CN107139197A - Robot vibration damping clamping device and based on the intelligent method for carrying of casing thereon - Google Patents
Robot vibration damping clamping device and based on the intelligent method for carrying of casing thereon Download PDFInfo
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- CN107139197A CN107139197A CN201710570359.6A CN201710570359A CN107139197A CN 107139197 A CN107139197 A CN 107139197A CN 201710570359 A CN201710570359 A CN 201710570359A CN 107139197 A CN107139197 A CN 107139197A
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- vibration damping
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- 238000013016 damping Methods 0.000 title claims abstract description 54
- 238000000034 method Methods 0.000 title claims abstract description 24
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- 238000010168 coupling process Methods 0.000 claims abstract description 18
- 238000005859 coupling reaction Methods 0.000 claims abstract description 18
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- 241000237858 Gastropoda Species 0.000 claims description 5
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- 244000043261 Hevea brasiliensis Species 0.000 claims description 4
- 239000012752 auxiliary agent Substances 0.000 claims description 4
- 238000010077 mastication Methods 0.000 claims description 4
- 229920003052 natural elastomer Polymers 0.000 claims description 4
- 229920001194 natural rubber Polymers 0.000 claims description 4
- 239000002994 raw material Substances 0.000 claims description 4
- 210000003462 vein Anatomy 0.000 claims description 4
- 239000006096 absorbing agent Substances 0.000 claims description 3
- 229920001971 elastomer Polymers 0.000 claims description 3
- 239000005060 rubber Substances 0.000 claims description 3
- 238000005303 weighing Methods 0.000 claims description 3
- 230000015572 biosynthetic process Effects 0.000 claims 1
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- 239000005061 synthetic rubber Substances 0.000 description 3
- 238000012546 transfer Methods 0.000 description 3
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- 230000003313 weakening effect Effects 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
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- 238000005461 lubrication Methods 0.000 description 1
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Classifications
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- 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
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/0213—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by gears
-
- 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
-
- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of robot vibration damping clamping device and based on the intelligent method for carrying of casing thereon, the robot vibration damping clamping device is made up of motor, transmission device and clamping jaw, and transmission device includes worm-and-wheel gear, tyre coupling and belt gear；Motor connects the small band wheel shaft of belt gear by tyre coupling, and big belt wheel axle and the worm screw in worm-and-wheel gear of belt gear are structure as a whole；Worm screw drives 2 clamping jaws to act simultaneously by 2 symmetrically arranged worm gears, and clamping jaw is structure as a whole with corresponding worm gear, and Anti-skid shock-absorbing pad is respectively equipped with the inside of the clamping face of clamping jaw；Said structure makes vibration damping clamping device have bit shift compensation, overload protection, revesal self-locking and Anti-skid shock-absorbing characteristic.The present invention adds a variety of flexible members to keep its damping property in clamping device；Overload protection performance is realized using belt gear simultaneously, and realizes the function of intelligent robot selection transportation different weight casing on this basis.
Description
Technical field
The present invention relates to Industrial Robot Technology field, more particularly to a kind of robot vibration damping clamping device and based on thereon
The intelligent method for carrying of casing.
Background technology
Today's society, the application of industrial robot is more and more extensive.For manufacturing industry, industrial robot is (particularly
Transfer robot) application be realize automation essential condition.Now common transfer robot largely uses hydraulic pressure
Transmission, its clamping force is big, and bearing capacity is strong；But have the disadvantage complicated, cost is higher, and easily produce leakage.It is special at some
In the case of fixed, transfer robot will control the size of its clamping force, in the manufacturing shop of the precision component such as in bearing, and it is wrapped
The size of mounted box is about 100mm × 100mm × 100mm, clamps thing weight≤6kg, and very big clamping force can not be used during carrying, because
Conference folder rascal mounted box surface is crossed for clamping force, or even hurts internal workpiece.Meanwhile, these precision components are in handling process
Also especially to pay attention to there can not be big vibration to go out power.
