Heavy-load precision redundant three-arm mechanical hand based on traveling crane

Abstract

The invention discloses a heavy-load precision redundant three-arm mechanical hand based on a traveling crane. The three-arm mechanical hand comprises a base, a clamp assembly and an automatic control system, wherein the clamp assembly comprises a mounting seat used for mounting mechanical arms, a gripping mechanical hand used for gripping a workpiece, and a carrying mechanical hand used for carrying the gripped workpiece; the gripping mechanical hand comprises a heavy-load mechanical hand used for gripping a heavy workpiece, and a light-load mechanical hand used for gripping a light precision workpiece. According to the three-arm mechanical hand, the gripping mechanical hand adopts a redundant mechanical arm structure, the heavy-load mechanical hand is used for loading a heavy object, the light-load mechanical hand is used for carrying a precision device, and the two gripping mechanical hands can cooperatively carry and mount the workpiece in space, so that the problem of conflict between heavy load and precision in the field of mechanical hands is solved; in addition, due to the carrying mechanical hand, the disadvantage that a traveling crane needs to run a round trip for carrying a part at present is overcome, the labor intensity of workers is greatly reduced, the production efficiency of workshops is improved, and the energy consumption is greatly reduced.

Description

Technical field [0001] The invention relates to the field of automated mechanical fixtures, in particular to a heavy-load precision redundant three-arm manipulator based on driving. Background technique [0002] The existing crane-based manipulators have not been popularized. The lifting and unloading of workpieces carried by the crane in the workshop are all operated by workers. The lifting and unloading of some large workpieces requires a lot of physical effort to complete the work. Workers are fatigued and the parts are processed. The cycle is long and personal safety cannot be guaranteed. The hoisting and unloading of some small precision components also takes a lot of time, reducing the processing time of workers and reducing production efficiency. At the same time, the installation of workpieces on the machine tool does not reach the desired accuracy. It is not conducive to the large-scale production mode of modern workshops. Therefore, it is necessary to introduce driving ...

AI Technical Summary

Problems solved by technology

[0002] The existing crane-based manipulators have not been popularized yet. The hoisting and unloading of workpieces in the workshop are operated by workers. The hoisting and unloading of some large workpieces requires a lot of physical effort by multiple workers to complete. Workers are tired. The cycle is long, personal safety cannot be guaranteed, and the hoisting and unloading of some small precision devices also takes a large part of the time, which reduces the processing time of workers and reduces production efficiency. At the same time, the installation of the workpiece on the machine tool cannot reach the ideal accuracy. It is not conducive to the large-scale production mode of modern workshops, so it is necessary to introduce driving manipulators to carry and position and install workpieces, improve workshop production efficiency, and reduce the occurrence of workshop safety accidents

[0003] Moreover, in the prior art, the heavy load and precision performance of the manipulator are a pair of contradictions. The manipulator with heavy load must lose its precision, but the precision of the manipulator can be improved by driving the servo motor, but its load capacity is weakened, and the workpieces in the workshop are different. There are all kinds of large and heavy parts, as well as small precision parts. There are also high requirements for the positioning accuracy of parts during machine tool processing. The existing single-arm manipulators are far from meeting the dual requirements of load and precision. At the same time, in order to meet modern Industrial production requires production efficiency. If only one workpiece is transported at a time, the driving manipulator cannot achieve the expected results.

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