CN106426250B - A kind of clamping and conveying robot - Google Patents
A kind of clamping and conveying robot Download PDFInfo
- Publication number
- CN106426250B CN106426250B CN201610421410.2A CN201610421410A CN106426250B CN 106426250 B CN106426250 B CN 106426250B CN 201610421410 A CN201610421410 A CN 201610421410A CN 106426250 B CN106426250 B CN 106426250B
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- Prior art keywords
- finger
- fence
- gear
- driving
- swivel base
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0033—Gripping heads and other end effectors with gripping surfaces having special shapes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0246—Gripping heads and other end effectors servo-actuated actuated by an electromagnet
Abstract
The present invention discloses a kind of clamping and conveying robot, includes pedestal, swivel base, both arms mechanism, vacuum pump, Song Zhi mechanisms, basic arc finger library and two clamp systems；The swivel base is rotatably installed on pedestal, and driving mechanism is provided on the pedestal, which drives swivel base to carry out back rotation, is provided with support plate at the top of the swivel base, which is set in support plate；Each clamp system is electromagnetic type fence clamp system, each clamp system includes upper fence, lower fence, two supporting rods and two arc fingers, upper fence is internally provided with the iron core for being tied with hot-wire coil, the electrified wire for being internally provided with mutually insulated of lower fence.Robot work efficiency and precision of the present invention are higher, and its is simple and compact for structure, and floor space is small, application prospect is extensive, reliability height, it is convenient to overhaul, and hand, which clamps, loosens safety, clamping demand that is quick, effective and disclosure satisfy that most of objects with curved surface profile.
Description
Technical field
The present invention relates to manipulator field technology, a kind of clamping and conveying robot are referred in particular to.
Background technology
Manipulator can imitate certain holding functions of human hand and arm, to press fixed routine crawl, carry object or operation
The automatic pilot of tool.Manipulator is the industrial robot occurred earliest, and the modern machines people occurred earliest, it can
Instead of the heavy labor of people to realize the mechanization and automation of production, can be operated under hostile environment to protect personal safety,
Thus it is widely used in the departments such as machine-building, metallurgy, electronics, light industry and atomic energy.In recent years, with modernized society and section
The development of skill, the contour shape of object is also gradually by simply thickening, from rectangular to surface blending.The finger of conventional robot
Most of shape designs for clamping square solid, has been unable to meet and pacifies to the object that contour shape is curved surface
The demand being clamped entirely.
Invention content
In view of this, in view of the deficiencies of the prior art, the present invention aims to provide a kind of clamping and carryings
Manipulator, can effectively solve existing manipulator cannot meet to contour shape be curved surface object carry out safety holding demand
The problem of.
To achieve the above object, the present invention is using following technical solution：
A kind of clamping and conveying robot include pedestal, swivel base, both arms mechanism, vacuum pump, Song Zhi mechanisms, basic arc
Shape finger library and two clamp systems；The swivel base is rotatably installed on pedestal, and driving mechanism is provided on the pedestal, the drive
Motivation structure drives swivel base to carry out back rotation, is provided with support plate at the top of the swivel base, which is set in support plate；This two
Clamp system is respectively arranged at two free ends of both arms mechanism, and each clamp system is electromagnetic type fence clamp system, each
Clamp system includes upper fence, lower fence, two supporting rods and two arc fingers, the two supporting rods left and right settings, upper fence
Left and right ends and the left and right ends of lower fence be respectively rotatablely connected with two supporting rods, being internally provided with of upper fence is tied with logical
The iron core of electric coil, the electrified wire for being internally provided with mutually insulated of lower fence, on this in middle part of fence and lower fence
Spring has been pushed between portion, push rod is provided in the middle part of upper fence, which connects the free end of both arms mechanism；The vacuum pump is logical
Cross vacuum tracheae connection arc finger；The Song Zhi mechanisms and basic arc finger library are used cooperatively, matching between realization arc finger
Close use and automatic automatic function.
