CN103042534B - Multifunctional manipulator claw - Google Patents
Multifunctional manipulator claw Download PDFInfo
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- CN103042534B CN103042534B CN201310018212.8A CN201310018212A CN103042534B CN 103042534 B CN103042534 B CN 103042534B CN 201310018212 A CN201310018212 A CN 201310018212A CN 103042534 B CN103042534 B CN 103042534B
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- pawl
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- claw
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Abstract
The invention relates to a multifunctional manipulator claw which comprises a plurality of pairs of parallel left grabbing claws and right grabbing claws, left settling claws and right settling claws and front claws and back claws. The left settling claws, the right settling claws, the front claws and the back claws form a rectangular framework. All the pairs of left grabbing claws and right grabbing claws, left settling claws and right settling claws and front claws and back claws are all applicable to relative displacement. The multifunctional manipulator claw can grab and move a plurality of objects to the designated position and can settle and array the objects and then tidily place the objects. Friction sheets are arranged on the left grabbing claws and elastic components are arranged on the right grabbing claws so that friction during object grabbing can be increased, and adaptive capacity of the grabbing claws to various objects can be improved. A robot provided with the multifunctional manipulator claw can complete grabbing, settling and carrying of the plurality of objects in one time, and production efficiency of enterprises is improved.
Description
Technical field
The present invention relates to a kind of Multifunctional manipulator claw, can be installed in robot, for once capturing multiple object, and arranging this its, reach and move and arrange, put the object of object.
Background technology
At production line, warehouse, harbour, the occasions such as brick field widely use the mechanical paw of robot by block grasping body, put assigned address mobile.Owing to adopting the operation of computer controlled machine tool paw, its process accurately and fast, to save time compared with manual operation, laborsaving.When mechanical paw captures object, first on vertical target object direction, capture object, after object being moved to target location, object is decontroled.Existing mechanical paw follows the quantity according to paw to be divided into singlehanded pawl and many paws.Singlehanded pawl once can only capture an object, and its operating efficiency is lower, is not suitable for the crawl of voluminous object.Though many paws can once capture multiple object, but because all paws are all controlled by a set of interlinked mechanism, can due to the differences in shape of block object when capturing multiple object, object presss from both sides bad by the clamping force that paw can not clamp polylith object simultaneously or increase paw in order to clamp polylith object.Need the object of gripping to move to assigned address in some occasions, carry out arrangement and put rear packaging, existing mechanical paw cannot meet above-mentioned requirements simultaneously.
Summary of the invention
Technical problem to be solved by this invention is to provide a kind of Multifunctional manipulator claw, and this paw once can capture and clamp multiple object, after object is moved to assigned address, can carry out arrangement put multiple object.
In order to solve the problems of the technologies described above, the invention provides a kind of Multifunctional manipulator claw, it comprises: the left and right grabbing claw of multipair adjacent, parallel arrangement, left and right arrangement pawl, forward and backward pawl; Respectively be suitable for relative displacement to left and right grabbing claw, left and right arrangement pawl is suitable for relative displacement, and forward and backward pawl is suitable for relative displacement, and left and right arrangement pawl and forward and backward pawl are suitable for forming rectangular box.
In order to solve the problems of the technologies described above, the invention provides another kind of Multifunctional manipulator claw, it comprises: skeleton, the left and right grabbing claw of multipair adjacent, parallel arrangement, left and right arrangement pawl, forward and backward pawl, and first, second setting along backbone length direction is to guide rail.
The two ends, top of described left grabbing claw are engaged in described pair of guide rails respectively by skid, and right grabbing claw is fixed in this pair of guide rails, and the top of each left grabbing claw is fixed on a drive link, and this drive link is connected with the piston drive of a hydraulic cylinder; The two ends, top of described left arrangement pawl are engaged on this second pair of guide rail respectively by skid, and right arrangement pawl is fixed on second pair of guide rail, and left and right arrangement pawl parallel alignment is arranged; Skeleton is also provided with the 3rd pair of guide rail being suitable for forming rectangle with described second pair of guide rail; The two ends, top of fore paw are engaged on the 3rd pair of guide rail respectively by skid, and rear solid end is fixed on the 3rd pair of guide rail, and fore paw is connected with the piston drive of other two hydraulic cylinders respectively with right arrangement pawl.
The right flank of the middle and lower part of each left grabbing claw is provided with friction plate, and the left surface of the middle and lower part of right grabbing claw is provided with flexible member.