Open notification number is authorized to disclose a kind of " carrying clamping device and its in threeway for CN103057955B Chinese patent
Application in valve handling process ", authorizes open notification number to disclose a kind of " empty carton for CN104150026B Chinese patent
Clamping device ", authorizes open notification number to disclose a kind of " trolley wire climbing robot for CN101554891B Chinese patent
Clamping device ", such clamping device is generally using driving hydraulic cylinder/cylinder, motor or spring as power accumulator, with single-stage tooth
Rack, belt and linkage mechanism are taken turns as common transmission mechanism, clipping operation can be carried out to different targets, but
Have the disadvantage that Hydraulic Elements easily produce disclosure risk, and clamping force is not easily controlled, it is easily even interior to cartridge inner surface
Portion's workpiece causes damage；Clamping ends part is in the majority with hardware simultaneously, because metal clamping end piece and target are direct
Contact, and lack flexible member etc. in whole device and have in the buffering structure such as absorbing, the course of work and clamp unstable phenomenon
Than more prominent.
In addition, in some occasions of such as finished product composing room, the various casings equipped with different parts have different weight,
Sometimes weight difference is larger, if carried using the robot of unified specification, when the rated load of robot is less than casing
During weight, easily the transmission mechanism of robotic gripping apparatus is caused to damage, such as robot is all designed by maximum rated load,
Equipment investment and operating cost certainly will be increased again.
Therefore, design it is a can be on the premise of ensureing to clamp and carrying function, it is ensured that appropriate clamping force and carried
The robot vibration damping clamping device of the steady reliability of journey, and the intelligence carrying of actual casing just seems very heavy on this basis
Will.
The content of the invention
The invention provides a kind of robot vibration damping clamping device and based on the intelligent method for carrying of casing thereon, in clamping
A variety of flexible members are added in device to keep its damping property；Meanwhile, overload protection performance is realized using belt gear,
And the function of intelligent robot selection transportation different weight casing is realized on this basis.
In order to achieve the above object, the present invention is realized using following technical scheme：
Robot vibration damping clamping device, is made up of motor, transmission device and clamping jaw, and transmission device includes worm and gear machine
Structure, motor output shaft connects 2 symmetrically arranged clamping jaws by transmission device, clamping jaw is rotated folding around symmetrical centre and realizes folder
Tight and release action；Also include tyre coupling and belt gear in the transmission device；The motor is joined by tire
Axle device connects the small band wheel shaft of belt gear, and big belt wheel axle and the worm screw in worm-and-wheel gear of belt gear are
Integrative-structure；Worm screw drives 2 clamping jaws to act simultaneously by 2 symmetrically arranged worm gears, and clamping jaw is integrated with corresponding worm gear
Anti-skid shock-absorbing pad is respectively equipped with the inside of structure, the clamping face of 2 clamping jaws；Said structure makes vibration damping clamping device have displacement benefit
Repay, overload protection, revesal self-locking and Anti-skid shock-absorbing characteristic.
The motor is threephase asynchronous machine.
Belt in the belt gear uses Y type V bands.
The belt gear and worm-and-wheel gear are placed in the casing of closing.
The worm gear is worm sector.
The Anti-skid shock-absorbing pad is using synthetic rubber, natural rubber, auxiliary agent and inserts as raw material, through over-mastication and mixing
Compressing, its surface layout has anti-slip veins.