As a preferred embodiment, the driving mechanism includes stepper motor and straight spur gear pair, stepping electricity
Machine is rotated by straight spur gear subband turn seat.
As a preferred embodiment, the stepper motor is located on pedestal, which is located at base interior.
As a preferred embodiment, the swivel base is rotatably installed on by bearing on pedestal.
As a preferred embodiment, the both arms mechanism includes holder, driving gear, driven gear, driving motor, two
Driving pulley, two driven pulleys and two swing arms, the driving gear and driven gear are symmetrical set on holder, driving gear
Ratcheting with driven gear, which is set in support plate, which drives driving gear rotation, two main belt
Wheel is coaxially disposed with driving gear, driven gear respectively, which is symmetrical set, and is located at driving gear
With the outside oblique upper of driven gear, it is connected with transmission belt before two driving pulley and corresponding driven pulley, two swing arm
It is individually fixed on two driven pulleys.
As a preferred embodiment, the swing arm includes swing rod, rotary electric machine and bull stick, one end of the swing rod with it is corresponding
Driven pulley be fixedly connected, which is fixed on the other end of swing rod, one end of bull stick and the output shaft of rotary electric machine
Connection, the other end of bull stick are connect with aforementioned push rod.
As a preferred embodiment, it is provided with dynamic balancing mass block in the support plate, the dynamic balancing mass block and driving
Motor radial symmetric is arranged.
As a preferred embodiment, the Song Zhi mechanisms include finger library, claw, axis, gear, terminal pad, drive plate,
Mobile hydraulic cylinder, rack and rotational hydraulic cylinder, the claw and axis are respectively arranged at the both sides in finger library, the gear, terminal pad and
Drive plate may be contained on axis, which there is pin, the mobile hydraulic cylinder to be set to the tail end of axis, which is located at tooth
The periphery of wheel, terminal pad and drive plate, the rotational hydraulic cylinder band carry-over bar move left and right.
As a preferred embodiment, the finger that 5 kinds of shapes are included in the basic arc finger library is respectively：Cylinder
Finger, conical surface finger, spherical surface finger, helicoid finger and vase face finger.
The present invention has clear advantage and advantageous effect compared with prior art, specifically, as shown from the above technical solution：
One, the electromagnetic type fence clamp system of inside of the invention with hot-wire coil iron core is when the electricity for being passed through assigned direction
It can be by controlling the variation of size of current on iron core so that above the iron core in fence is to the conducting wire attraction in lower fence when stream
Gradually change from small to big, realize hand clamping process it is first slow after it is fast, when release process first quick and back slow, reduce finger and object it
Between rigid shock, can prevent in the process of crawl due to clamping force suddenly it is excessive be caught broken article and release when the unexpected mistake of clamping force
Small the phenomenon that causing article to fall, realization are handled with care.
Two, the arc finger of inner wall of the invention with flexible article connects vacuum equipment and can ensure be clamped and carrying
It will not damage body surface during object and fall, it is ensured that body surface aesthetics improves device security.
Three, finger function is sent in basic arc finger library of the invention automatically with adjustable Song Zhi mechanisms with the use of achievable,
During gripping, can the required finger of free switching, finger is used in conjunction with each other, and disclosure satisfy that most of has curved surface wheel
The clamping demand of wide object improves working efficiency.
Four, the mechanism that uses of the present invention is effective, and practicability and economy are all relatively good, and can more accurate and efficient reality
The grasping body and moving process of existing curved surface class contour shape.Its both arms mechanism structure simple and compact, it is possible to reduce manipulator accounts for
Ground area reduces manipulator production cost, improves clamping and handling efficiency.