Left grabbing claw is connected with slide block, limiting plate by bolt respectively with right grabbing claw, and installation and removal are convenient, can increase according to the quantity capturing object or reduce the number of left grabbing claw and right grabbing claw.
Each left grabbing claw, fore paw and right arrangement pawl are respectively equipped with for detecting left and right grabbing claw, the laser sensor of the spacing of forward and backward pawl and left and right arrangement pawl.
The method of work of above-mentioned Multifunctional manipulator claw, it comprises:
A, to be moved to above multiple object by a robot controlling mechanical paw and to fall until described object is embedded in each between left and right grabbing claw, then drive each left grabbing claw to corresponding right grabbing claw displacement and clamp multiple object;
B, robot rise mechanical paw and move to assigned address, fall mechanical paw, and control left grabbing claw away from right grabbing claw, unclamp object, namely complete the carrying of multiple object;
C, control fore paw to rear solid end displacement, right arrangement pawl arranges pawl displacement left, is clamped in by described multiple object in rectangular box that described left and right arrangement pawl and forward and backward pawl form;
D, robot rise mechanical paw and move to be deposited or multiple package position, and puts down described multiple object.
The present invention separately provides a kind of robot, and it comprises mechanical arm, the mechanical paw be located on this mechanical arm, and this mechanical paw comprises: the left and right grabbing claw of multipair adjacent, parallel arrangement, left and right arrangement pawl, forward and backward pawl; Respectively be suitable for relative displacement to left and right grabbing claw, left and right arrangement pawl is suitable for relative displacement, and forward and backward pawl is suitable for relative displacement, and left and right arrangement pawl and forward and backward pawl are suitable for forming rectangular box.
The method of work of described robot comprises:
A, control mechanical paw by mechanical arm and to move to above multiple object and to fall until described object is embedded in each between left and right grabbing claw, then drive the grabbing claw displacement to the right of each left grabbing claw and clamp multiple object;
B, mechanical arm rise mechanical paw and move to assigned address, fall mechanical paw, and control left grabbing claw away from right grabbing claw, unclamp object, namely complete the carrying of multiple object;
C, control fore paw to rear solid end displacement, right arrangement pawl arranges pawl displacement left, is clamped in by described multiple object in rectangular box that described left and right arrangement pawl and forward and backward pawl form;
D, mechanical arm rise mechanical paw and move to be deposited or multiple package position, and puts down described multiple object.
Relative to prior art, the technique effect that the present invention has is: the Multifunctional manipulator claw in (1) the present invention comprises graping chaw and arranges paw, can capture, mobile object to assigned address, object can be carried out arrange, arrange again, then put neat; (2) Multifunctional manipulator claw comprises multiple graping chaw, can capture multiple object simultaneously and move to assigned address; (3) each left grabbing claw is provided with friction plate, can increase frictional force when capturing object, strengthens graping chaw to the adaptive capacity of various object; (4) each right grabbing claw is provided with flexible member, can not because of the differences in shape of block object when capturing multiple object, and paw cannot clamp polylith object simultaneously; Object presss from both sides bad by the clamping force that simultaneously also can not increase paw in order to clamp polylith object; (5) adopt the robot of mechanical paw can once complete the crawl of multiple object and arrangement, carrying, improve the production efficiency of enterprise.
Accompanying drawing explanation
In order to clearly demonstrate innovative principle of the present invention and the technical advantage compared to existing product thereof, by applying the limiting examples of described principle, two possible embodiments are described by means of accompanying drawing below.In the drawings:
Fig. 1 is the axonometric drawing of the Multifunctional manipulator claw of embodiment 1;
Fig. 2 is the trip shaft mapping of the Multifunctional manipulator claw of embodiment 1;
Fig. 3 is the ground plan of the Multifunctional manipulator claw of embodiment 1;
Fig. 4 is the axonometric drawing of the Multifunctional manipulator claw of embodiment 2;
Fig. 5 is the trip shaft mapping of the Multifunctional manipulator claw of embodiment 2;
Fig. 6 is the ground plan of the Multifunctional manipulator claw of embodiment 2.