The intelligent method for carrying of casing based on the robot vibration damping clamping device, it is adaptable to using robot automatic transporting
Occasion equipped with different weight goods casing；Comprise the following steps：
1) robot of multiple different models is delivered simultaneously in freight house, each model robot is used to carry different weight
Casing, and according to motor, transmission device and the clamping jaw of specified carrying configuration of load different model and specification；
2) before the automatic traveling of robot a to casing to be handled, opened by control system control clamping jaw more than casing width
Direction size, then inwardly closes up and is adjacent to casing both sides again, and clamps casing by default pre- clamping force in control system；
3) robot lifting mechanism drives vibration damping clamping device to move upwards, while the motor of vibration damping clamping device continues to transport
Row applies bigger clamping force；Such as box weight is more than default specified carrying load in control system, then belt gear
In belt slippage, casing deadweight more than clamping jaw chucking power, now casing remain in original place, not with vibration damping clamping device
Rise；Such as box weight is less than or equal to default specified carrying load in control system, then belt gear plays deceleration transmission
Effect, clamping force is delivered on clamping jaw by worm-and-wheel gear, casing is lifted from ground, then will by weighing sensor
Box weight value feeds back to robot control system, then applies appropriate to casing by clamping jaw in motor control clamping vibration absorber
Chucking power, prevent from damaging casing and article therein because chucking power is excessive；
4) when not lifting casing, robot control system judges to lift by the feedback signal of belt slippage
Failure, then control 2 clamping jaws to unclamp, and vibration damping clamping device is kept in the center, and then moves at next casing to be handled and repeats
Step 2) -3)；
5) for the successful robot of box body lifting, casing is transported to specified location according to instruction, then repeat step
2) carrying of next casing -3) is carried out；In casing handling process, by tyre coupling, belt gear and anti-skidding subtract
Shake and pad existing function of vibration and damping characteristic, self-locking property is ensured by worm-and-wheel gear, so that handling process is more put down
It is steady reliable.
Compared with prior art, the beneficial effects of the invention are as follows：
1) tyre coupling used is a kind of highly elastic shaft coupling, with the tire being made up of rubber and rubber fabric
Shape flexible member, connects two half a couplers with bolt by tyre ring to realize and vulcanization side is used on the inside of the connection of two axles, tyre ring
Method is Nian Jie with steel skeleton integral, transmits torque by frictional force, there is larger displacement compensation capability and good weakening
Ability, there is a good damping, and the effect of the vibration isolation range of decrease becomes apparent from, and is not required to lubrication, durable reliable, assembly and disassembly and easy to maintenance, fits
In having shock and vibration, rotating changeable and start frequently condition of work；
2) tape handler being made up of major parts such as small pulley, belt and big belt wheels is flat with compact conformation, transmission
Surely, the advantage that cheap gentle suction is shaken, it is most important that overload protection can be realized, i.e., when working end load excessive,
Can occur the function of skidding and play overload protection and selectivity carrying casing；
3) worm-and-wheel gear being made up of worm and worm wheel, compared with gear drive, with gearratio it is accurate, use the longevity
Life is long, it is safe and reliable the advantages of, meanwhile, Worm Wheel System can between two wrong axles of space intersection transmission motion and
Power is its outstanding feature, and the angle that two axial lines are interlocked can be arbitrary value, and the angle generally used is 90 °, worm and gear
Transmission is applied to the occasion compared with big speed ratio, and the self-locking performance of revesal is its maximum feature, make clamping device can realize self-locking and
Ensure the functional reliability clamped；
4) clamping jaw open and close type executing agency is constituted by clamping jaw and Anti-skid shock-absorbing pad, wherein Anti-skid shock-absorbing pad with synthetic rubber,
Natural rubber, auxiliary agent and inserts are raw material, and compressing through over-mastication and mixing, its surface layout has anti-slip veins, with slow
Suction is shaken and anti-skidding characteristic, ensures security reliability and stationarity in clamping process；
5) vibration damping clamping device is constituted by tyre coupling, belt gear and the partial elastic structure of Anti-skid shock-absorbing pad three
Vibration-proof structure, with good weakening ability and damping characteristic, effectiveness in vibration suppression becomes apparent from, and work is more steady reliable；
6) the intelligent method for carrying of the casing based on vibration damping clamping device, different size robot can voluntarily select to be adapted to carrying
Casing, and appropriate clamping force is applied according to box weight, on the premise of ensureing that safety and steady is carried, can also reduce equipment
Input, reduction operation and maintenance cost；
7) big belt wheel axle and worm screw use integrated design, and worm gear uses integrated design with clamping jaw, and advantage is that structure is tight
Gather, intensity is good, trouble point is few.