More clearly to illustrate the structure feature and effect of the present invention, come below in conjunction with the accompanying drawings to this hair with specific embodiment
It is bright to be described in detail：
Description of the drawings
Fig. 1 is the structural schematic diagram of the preferred embodiments of the invention；
Fig. 2 is the enlarged diagram of both arms mechanism in the preferred embodiments of the invention；
Fig. 3 is the enlarged diagram of clamp system in the preferred embodiments of the invention；
Fig. 4 is the enlarged diagram of swivel base in the preferred embodiments of the invention；
Fig. 5 is the enlarged diagram of the preferred embodiments of the invention Zhong Songzhi mechanisms；
Fig. 6 is each finger end surface shape of arc finger in the present invention and corresponding bus equation.
Description of drawing identification：
10, pedestal 11, bearing
20, swivel base 21, support plate
22, dynamic balancing mass block 30, both arms mechanism
31, holder 32, driving gear
33, driven gear 34, driving motor
35, driving pulley 36, driven pulley
37, swing arm 371, swing rod
372, rotary electric machine 373, bull stick
38, transmission belt 40, vacuum pump
41, vacuum tracheae 50, Song Zhi mechanisms
51, finger library 52, claw
53, axis 54, gear
55, terminal pad 56, drive plate
561, pin 57, mobile hydraulic cylinder
58, rack 59, rotational hydraulic cylinder
60, clamp system 61, upper fence
62, lower fence 63, supporting rod
64, arc finger 65, iron core
66, spring 67, push rod
70, driving mechanism 71, stepper motor
72, straight spur gear pair
Specific implementation mode
It please refers to shown in Fig. 1 to Fig. 5, that show the concrete structures of the preferred embodiments of the invention, include pedestal
10, swivel base 20, both arms mechanism 30, vacuum pump 40, Song Zhi mechanisms 50, basic arc finger library (not shown) and two clamping machines
Structure 60.
The swivel base 20 is rotatably installed on pedestal 10, is provided with driving mechanism 70 on the pedestal 10, the driving mechanism
70 drive swivel bases 20 carry out back rotation, and the top of the swivel base 20 is provided with support plate 21, specifically, the driving mechanism 70 includes
There are stepper motor 71 and straight spur gear pair 72, which drives 20 turns of swivel base by straight spur gear pair 72
Dynamic, the stepper motor 71 is located on pedestal 10, and straight spur gear pair 72 is located inside pedestal 10, and, the swivel base
20 are rotatably installed on by bearing 11 on pedestal 10.
The both arms mechanism 30 is set in support plate 21；Two clamp system 60 be respectively arranged at the two of both arms mechanism 30 from
By holding, each clamp system equal 60 is electromagnetic type fence clamp system, and each clamp system 60 includes upper fence 61, lower grid
Column 62, two supporting rods 63 and two arc fingers 64, two supporting rods, 63 left and right settings, the left and right ends of upper fence 61 and lower fence
62 left and right ends are respectively rotatablely connected with two supporting rods 63, and upper fence 61 is internally provided with the iron core for being tied with hot-wire coil
65, the electrified wire (not shown) for being internally provided with mutually insulated of lower fence 62, the middle part of fence 61 and lower fence on this
Spring 66 is pushed between 62 middle part, the middle part of upper fence 61 is provided with push rod 67, which connects both arms mechanism 30
Free end.
Specifically, the both arms mechanism 30 include holder 31, driving gear 32, driven gear 33, driving motor 34,
Two driving pulleys 35, two driven pulleys 36 and two swing arms 37, the driving gear 32 and driven gear 33 are symmetrical set in branch
On frame 31, driving gear 32 and driven gear 33 are ratcheting, which is set in support plate 21,34 band of driving motor
Dynamic driving gear 32 rotates, which is coaxially disposed with driving gear 32, driven gear 33 respectively, two driven belt
Wheel 36 is symmetrical set, and is located at the outside oblique upper of driving gear 32 and driven gear 33, two driving pulley 35
It is connected with transmission belt 38 before with corresponding driven pulley 36, which is individually fixed on two driven pulleys 36.At this
In embodiment, the swing arm 37 includes swing rod 371, rotary electric machine 372 and bull stick 373, one end of the swing rod 371 with it is corresponding
Driven pulley 36 is fixedly connected, which is fixed on the other end of swing rod 371, one end of bull stick 373 and rotary electric machine
372 output axis connection, the other end of bull stick 373 are connect with aforementioned push rod 67, also, are provided in the support plate 21 dynamic flat
Weigh mass block 22, which is arranged with 34 radial symmetric of driving motor.