Detailed description of the invention
Embodiment 1
As shown in Figures 1 and 2, the Multifunctional manipulator claw be installed in robot of the present embodiment comprises: skeleton 1, the first joint 2, left grabbing claw 3, right grabbing claw 4, left arrangement pawl 5, right arrangement pawl 6, fore paw 7, rear solid end 8, laser sensor 9, friction plate 10, flexible member 11, pair of guide rails 12, second pair of guide rail the 13, three pair of guide rail 14, first slide block 15, second slide block the 16, three slide block 17, limiting plate 18, limited block 19, drive link 20, the second joint 21,3rd joint 22, first hydraulic cylinder 23, second hydraulic cylinder the 24, three hydraulic cylinder 25.
Parallelly on the skeleton 1 of Multifunctional manipulator claw be provided with six left grabbing claws 3 and right grabbing claw 4, wherein six left grabbing claws 3 connect with the first corresponding slide block 15, first slide block 15 is arranged in pair of guide rails 12 and also can slides along it, pair of guide rails 12 is connected with skeleton 1 by standard bolt, six right grabbing claws 4 are connected with limited block 19, limited block 19 to be installed in pair of guide rails 12 and to be stuck in the groove of limiting plate 18, limited block 19 is connected with skeleton 1 by standard bolt, the right flank of left grabbing claw 3 middle and lower part is provided with friction plate 10, the right flank of right grabbing claw 4 middle and lower part is provided with flexible member 11, skeleton 1 is provided with the first hydraulic cylinder 23, it is by drive link 20, first joint 2 is connected with six left grabbing claws 3, when the first hydraulic cylinder 23 works, by drive link 20, first joint 2 drives six left grabbing claws 3 to move back and forth, crawl is completed together with six fixing right grabbing claws 4, the action of release object.
As shown in Figure 3, then control left arrangement pawl 5 by the second hydraulic cylinder 24 by the second joint 21 to utilize the second slide block 16 to arrange pawl 6 to the right along second pair of guide rail 13 to move, controlling fore paw 7 by the 3rd hydraulic cylinder 25 by the 3rd joint 22 utilizes the 3rd slide block 17 to move along the 3rd pair of guide rail 14 to rear solid end 8, right arrangement pawl 6 is fixed on second pair of guide rail 13, rear solid end 8 is fixed on the 3rd pair of guide rail 14, is clamped in described rectangular box by multiple object.
As shown in Figure 1, six left grabbing claws 3 are provided with laser sensor 9, for measuring the distance of distance between left grabbing claw and right grabbing claw and paw and ground or object, measuring-signal is passed to the computer of robot by wire, for the distance of the spacing and paw and ground or object that judge left and right graping chaw, the accurate control of robot computer to left and right graping chaw displacement can be realized.As shown in Figure 2, left arrangement pawl 5 with fore paw 7 is also provided with same laser sensor 9, for measuring, left and right arranges between pawl, the spacing of front and back pawl and the distance of paw and ground or object, facilitates robot conputer controlled.
The method of work of above-mentioned Multifunctional manipulator claw comprises: first according to the signal of laser sensor 9, by the first hydraulic cylinder 23 by drive link 20, first joint 2 drives six left grabbing claws 3 to be moved along pair of guide rails 12 by the first slide block 15, adjust its distance with corresponding right grabbing claw 4, with the size of applicable crawl object, robot controlling Multifunctional manipulator claw to move to above multiple object and falls, by laser sensor 9 perception paw and the distance of object boundary and the distance between paw and ground, when being applicable to capturing, by the first hydraulic cylinder 23 by drive link 20, first joint 2 drives six left grabbing claws 3, the first slide block 15 is utilized to move towards six right grabbing claws 4 respectively along pair of guide rails 12, right grabbing claw 4 is fixed in pair of guide rails 12 by limiting plate 18 and limited block 19, left and right graping chaw draws in, by friction plate 10 and flexible member 11 grip objects.Then robot rises Multifunctional manipulator claw and moves to assigned address, fall Multifunctional manipulator claw, drive six left grabbing claws 3 away from six right grabbing claws 4 by the first hydraulic cylinder 23 by drive link 20, first joint 2, unclamp the carrying that object completes multiple object.Then the robot computer position of putting according to laser sensor 9 perceptual object arranged on paw, then controlling fore paw 7 by the 3rd hydraulic cylinder 25 by the 3rd joint 22 utilizes the 3rd slide block 17 to move along the 3rd pair of guide rail 14 to rear solid end 8, control left arrangement pawl 5 by the second hydraulic cylinder 24 by the second joint 21 to utilize the second slide block 16 to arrange pawl 6 to the right along second pair of guide rail 13 to move, rear solid end 8 is fixed on the 3rd pair of guide rail 14, right arrangement pawl 6 is fixed on second pair of guide rail 13, is clamped in described rectangular box by multiple object by the motion of above-mentioned paw.Finally according to the order that object is placed, controlled fore paw 7 or control left arrangement pawl 5 by the second hydraulic cylinder 24 to move by the 3rd joint 22 by the 3rd hydraulic cylinder 25, make by left arrangement pawl 5 and right arrangement pawl 6 or by fore paw 7 and rear solid end 8 the multiple objects after arranging clamped and move to assigned address and carry out putting or packing, so repeating.