Brief description of the drawings
Fig. 1 is the dimensional structure diagram of robot vibration damping clamping device of the present invention.
Fig. 2 is the sectional view one (main view) of robot vibration damping clamping device of the present invention.
Fig. 3 is the sectional view two (vertical view) of robot vibration damping clamping device of the present invention.
Fig. 4 is the structural representation of small band wheel shaft of the present invention.
Fig. 5 is the schematic diagram of big belt wheel axle of the present invention and worm screw integral structure.
Fig. 6 is the schematic diagram of worm gear of the present invention and clamping jaw integral structure.
In figure：1. worm gear shaft end 3. tyre coupling of boring cover, 4. small band axle end transparent cover, 5. belts 6. of motor 2. are small
Covered on the clamping jaw of 7. small pulley of belt shaft, 8. 9. big belt wheel of small band axle end boring cover, 10. big belt wheel axle worm screw integral piece 11.
12. the worm shaft end cap of 16. lower box of worm gear clamping jaw integral piece 13. vibration damping slipmat, 14. middle housing, 15. upper box 17.
18th, the deep groove ball bearing of 19. sleeve of angular contact ball bearing, 20. flat key, 21. worm-wheel shaft, 22. seal washer 23.
Embodiment
The embodiment to the present invention is described further below in conjunction with the accompanying drawings：
As shown in Figure 1-Figure 3, robot vibration damping clamping device of the present invention, by motor 1, transmission device and set of jaws
Into transmission device includes worm-and-wheel gear, and motor output shaft connects 2 symmetrically arranged clamping jaws by transmission device, makes folder
Pawl rotates folding around symmetrical centre and realizes clamping and release action；Also include tyre coupling 3 and belt in the transmission device
Transmission mechanism；The motor 1 connects the small band wheel shaft 6 (as shown in Figure 4) of belt gear, belt by tyre coupling 3
The big belt wheel axle of transmission mechanism is structure as a whole (sequence number 10 shown in Fig. 5) with the worm screw in worm-and-wheel gear；Worm screw passes through 2
Individual symmetrically arranged worm gear drives the action of 2 clamping jaws simultaneously, and clamping jaw is structure as a whole (sequence number shown in Fig. 6 with corresponding worm gear
12), it is respectively equipped with Anti-skid shock-absorbing pad 13 on the inside of the clamping face of 2 clamping jaws；Said structure makes vibration damping clamping device have displacement benefit
Repay, overload protection, revesal self-locking and Anti-skid shock-absorbing characteristic.
The motor 1 is threephase asynchronous machine.
Belt 5 in the belt gear uses Y type V bands.
The belt gear and worm-and-wheel gear are placed in the casing of closing.
The worm gear is worm sector.
The Anti-skid shock-absorbing pad 13 is using synthetic rubber, natural rubber, auxiliary agent and inserts as raw material, through over-mastication and mixed
Refining is compressing, and its surface layout has anti-slip veins.
