CN108098813B

CN108098813B - Plate-shaped object clamping mechanism for transfer robot

Info

Publication number: CN108098813B
Application number: CN201711431745.3A
Authority: CN
Inventors: 班书昊; 李晓艳; 何云松
Original assignee: Changzhou University
Current assignee: Changzhou University
Priority date: 2017-12-26
Filing date: 2017-12-26
Publication date: 2021-04-27
Anticipated expiration: 2037-12-26
Also published as: CN108098813A

Abstract

The invention discloses a plate-shaped object clamping mechanism for a transfer robot, and belongs to the field of robots. The device comprises a connecting piece which can be connected with a robot arm, a steel wire rope A and a steel wire rope B which can freely pass through a slip ring to be connected with the lower end of the connecting piece, and a locking device A and a locking device B which are arranged on a U-shaped frame main body, wherein the upper ends of the locking devices A and B are respectively connected with the lower end of the steel wire rope A and the lower end of the steel wire rope B; the locking device A and the locking device B are symmetrically arranged on two sides of the U-shaped frame main body and have the same structure. The plate-shaped object clamping mechanism is simple and reasonable in structure, has zero energy consumption, clamps vertical plate-shaped objects more safely and reliably, and can be used for a transfer robot.

Description

Plate-shaped object clamping mechanism for transfer robot

Technical Field

The invention mainly relates to the field of robots, in particular to a plate-shaped object clamping mechanism for a transfer robot.

Background

The transportation of slabby thing is the most common application of transfer robot, and prior art's transfer robot all adopts power device to realize the centre gripping, and the centre gripping dynamics is difficult to control, and the power consumption is big, and when being held the thing very heavy moreover, handling process stability is relatively poor. For this reason, it is necessary to design an energy-saving type plate object clamping mechanism to be applied to a transfer robot.

Disclosure of Invention

The technical problems to be solved by the invention are as follows: aiming at the technical problems in the prior art, the invention provides the plate-shaped object clamping mechanism which has a simple and reasonable structure, can clamp the vertical plate-shaped object without consuming external energy, is safer and more reliable in clamping, and can be used for a transfer robot.

In order to solve the problems, the solution proposed by the invention is as follows: a plate object clamping mechanism for a carrying robot comprises a connecting piece, a steel wire rope A, a steel wire rope B, a locking device A and a locking device B, wherein the connecting piece can be connected with a robot arm, the steel wire rope A and the steel wire rope B can freely penetrate through a sliding ring to be connected with the lower end of the connecting piece, and the locking device A and the locking device B are arranged on a U-shaped frame main body, and the upper end of the locking device A is respectively connected with the lower end of the steel wire rope.

The locking device A and the locking device B are symmetrically arranged on two sides of the U-shaped frame main body, are completely the same in structure and respectively comprise a lifting moving rack capable of lifting relative to the U-shaped frame main body, a driving gear in meshing transmission with the lifting moving rack, a driven gear in meshing transmission with the driving gear, an X-direction moving rack in meshing transmission with the driven gear and moving along the X direction in the horizontal plane relative to the U-shaped frame main body, an elastic cushion capable of generating obvious elastic deformation arranged at one end of the X-direction moving rack, and a tensile spiral spring with one end connected with the U-shaped frame main body and the other end connected with the lower end of the lifting moving rack.

Furthermore, the transmission ratio of the driving gear to the driven gear is 3-5.

Further, a plate-shaped object to be clamped is placed in the center of the U-shaped frame main body, and the plate-shaped object is a rectangular flat plate.

Furthermore, when the tensile force borne by the connecting piece is zero, the tensile spiral spring can automatically recover to a zero stress state, and the horizontal distance between the two elastic cushions is more than 2 times of the thickness of the rectangular flat plate.

Compared with the prior art, the invention has the following advantages and beneficial effects:

the plate-shaped object clamping mechanism for the transfer robot is provided with the locking device A and the locking device B, when the rectangular flat plate is lifted away from the ground, the tensile spiral spring stores elastic potential energy, and the rectangular flat plate is automatically clamped by means of gravity; when the rectangular flat plate is lifted and lowered to the ground, the tensile spiral spring releases elastic potential energy to drive the locking device A and the locking device B to synchronously move outwards to loosen the rectangular flat plate. Therefore, the clamping device has a simple and reasonable structure, can clamp the vertical plate-shaped object without consuming external energy, and is safer and more reliable when the clamped object is heavier.

Drawings

Fig. 1 is a schematic view showing a structure of a plate-like object holding mechanism for a transfer robot according to the present invention before holding a tile.

Fig. 2 is a schematic view showing a structure of a plate-like object holding mechanism for a transfer robot according to the present invention after holding a tile.

In the drawings, 1 — connecting piece; 10-a slip ring; 21-steel wire rope A; 22-steel cord B; 3-a U-shaped frame body; 41-lifting moving rack; 42-a drive gear; 43 — a driven gear; 44-X direction moving rack; 45-elastic cushion; 46-tensile helical spring; 5-rectangular flat plate.

Detailed Description

The invention will be described in further detail below with reference to the accompanying drawings and specific embodiments.

Referring to fig. 1 and 2, the plate-shaped object clamping mechanism for a transfer robot according to the present invention includes a connecting member 1 connectable to a robot arm, a wire rope a21 and a wire rope B22 connected to a lower end of the connecting member 1 and capable of freely passing through a slip ring 10, and a locking device a and a locking device B installed on a U-shaped frame body 3 and having upper ends connected to a lower end of a wire rope a21 and a lower end of a wire rope B22, respectively.