The right flank of left grabbing claw 3 middle and lower part is provided with friction plate 10, can increase frictional force when capturing object, strengthens graping chaw to the adaptive capacity of various object.
The right flank of right grabbing claw 4 middle and lower part is provided with flexible member 11, can not because of the differences in shape of block object when capturing multiple object, and paw cannot clamp polylith object simultaneously; Object presss from both sides bad by the clamping force that simultaneously also can not increase paw in order to clamp polylith object.
Embodiment 2
See Fig. 4 to 6, the Multifunctional manipulator claw that the present embodiment provides, be relative to the modification part of embodiment 1:
As shown in Figure 4, Figure 5, between six right grabbing claws 4 and pair of guide rails 12, be provided with Four-slider 31, six right grabbing claws can be free to slide in pair of guide rails 12.Skeleton 1 is provided with the first hydraulic cylinder 23, six right grabbing claws 4 are connected with the 4th hydraulic cylinder 32 by the second drive link 34 and the 4th joint 33, second drive link 34 have passed through the through hole 35 of six left grabbing claws 3, when the 4th hydraulic cylinder 32 works, six right grabbing claws 4 can move by relatively left grabbing claw 3, and its motion mode is by robot conputer controlled.This improvement can increase the ultimate range between left grabbing claw 3 and right grabbing claw 4, adapts to larger object; Simultaneously by the motion of the left grabbing claw of free adjustment 3 with right grabbing claw 4, make to capture object process more flexible, improve accuracy rate and the grasp speed of crawl.
As shown in Figure 6, right arrangement pawl 6 is provided with the 5th joint 37, rear solid end 8 is provided with the 6th joint 38.Skeleton 1 is provided with the 5th hydraulic cylinder 36 and controls right arrangement pawl 6 by the 5th joint 37, makes it can be slided on second pair of guide rail 13 by the 5th slide block 40.Skeleton 1 is provided with the 6th hydraulic cylinder 39 and controls rear solid end 8 by the 6th joint 38, makes it can be slided on the 3rd pair of guide rail 14 by the 6th slide block 41.When hydraulic cylinder works, left arrangement pawl 5 can move by relatively right arrangement pawl 6, and rear solid end 8 can move by fore paw 7 relatively, and its motion mode can by robot conputer controlled.This improvement can increase the maximum spacing of left arrangement pawl 5 with right arrangement pawl 6 and the maximum spacing of fore paw 7 and rear solid end 8, to adapt to larger object; Pass through the motion of free adjustment left and right arrangement pawl and forward and backward pawl simultaneously, make to arrange object process more flexible, convenient, improve accuracy rate and the arrangement speed of arrangement.
Embodiment 3
The modification part of the present embodiment is: the first hydraulic cylinder 23 described in replacing by six individual cylinder, second hydraulic cylinder 24,3rd hydraulic cylinder the 25, four hydraulic cylinder the 32, five hydraulic cylinder 36 and the 6th hydraulic cylinder 39, skeleton 1 is provided with small air pump and high pressure tank, utilize air pressure as the power source of mechanical paw, control rate is faster, and line arrangement is convenient, the convenient kind according to object regulates air accumulator air pressure, changes the grasp of mechanical paw.
Embodiment 4
The modification part of this example is: skeleton 1 is no longer provided with hydraulic cylinder and drive link, by different length six tooth bars respectively with left grabbing claw, right grabbing claw, left arrangement pawl, right arrangement pawl, fore paw, the top of rear solid end is fixedly connected with, skeleton 1 is provided with six servomotors, motor rotor head is provided with pinion, pinion respectively with above-mentioned six tooth bar engagement fit, when servomotor works, rotor drives pinion to rotate, pinion band carry-over bar moves, its moving direction and servo motor rotor turn to relevant, tooth bar can be changed by the rotating of control servomotor to move left and right, displacement was determined by the servomotor working time.The program utilizes servomotor to control mechanical paw motion, and control procedure is sensitive, accurately can control the displacement of paw, requires that higher object is adaptable for capturing.