The intelligent method for carrying of casing based on the robot vibration damping clamping device, it is adaptable to using robot automatic transporting
Occasion equipped with different weight goods casing；Comprise the following steps：
1) robot of multiple different models is delivered simultaneously in freight house, each model robot is used to carry different weight
Casing, and according to motor, transmission device and the clamping jaw of specified carrying configuration of load different model and specification；
2) before the automatic traveling of robot a to casing to be handled, opened by control system control clamping jaw more than casing width
Direction size, then inwardly closes up and is adjacent to casing both sides again, and clamps casing by default pre- clamping force in control system；
3) robot lifting mechanism drives vibration damping clamping device to move upwards, while the motor 1 of vibration damping clamping device continues
Operation applies bigger clamping force；Such as box weight is more than default specified carrying load in control system, then belt drive
Belt 5 in structure skids, and casing deadweight is more than the chucking power of clamping jaw, and now casing remains in original place, not with vibration damping clamping device
Rise；Such as box weight is less than or equal to default specified carrying load in control system, then belt gear plays deceleration transmission
Effect, clamping force is delivered on clamping jaw by worm-and-wheel gear, casing is lifted from ground, then by weighing sensor
Box weight value is fed back into robot control system, then casing applied by clamping jaw in the control clamping vibration absorber of motor 1
Appropriate chucking power, prevents from damaging casing and article therein because chucking power is excessive；
4) when not lifting casing, robot control system judges to lift by the feedback signal of belt slippage
Failure, then control 2 clamping jaws to unclamp, and vibration damping clamping device is kept in the center, and then moves at next casing to be handled and repeats
Step 2) -3)；
5) for the successful robot of box body lifting, casing is transported to specified location according to instruction, then repeat step
2) carrying of next casing -3) is carried out；In casing handling process, by tyre coupling 3, belt gear and anti-skidding subtract
The pad 13 that shakes realizes function of vibration and damping characteristic, ensures self-locking property by worm-and-wheel gear, so that handling process is more
It is steady reliable.
Following examples are implemented lower premised on technical solution of the present invention, give detailed embodiment and tool
The operating process of body, but protection scope of the present invention is not limited to following embodiments.Method therefor is such as without spy in following embodiments
It is conventional method not mentionlet alone bright.
【Embodiment】
As shown in Figure 1-Figure 3, in the present embodiment, robot vibration damping clamping device includes motor 1 (threephase asynchronous machine), snail
Axle end boring cover 2, tyre coupling 3, small band axle end transparent cover 4, belt 5 (Y type V bands), small band wheel shaft 6, small pulley 7, small band
Axle end boring cover 8, big belt wheel 9, big belt wheel axle worm screw integral piece 10, lid 11, worm gear clamping jaw integral piece 12, vibration damping are anti-skidding on clamping jaw
Pad 13, middle housing 14, upper box 15, lower box 16, worm shaft end cap 17, angular contact ball bearing 18, sleeve 19, flat key 20,
Worm-wheel shaft 21, seal washer 22, deep groove ball bearing 23.
The transmission device being made up of belt gear and worm-and-wheel gear is arranged in the casing of closing, and casing is casting
Part, is made up of upper box 15, middle housing 14 and the part of lower box 16 3, and the profile of upper box 15 is semicylinder, intermediate box
The profile of body 14 and lower box 16 is to be fixedly connected between cuboid, each casing of mutual cooperation by bolt, motor 1
The side of middle housing 14 is secured by bolts in, all moving components of transmission device are moistened by lubricating grease and lubricating oil
It is sliding.
The clamping force that clamping jaw is applied to casing both sides in worm gear clamping jaw integral piece 12 is design transfer robot clamping device
Main Basiss, it is necessary to the application point of the size of power, direction and power is analyzed and calculated, clamping force is allowed for gram
The dead load (inertia force or moment of inertia) produced by casing gravity is taken, to ensure that casing is in solid and reliable clamped condition,
It is unlikely to cause damage to casing and interior items again simultaneously.In the present embodiment, if weight≤6kg of institute's carrying casing, it is necessary to
Maximum clamping force be 86N, the motor 1 of vibration damping clamping device selects YS series three phase asynchronous machines, and power is 25W, rotating speed
1400r/min。
The output campaign of motor 1 and power, pass through tyre coupling 3, small band wheel shaft 6, small pulley 7, belt 5 and big belt wheel 9
Big belt wheel axle worm screw integral piece 10 is delivered to, the gearratio of belt gear is 2.8, and belt speed is 1.5m/s, in large and small belt wheel
The heart is away from for 116mm.Big belt wheel axle and worm screw are integrated part, between small pulley 7 and small band wheel shaft 6, big belt wheel and big belt wheel axle snail
Connected between bar integral piece 10 and by flat key 20 and be driven respectively between worm-wheel shaft 21 and worm gear clamping jaw integral piece 12, worm gear snail
The gearratio of linkage is 62, and centre-to-centre spacing is 40mm, and the head number of worm screw is 1, and the number of teeth of worm sector is 20.
