设置有转台和转台驱动装置，转台上设置有液压升降台，升降台上固定设置有固定臂，固定臂的上端铰接有第一转动臂，第二转动臂的后端与第一转动臂的上端铰接。行走转向机构可驱动机械手装夹车行走和转向，到达目标位置，可灵活移动。第一防碰撞测距传感器和第二防碰撞测距传感器用于防止与物体碰撞。转台驱动装置可驱动转台旋转运动。液压驱动装置可驱动升降，从而调整上侧的第一转动臂、第二转动臂和夹爪的高度。实现了机械手装夹车的灵活移动、夹取、运输，提高了生产效率，使用安全性较高，应用范围较大。

Claims

1. A robot gripper vehicle, characterized in that The system includes a chassis, with a steering mechanism at the bottom, a first collision avoidance distance sensor at the front, and a second collision avoidance distance sensor on the side. A base is mounted on the chassis, and a turntable and a turntable drive are mounted on the base. The power output of the turntable drive is connected to the turntable via a first transmission mechanism. A hydraulic lifting platform is mounted on the turntable, comprising a hydraulic drive and a lifting platform. The power output of the hydraulic drive is connected to the lifting platform. A fixed arm is fixedly mounted on the lifting platform, and a first rotating arm is hinged to the upper end of the fixed arm. A first rotating arm drive is mounted on the lifting platform, and its power output is connected to the first rotating arm via a second transmission mechanism. A second rotating arm and a second rotating arm drive are mounted on the upper end of the first rotating arm. The rear end of the second rotating arm is hinged to the upper end of the first rotating arm, and its power output is connected to the second rotating arm via a third transmission mechanism. A third collision avoidance distance sensor is mounted on the side of the second rotating arm, and a third collision avoidance distance sensor is mounted on the upper surface of the second rotating arm. The fourth anti-collision ranging sensor is provided, and the fifth anti-collision ranging sensor is provided at the front end of the second rotating arm. The front end of the second rotating arm is provided with a gripper rotation drive device, which is connected to a rotating seat through a fourth transmission mechanism. At least two gripper mechanisms are provided on the rotating seat. Each gripper mechanism includes a gripper opening and closing drive device and two grippers facing each other. The grippers are hinged to the second rotating arm. The power output end of the gripper opening and closing drive device is connected to the gripper through the fifth transmission mechanism. At least two rubber pad bases are provided on the inner side of each gripper, and each rubber pad base is provided with a rubber pad. The control ends of the walking steering mechanism, turntable drive device, hydraulic drive device, first rotating arm drive device, second rotating arm drive device, gripper rotation drive device, and gripper opening and closing drive device, as well as the signal output ends of the first anti-collision ranging sensor, second anti-collision ranging sensor, third anti-collision ranging sensor, fourth anti-collision ranging sensor, and fifth anti-collision ranging sensor are all connected to a controller.

2. The robot clamp cart of claim 1, wherein, The turntable drive device is a first motor.

3. The robot clamp cart of claim 1, wherein, The first transmission mechanism is a gear transmission mechanism.

4. The robot clamp cart of claim 1, wherein, The first rotating arm drive device and the second rotating arm drive device each include a second motor.

5. The robot clamp cart of claim 1, wherein, The gripper opening and closing drive device is a third motor.

6. A robot clamp cart according to claim 5, characterized in that The fifth transmission mechanism includes a worm and two worm wheels. The worm is fixedly connected to the output shaft of the third motor, and the two worm wheels are fixedly connected to two grippers respectively. The worm wheels mesh with the worm.

7. The robot clamp cart of claim 1, wherein, A force sensor is installed in the rubber pad, and the signal output terminal of the force sensor is electrically connected to the controller.

8. The robot clamp cart of claim 1, wherein, A laser sensor is provided at the front end of the second rotating arm, and the signal output terminal of the laser sensor is electrically connected to the controller.

9. The robot clamp cart of claim 1, wherein, The chassis is equipped with an operation screen, which is electrically connected to the controller.

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