The vacuum pump 40 connects arc finger 64 by vacuum tracheae 41.
The Song Zhi mechanisms 50 and basic arc finger library are used cooperatively, and realize being used cooperatively between arc finger 64 and automatically
Automatic function.As shown in figure 5, the Song Zhi mechanisms 50 include finger library 51, claw 52, axis 53, gear 54, terminal pad 55,
Drive plate 56, mobile hydraulic cylinder 57, rack 58 and rotational hydraulic cylinder 59, the claw 52 and axis 53 are respectively arranged at finger library 51
Both sides, the gear 54, terminal pad 55 and drive plate 56 may be contained on axis 53, which has pin 561, the movement liquid
Cylinder pressure 57 is set to the tail end of axis 53, the rack 58 be located at gear 54, terminal pad 55 and drive plate 56 periphery, the rotational hydraulic
Cylinder 59 is moved left and right with carry-over bar 58.
The finger for including 5 kinds of shapes in the basis arc finger library is respectively：Cylinder finger, conical surface finger, spherical surface
Finger, helicoid finger and vase face finger.
By end face, arcuately busbar scans arc finger, and each finger end surface shape and bus equation are for example as shown in Figure 6：
When work, stepper motor 71 imparts power to swivel base 20 and support plate 21 by straight spur gear pair 72, to realize machine
Tool hand waist joint rotates.The driving motor 34 of both arms mechanism 30 drives driving gear 32 to rotate, by gear pair connection drive from
Moving gear 33 rotates, and driving gear 32 and driven gear 33 work as drive by the axis connection where spline and two driving pulley 35
When dynamic motor 34 drives driving gear 32 and driven gear 33 to rotate, the rotation of two driving pulleys 35, while driving driven pulley 36
Rotation, swing arm 37 can be swung upward or downward simultaneously.Rotary electric machine 372 in swing arm 37 drives bull stick 373 to rotate.When upper fence
Coil in 61 is with the current direction on the conducting wire in lower fence 62 on the contrary, i.e. one is that another is counterclockwise clockwise
When direction, the conducting wire in lower fence 62 can receive Ampere force in the magnetic field that 61 hot-wire coil of upper fence generates and deviate from upper fence 61
Mobile, manipulator grip objects control the clamping force size between upper and lower fence by controlling the size of electric current on iron core 65, real
It is fast after existing clamping process is first slow, it prevents from being caught broken article since clamping force is excessive suddenly when clamping process.It is to avoid grid up and down simultaneously
The impact that column generates between mutually moving increases the spring 66 of auxiliary to buffer.
When manipulator needs replacing finger, both arms are maintained horizontal position, mobile hydraulic cylinder by the rotation of driven pulley 36
57 right chamber leads to pressure oil, and piston rod impeller-hub 53 is moved to the left, while the drive plate 56 being connected with axis 53 is moved to the left, and is driven
Pin 561 on disk 56 is inserted into the pin hole of terminal pad 55, and terminal pad is connected by screw with gear 54, when finger library 51 reaches
Move on to change refer to position when, rotational hydraulic cylinder 59 work, band carry-over bar 58 move left and right, pass through gear 54, terminal pad 55, drive plate
Power is transmitted to axis 53 by 56, and required finger is made in finger library 51 to go to change and refer to position, and claw 52 is connected with finger inner wall,
After waiting for that electromagnetic type fence clamp system is connect with finger, mobile hydraulic cylinder 57 drives finger library 51 to return to home position, complete
It is operated at sending to refer to, there are left and right two, the present invention only sending with right side substantially symmetrical about its central axis about manipulator swivel base 20 in Song Zhi mechanisms 50
It is illustrated for finger mechanism 50.