It is fixed that small band wheel shaft 6, big belt wheel axle worm screw integral piece 10 and worm-wheel shaft 21 carry out axially auxiliary by sleeve 19 respectively
Position, the two ends of small band wheel shaft 6 are arranged between upper box 15 and middle housing 14 by deep groove ball bearing 23, big belt wheel axle worm screw one
The two ends of body part 10 are arranged between middle housing 14 and lower box 16 by angular contact ball bearing 18, and the two ends of worm-wheel shaft 21 pass through angle
Contact ball bearing 18 is arranged between upper box 15 and middle housing 14, and wherein the bearing symbol of deep groove ball bearing 23 is 619-6,
The bearing symbol of angular contact ball bearing 18 is 7000AC.
The worm gear clamping jaw integral piece 12 rotated around worm-wheel shaft 21, its worm gear and clamping jaw integrally casting shaping, big belt wheel axle snail
Bar integral piece 10 is 90 degree with the alternate angle of worm-wheel shaft 21, and lid 11 combines vibration damping slipmat 13 and clamping jaw on clamping jaw, and
It is bolted.
The operation principle of robot vibration damping clamping device is：The output speed of motor 1 and torque, pass through tyre coupling 3, band
Dynamic small band wheel shaft 6 rotates, and small pulley 7 thereon drives big belt wheel 9 and the deceleration of big belt wheel axle worm screw integral piece 10 to revolve by belt 5
Turn, worm screw and worm sector intermeshing make worm gear be rotated around worm-wheel shaft 21, drive clamping jaw and vibration damping slipmat 13 to rotate together,
Realize folding i.e. clamping, release action.
Tyre coupling 3, belt gear and vibration damping slipmat 13 belong to elastomeric element, with displacement compensation capability
It is gentle to suction the function of shaking, the characteristic skidded when wherein belt gear also has excess load so as to play the work of overload protection
With, meanwhile, if when prominent chance power-off, worm-and-wheel gear has revesal self-locking feature, can in handling process
Ensure that casing, all the time in clamped condition without unclamping, plays a part of preventing casing from dropping, it is ensured that casing handling process it is flat
Stability and security reliability.
The foregoing is only a preferred embodiment of the present invention, but protection scope of the present invention be not limited thereto,
Any one skilled in the art the invention discloses technical scope in, technique according to the invention scheme and its
Inventive concept is subject to equivalent substitution or change, should all be included within the scope of the present invention.
Claims (7)
1. robot vibration damping clamping device, is made up of motor, transmission device and clamping jaw, transmission device includes worm-and-wheel gear,
Motor output shaft connects 2 symmetrically arranged clamping jaws by transmission device, clamping jaw is rotated folding around symmetrical centre and realizes clamping
With release action；Characterized in that, also including tyre coupling and belt gear in the transmission device；The motor leads to
Cross in the small band wheel shaft that tyre coupling connects belt gear, the big belt wheel axle and worm-and-wheel gear of belt gear
Worm screw be structure as a whole；Worm screw drives 2 clamping jaws to act simultaneously by 2 symmetrically arranged worm gears, and clamping jaw and corresponding snail
Wheel is structure as a whole, and Anti-skid shock-absorbing pad is respectively equipped with the inside of the clamping face of 2 clamping jaws；Said structure has vibration damping clamping device
Bit shift compensation, overload protection, revesal self-locking and Anti-skid shock-absorbing characteristic.