Referring to fig. 1 and 2, the locking device a and the locking device B are symmetrically installed on two sides of the U-shaped frame body 3, and have the same structure, and each of the locking devices a and B includes a lifting moving rack 41 capable of lifting relative to the U-shaped frame body 3, a driving gear 42 engaged with the lifting moving rack 41, a driven gear 43 engaged with the driving gear 42, an X-direction moving rack 44 engaged with the driven gear 43 and moving in an X-direction along a horizontal plane relative to the U-shaped frame body 3, an elastic pad 45 installed at one end of the X-direction moving rack 44 and capable of undergoing significant elastic deformation, and a tensile coil spring 46 having one end connected to the U-shaped frame body 3 and the other end connected to the lower end of the lifting moving rack 41.

Referring to fig. 1 and 2, the transmission ratio of the driving gear 42 to the driven gear 43 is too small, and the elastic pad 45 is required to move the up-down moving rack 41 for a long distance to clamp the plate-shaped object; the transmission ratio of the driving gear 42 and the driven gear 43 is too large, which is not favorable for the tensile helical spring 46 to return to a zero stress state; preferably, the transmission ratio of the driving gear 42 to the driven gear 43 is 3-5.

Referring to fig. 1 and 2, preferably, a plate-shaped object to be clamped is placed in the center of the U-shaped frame main body 3, and the plate-shaped object is a rectangular flat plate 5.

Referring to fig. 1 and 2, preferably, when the tensile force applied to the connecting member 1 is zero, the tension coil spring 46 can automatically return to a zero-force state, and the horizontal distance between the two elastic pads 45 is more than 2 times the thickness of the rectangular flat plate 5.

The clamping working process and the working principle are as follows: firstly, a rectangular flat plate 5 or other plate-shaped objects are placed on a U-shaped frame main body 3, and the step can be realized by driving a connecting piece 1 to move by a robot; then, the robot drives the connecting piece 1 to move upwards, further drives the steel wire rope A21 and the steel wire rope B22 to move upwards along the sliding ring 10, and pulls the locking device A and the locking device B; the lifting moving rack 41 in the locking device A or the locking device B moves upwards to drive the driving gear 42 and the driven gear 43 to rotate in the positive direction, and further drive the X-direction moving rack 44 and the elastic pad 45 to move inwards until the elastic pad 45 generates certain elastic deformation to press the rectangular flat plate 5; because the elastic pads 45 in the locking device A and the locking device B move synchronously, even if the initial position of the rectangular flat plate 5 is not in the middle of the U-shaped frame main body 3, the rectangular flat plate 5 is pushed to the middle of the U-shaped frame main body 3 by the elastic pads 45, so that the clamping stability of the rectangular flat plate 5 is improved; the elevation movement rack 41 moves upward to pull the tension coil spring 46 connected to the lower end thereof to be extended, and the tension coil spring 46 stores elastic potential energy.

Loosening the working process and working principle: when the robot drives the connecting piece 1 to move to a destination, the U-shaped frame main body 3 and the rectangular flat plate 5 fall to the ground or a goods shelf, at the moment, the steel wire rope A21 and the steel wire rope B22 do not bear upward pulling force any more, and the tensile spiral spring 46 is enabled to contract and deform due to the fact that elastic potential energy is stored in the tensile spiral spring 46, so that the lifting moving rack 41 is driven to move downwards, the driving gear 42 and the driven gear 43 rotate reversely, the X-direction moving rack 44 and the elastic cushion 45 move outwards to be far away from the rectangular flat plate 5, the loosening process is achieved until the tensile spiral spring 46 returns to the initial length, namely, the zero-stress state.

Claims

1. The plate-shaped object clamping mechanism comprises a connecting piece (1) which can be connected with a robot arm, a steel wire rope A (21) and a steel wire rope B (22) which can freely pass through a sliding ring (10) and are connected with the lower end of the connecting piece (1), a locking device A which is arranged on a U-shaped frame main body (3) and is connected with the lower end of the steel wire rope A (21) at the upper end, and a locking device B which is connected with the lower end of the steel wire rope B (22) at the upper end, and is characterized in that:

the locking device A and the locking device B are symmetrically arranged on two sides of the U-shaped frame main body (3), are completely identical in structure and respectively comprise a lifting moving rack (41) capable of lifting relative to the U-shaped frame main body (3), a driving gear (42) in meshing transmission with the lifting moving rack (41), a driven gear (43) in meshing transmission with the driving gear (42), an X-direction moving rack (44) in meshing transmission with the driven gear (43) and moving along the X direction in the horizontal plane relative to the U-shaped frame main body (3), an elastic pad (45) which is arranged at one end of the X-direction moving rack (44) and can generate obvious elastic deformation, and a tensile spiral spring (46) of which one end is connected with the U-shaped frame main body (3) and the other end is connected with the lower end of the lifting moving rack (41).

2. The plate-like object gripping mechanism usable with a transfer robot according to claim 1, characterized in that: the transmission ratio of the driving gear (42) to the driven gear (43) is 3-5.

3. The plate-like object gripping mechanism usable with a transfer robot according to claim 1, characterized in that: a plate-shaped object to be clamped is placed in the center of the U-shaped frame main body (3), and the plate-shaped object is a rectangular flat plate (5).

4. The plate-like object gripping mechanism usable with a transfer robot according to claim 3, characterized in that: when the tensile force borne by the connecting piece (1) is zero, the tensile spiral spring (46) can automatically recover to a zero stress state, and the horizontal distance between the two elastic cushions (45) is more than 2 times of the thickness of the rectangular flat plate (5).