64 inner wall of arc finger carries aperture, and when finger closes up grip objects from both sides, vacuum pump 40 works, by finger
Air between inner surface and held object is discharged by finger inner surface aperture, and by pressure principle, object is attracted to
On finger inner surface, prevent object tilt from falling.Understand for simplicity of exposition, is only dissipated herein with vase face finger gripping LED lamp cup
For hot body.LED lamp cup radiator profile is shape wide at the top and narrow at the bottom, and vase face finger is only selected to can be realized pair at this time
The gripping of LED lamp cup radiator, when finger closes up, upper back round mouth position is wider, and lower part round mouth position is relatively narrow, and radiator will not
Vertical to slide, when held object reaches designated position, vacuum equipment is closed, and is added with conducting wire to the coil in upper and lower fence
The identical electric current in upper direction, lower fence 62 can upward fence 61 direction movement, manipulator discharges object, with clamping process principle
It is identical, discharge process first quick and back slow, clamping force is too small suddenly when preventing from discharging causes article to fall.
The above described is only a preferred embodiment of the present invention, be not intended to limit the scope of the present invention,
Therefore it is every according to the technical essence of the invention to any subtle modifications, equivalent variations and modifications made by above example, still
Belong in the range of technical solution of the present invention.
Claims (9)
1. a kind of clamping and conveying robot, it is characterised in that：Include pedestal, swivel base, both arms mechanism, vacuum pump, send finger machine
Structure, basic arc finger library and two clamp systems；The swivel base is rotatably installed on pedestal, and driving is provided on the pedestal
Mechanism, the driving mechanism drive swivel base to carry out back rotation, are provided with support plate at the top of the swivel base, which is set to support
On plate；Two clamp system is respectively arranged at two free ends of both arms mechanism, and each clamp system is that electromagnetic type fence clamps
Mechanism, each clamp system include upper fence, lower fence, two supporting rods and two arc fingers, and two supporting rod or so is set
It sets, the left and right ends of the left and right ends of upper fence and lower fence are respectively rotatablely connected with two supporting rods, and the inside of upper fence is set
Be equipped with the iron core for being tied with hot-wire coil, the electrified wire for being internally provided with mutually insulated of lower fence, on this middle part of fence with
Spring has been pushed between the middle part of lower fence, push rod is provided in the middle part of upper fence, which connects the free end of both arms mechanism；
The vacuum pump connects arc finger by vacuum tracheae；The Song Zhi mechanisms and basic arc finger library are used cooperatively, and realize arc
Being used cooperatively between finger and automatic function.
2. a kind of clamping according to claim 1 and conveying robot, it is characterised in that：The driving mechanism includes step
Stepper motor and straight spur gear pair, the stepper motor are rotated by straight spur gear subband turn seat.
3. a kind of clamping according to claim 2 and conveying robot, it is characterised in that：The stepper motor is located at pedestal
On, which is located at base interior.
4. a kind of clamping according to claim 1 and conveying robot, it is characterised in that：The swivel base can be turned by bearing
It is installed on pedestal dynamicly.
5. a kind of clamping according to claim 1 and conveying robot, it is characterised in that：The both arms mechanism includes branch
Frame, driving gear, driven gear, driving motor, two driving pulleys, two driven pulleys and two swing arms, the driving gear and driven
Gear is symmetrical set on holder, and driving gear is engaged with driven gear, which is set in support plate, the drive
Dynamic motor drives driving gear rotation, two driving pulley to be coaxially disposed respectively with driving gear, driven gear, two driven belt
Wheel is symmetrical set, and is located at the outside oblique upper of driving gear and driven gear, two driving pulley with it is corresponding
Transmission belt is connected between driven pulley, which is individually fixed on two driven pulleys.