2. robot vibration damping clamping device according to claim 1, it is characterised in that the motor is phase asynchronous electricity
Machine.
3. robot vibration damping clamping device according to claim 1, it is characterised in that the skin in the belt gear
Band uses Y type V bands.
4. robot vibration damping clamping device according to claim 1, it is characterised in that the belt gear and worm gear
Worm mechanism is placed in the casing of closing.
5. robot vibration damping clamping device according to claim 1, it is characterised in that the worm gear is worm sector.
6. robot vibration damping clamping device according to claim 1, it is characterised in that the Anti-skid shock-absorbing pad is with synthesis
Rubber, natural rubber, auxiliary agent and inserts are raw material, and compressing through over-mastication and mixing, its surface layout has anti-slip veins.
7. the intelligent method for carrying of the casing based on robot vibration damping clamping device described in claim 1, it is adaptable to use robot
Automatic transporting is equipped with the occasion of different weight goods casing；It is characterised in that it includes following steps：
1) robot of multiple different models is delivered simultaneously in freight house, each model robot is used for the case for carrying different weight
Body, and according to motor, transmission device and the clamping jaw of specified carrying configuration of load different model and specification；
2) before the automatic traveling of robot a to casing to be handled, opened by control system control clamping jaw more than casing width
Size, then inwardly closes up and is adjacent to casing both sides again, and clamps casing by default pre- clamping force in control system；
3) robot lifting mechanism drives vibration damping clamping device to move upwards, while the motor of vibration damping clamping device is continued to run with and applied
Plus bigger clamping force；Such as box weight is more than default specified carrying load in control system, then in belt gear
Belt slippage, casing deadweight is more than the chucking power of clamping jaw, and now casing remains in original place, does not rise with vibration damping clamping device；Such as
Box weight is less than or equal to default specified carrying load in control system, then belt gear plays deceleration transmission,
Clamping force is delivered on clamping jaw by worm-and-wheel gear, casing is lifted from ground, then by weighing sensor by casing
Gravimetric value feeds back to robot control system, then clamps the folder appropriate to casing application of clamping jaw in vibration absorber by motor control
Holding force, prevents from damaging casing and article therein because chucking power is excessive；
4) when not lifting casing, robot control system judges that lifting is lost by the feedback signal of belt slippage
Lose, then control 2 clamping jaws to unclamp, vibration damping clamping device is kept in the center, then move at next casing to be handled and repeat to walk
Rapid 2) -3)；
5) for the successful robot of box body lifting, casing is transported to specified location according to instruction, then repeat step 2) -3)
Carry out the carrying of next casing；In casing handling process, padded by tyre coupling, belt gear and Anti-skid shock-absorbing
Existing function of vibration and damping characteristic, self-locking property is ensured by worm-and-wheel gear, so that handling process is more steady reliable.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710570359.6A CN107139197B (en) | 2017-07-13 | 2017-07-13 | Robot vibration reduction clamping device and intelligent box body carrying method based on same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710570359.6A CN107139197B (en) | 2017-07-13 | 2017-07-13 | Robot vibration reduction clamping device and intelligent box body carrying method based on same |
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| Publication Number | Publication Date |
|---|---|
| CN107139197A true CN107139197A (en) | 2017-09-08 |
| CN107139197B CN107139197B (en) | 2023-05-05 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710570359.6A Active CN107139197B (en) | 2017-07-13 | 2017-07-13 | Robot vibration reduction clamping device and intelligent box body carrying method based on same |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| CN113478516A (en) * | 2021-06-03 | 2021-10-08 | 北京思灵机器人科技有限责任公司 | Clamping jaw device and file grabbing equipment |
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| CN115402989A (en) * | 2022-08-31 | 2022-11-29 | 中元汇吉生物技术股份有限公司 | Embrace and press from both sides mechanism, closing cap device and laboratory automation system |
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