It is the limiting examples that described principle is provided within the scope of exclusive authority in order to here require for the above-mentioned explanation of embodiment of application innovative principle of the present invention.Such as can according to the position of the size adjusting hydraulic cylinder of paw body, according to the position adjustment drive link of graping chaw and the position of joint, according to the position of the position adjustment slide block and guide rail that arrange paw, left and right graping chaw all arranges friction plate or flexible member, arrange on paw at four and all arrange friction plate or flexible member, increase or reduce graping chaw according to the difference of application scenario and arrange the number etc. of paw.
Claims (1)
1. a method of work for Multifunctional manipulator claw, is characterized in that: described mechanical paw comprises: the left and right grabbing claw of multipair adjacent, parallel arrangement, left and right arrangement pawl, forward and backward pawl; Respectively be suitable for relative displacement to left and right grabbing claw, left and right arrangement pawl is suitable for relative displacement, and forward and backward pawl is suitable for relative displacement, and left and right arrangement pawl and forward and backward pawl are suitable for forming rectangular box;
Also comprise: skeleton, and first, second setting along backbone length direction is to guide rail;
The two ends, top of described left grabbing claw are engaged in described pair of guide rails respectively by skid, right grabbing claw is fixed in this pair of guide rails, the top of each left grabbing claw is fixed on a drive link, and this drive link is connected with the piston drive of a hydraulic cylinder;
The two ends, top of described left arrangement pawl are engaged on second pair of guide rail respectively by skid, and right arrangement pawl is fixed on this second pair of guide rail, and left and right arrangement pawl parallel alignment is arranged;
Skeleton is also provided with the 3rd pair of guide rail being suitable for forming rectangle with described second pair of guide rail; The two ends, top of fore paw are engaged on the 3rd pair of guide rail respectively by skid, and rear solid end is fixed on the 3rd pair of guide rail, and fore paw is connected with the piston drive of other two hydraulic cylinders respectively with left arrangement pawl;
The method of work of described Multifunctional manipulator claw, comprises the steps:
A, to be moved to above multiple object by a robot controlling mechanical paw and to fall until described object is embedded in each between left and right grabbing claw, then drive each left grabbing claw to corresponding right grabbing claw displacement and clamp multiple object;
B, robot rise mechanical paw and move to assigned address, fall mechanical paw, and control left grabbing claw away from right grabbing claw, unclamp object, namely complete the carrying of multiple object;
C, control fore paw to rear solid end displacement, left arrangement pawl arranges pawl displacement to the right, is clamped in by described multiple object in rectangular box that described left and right arrangement pawl and forward and backward pawl form;
D, robot rise mechanical paw and move to be deposited or multiple package position, and puts down described multiple object.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310018212.8A CN103042534B (en) | 2013-01-18 | 2013-01-18 | Multifunctional manipulator claw |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310018212.8A CN103042534B (en) | 2013-01-18 | 2013-01-18 | Multifunctional manipulator claw |
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| Publication Number | Publication Date |
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| CN103042534A CN103042534A (en) | 2013-04-17 |
| CN103042534B true CN103042534B (en) | 2015-07-22 |
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| CN201310018212.8A Expired - Fee Related CN103042534B (en) | 2013-01-18 | 2013-01-18 | Multifunctional manipulator claw |
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| EP4067271A1 (en) * | 2021-04-01 | 2022-10-05 | Krones Aktiengesellschaft | Gripper and method for handling piece goods |
| EP4186829A1 (en) * | 2021-11-26 | 2023-05-31 | KRONES Aktiengesellschaft | Gripping device and method for handling piece goods |
| DE102022132192A1 (en) | 2022-12-05 | 2024-06-06 | Krones Aktiengesellschaft | Gripper head and method for manipulating piece goods as well as rotation and distribution system with such a gripper head |
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| DE102022132192A1 (en) | 2022-12-05 | 2024-06-06 | Krones Aktiengesellschaft | Gripper head and method for manipulating piece goods as well as rotation and distribution system with such a gripper head |
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| CN103042534A (en) | 2013-04-17 |
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