6. a kind of clamping according to claim 5 and conveying robot, it is characterised in that：The swing arm include swing rod,
Rotary electric machine and bull stick, one end of the swing rod are fixedly connected with corresponding driven pulley, which is fixed on the another of swing rod
One end, one end of bull stick and the output axis connection of rotary electric machine, the other end of bull stick are connect with aforementioned push rod.
7. a kind of clamping according to claim 5 and conveying robot, it is characterised in that：It is provided in the support plate dynamic
Mass block is balanced, which is arranged with driving motor radial symmetric.
8. a kind of clamping according to claim 1 and conveying robot, it is characterised in that：The Song Zhi mechanisms include hand
Refer to library, claw, axis, gear, terminal pad, drive plate, mobile hydraulic cylinder, rack and rotational hydraulic cylinder, the claw and axis to set respectively
The both sides in finger library are placed in, the gear, terminal pad and drive plate may be contained on axis, which has pin, the movement liquid
Cylinder pressure is set to the tail end of axis, the rack be located at gear, terminal pad and drive plate periphery, rotational hydraulic cylinder band carry-over bar is left
It moves right.
9. a kind of clamping according to claim 1 and conveying robot, it is characterised in that：In the basis arc finger library
The finger for including 5 kinds of shapes is respectively：Cylinder finger, conical surface finger, spherical surface finger, helicoid finger and vase face finger.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610421410.2A CN106426250B (en) | 2016-06-14 | 2016-06-14 | A kind of clamping and conveying robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610421410.2A CN106426250B (en) | 2016-06-14 | 2016-06-14 | A kind of clamping and conveying robot |
Publications (2)
| Publication Number | Publication Date |
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| CN106426250A CN106426250A (en) | 2017-02-22 |
| CN106426250B true CN106426250B (en) | 2018-10-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610421410.2A Active CN106426250B (en) | 2016-06-14 | 2016-06-14 | A kind of clamping and conveying robot |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106743497A (en) * | 2017-03-15 | 2017-05-31 | 台州职业技术学院 | A kind of grabber |
| CN107132728B (en) * | 2017-05-18 | 2024-03-26 | 苏州光舵微纳科技股份有限公司 | Full-automatic volume production type nano imprinting device |
| CN110605704A (en) * | 2019-10-10 | 2019-12-24 | 东北林业大学 | Auxiliary carrying device for wearable trays |
| CN116946691A (en) * | 2022-04-15 | 2023-10-27 | 纬创资通(重庆)有限公司 | Feeding device |
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| SE1450359A1 (en) * | 2014-03-28 | 2015-09-29 | Yaskawa Nordic Ab | Method of gripping a top bundle of flexible substrates by means of grippers on a two-armed robot |
| WO2015147725A1 (en) * | 2014-03-28 | 2015-10-01 | Yaskawa Nordic Ab | Method and robot cell for handling stacks of flexible substrates |
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| CN103476551A (en) * | 2010-11-10 | 2013-12-25 | 布鲁克斯自动化公司 | Dual arm robot |
| CN102152818A (en) * | 2011-03-16 | 2011-08-17 | 上海市七宝中学 | Robot suitable for omni-directionally moving on complex vertical face |
| CN202174584U (en) * | 2011-07-08 | 2012-03-28 | 武汉人天包装技术有限公司 | Absorption type clamping handgrip |
| CN202943629U (en) * | 2012-10-10 | 2013-05-22 | 丽水立谛科技有限公司 | Rescue robot with double mechanical arms |
| SE1450359A1 (en) * | 2014-03-28 | 2015-09-29 | Yaskawa Nordic Ab | Method of gripping a top bundle of flexible substrates by means of grippers on a two-armed robot |
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| CN106426250A (en) | 2017-02-22 |
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