CN108100659A - A kind of end effector of robot for adapting to tight space bagged material and carrying - Google Patents
A kind of end effector of robot for adapting to tight space bagged material and carrying Download PDFInfo
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- CN108100659A CN108100659A CN201810096608.7A CN201810096608A CN108100659A CN 108100659 A CN108100659 A CN 108100659A CN 201810096608 A CN201810096608 A CN 201810096608A CN 108100659 A CN108100659 A CN 108100659A
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- arm axle
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- 239000000463 material Substances 0.000 title claims abstract description 51
- 239000012636 effector Substances 0.000 title claims abstract description 18
- 238000004519 manufacturing process Methods 0.000 claims abstract description 18
- 230000005540 biological transmission Effects 0.000 claims abstract description 14
- 210000000515 tooth Anatomy 0.000 claims description 107
- 125000006850 spacer group Chemical group 0.000 claims description 10
- 238000007689 inspection Methods 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 2
- 238000000034 method Methods 0.000 abstract description 8
- 238000010586 diagram Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 3
- 239000002994 raw material Substances 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 206010000372 Accident at work Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000007664 blowing Methods 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000004134 energy conservation Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000007634 remodeling Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
-
- 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
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0235—Containers
- B65G2201/0238—Bags
Abstract
A kind of end effector of robot for adapting to the carrying of tight space bagged material includes frame portions, wobble component, grabbing assembly and servopackage, frame portions are used to support wobble component, grabbing assembly, servopackage, and servopackage, wobble component drive grabbing assembly to be captured, dispensing action；Frame portions include upper mounted plate, range sensor；Servopackage includes servomotor, connecting shaft；Swing group include supporting plate, cylinder, rack, around arm axle, clutch gear；Grabbing assembly includes swing rod, connecting rod, connecting rod grasping teeth riser grasping teeth and grasping teeth transmission shaft.Its advantage is：Bagged material production, carrying, stacking etc. can be overcome fields labour intensive, narrow space, apparatus adaptability are poor, occupied space is big, is complicated, inefficiency the problems such as, realize the automation of Bag Material handling process；Production efficiency is improved, reduces production cost；Securely and reliably, rapidly and efficiently, for carrying narrow space, the heavy industry that works can be widely popularized whole process.
Description
Technical field
The invention belongs to robot building technical fields, and in particular to a kind of robot for adapting to tight space bagged material and carrying
End effector.
Background technology
In recent years, the industries such as feed, food experienced unprecedented rapid growth, however as raw material, logistics, battalion
The costs such as pin, manpower rise steadily, both at home and abroad the raising and industrial group to energy conservation and environmental protection requirement, the scale and world
The quickening of change process, the industry and enterprises such as feed, food are faced with the challenge of cost control and the updating and upgrading of a product.It consumes simultaneously
Person to product quality and it is diversified require it is higher and higher, production technology and equipment innovation it is also imperative.In modern industry,
Automation in production process has become prominent theme, and the automatization level of all trades and professions is higher and higher, modernizes processing cart
Between, automation equipment is often fitted with, to improve production efficiency, worker is completed and is difficult to work complete or dangerous.Especially in bag
It fills in the carryings of raw material, palletization, most of production line is based on artificial carry, and labor strength is big, industrial accident
Rate is high, inefficiency, adds the production management cost of the industries such as feed, food.In consideration of it, need to design it is a kind of adapt to it is compact
The mechanical device unit that space bagged material is carried solves bagged material labour intensive, the present situation of narrow space, so as to subtract significantly
Light manual labor improves production efficiency, reduces production cost.
The content of the invention
The technical problem to be solved by the present invention is to：It is packed to overcome the deficiencies of the prior art and provide a kind of adaptation tight space
The end effector of robot that material is carried.It can be directly used for the bagged material crawl on production line, smoothly send to target
Position from the limitation of space and position, adapts to carry space to the greatest extent, replaces manually carrying completely, pacify whole process
Entirely reliably, rapidly and efficiently, for carrying narrow space, the industry that working environment is severe, workload is heavy, can be widely popularized makes
With.
The technical solution adopted by the present invention to solve the technical problems is：It is a kind of to adapt to what tight space bagged material was carried
End effector of robot, it is characterised in that：Including frame portions, wobble component, grabbing assembly and servopackage, the frame body
Component is used to support the wobble component, the grabbing assembly, the servopackage, the servopackage, the wobble component
The grabbing assembly is driven to be captured, dispensing action；
The frame portions include upper mounted plate, section bar, fixed block, range sensor；The section bar is fixedly mounted on described
In fixed plate, strengthen the rigidity and intensity of fixed plate；The range sensor is mounted on the section bar；
The servopackage includes servomotor, retarder, flange connector, connecting shaft, deep groove ball bearing, thrust ball bearing；
Servomotor is fixed together with retarder, and passes through the connecting shaft and the deep-groove ball axis, the thrust ball axis connection；Institute
State deep-groove ball axis, the thrust ball axis is installed on the inside of the flange connector, the lower part fixation peace of the flange connector
Mounted in fixed plate centre；The servomotor by the retarder drive by the section bar with it is fixed
The rotary unit of plate composition, is suitable for different actual job operating modes, realizes that ± 360 ° of directions pick and place material, quickly puts into production；
The wobble component include supporting plate, grasping teeth cylinder, cylinder flange, Y-shaped connector, around arm link, pendulum tooth cylinder, rack, tooth
Guide plate, fixed plate, around arm axle, clutch gear, electromagnetic clutch；
The fixed plate is vertically fixedly mounted in four corners on the supporting plate, and the upper surface of the fixed plate connects the company
Connect the fixed plate in frame portions；The middle part of the supporting plate, backwards to the grasping teeth cylinder arranged symmetrically, two grasping teeths
The pendulum tooth cylinder is set between cylinder；
The grasping teeth cylinder is connected to by the cylinder flange on the supporting plate, and the grasping teeth cylinder gathers around that there are one can be around
The degree of freedom that cylinder flange rotates；It is worn in two symmetrical fixed plates described around arm axle, the piston of the grasping teeth cylinder
Bar is described around arm link by Y-shaped connector connection, described described around arm axle around arm link connection；Pass through the opening of grasping teeth cylinder
And closure, the gearing around arm axle is controlled, so as to drive the grasping movement of grabbing assembly；
The piston rod at the both ends of the pendulum tooth cylinder connects the rack respectively, and the guide plate of gear rack is buckled in the rack
On, the upper surface of the guide plate of gear rack connects fixed plate；One end of the rack by the guide plate of gear rack into
Row positioning, ensures direction of advance degree of freedom, limits remaining degree of freedom, the supporting plate is setting guide groove below arm axle, described
The other end of rack ensures direction of advance degree of freedom, limits remaining degree of freedom by the guide groove of the supporting plate；
The clutch gear is sheathed on described on arm axle, and gathers around that there are one can be around the degree of freedom rotated around arm axle, institute
Clutch gear is stated to be connected with grabbing assembly by pin hole；The pendulum tooth cylinder is nibbled by the rack and the clutch gear
It closes, the clutch gear connects the electromagnetic clutch；The electromagnetic clutch be mounted on it is described on arm axle, by putting tooth
The opening and closing of cylinder, the gearing of the control rack and the clutch gear, so as to drive the throwing of grabbing assembly
Put action；
The grabbing assembly includes swing rod, connecting rod, connecting rod grasping teeth, upper tie-beam, lower tie-beam, riser, riser grasping teeth and grabs
Tooth transmission shaft；One end of the swing rod is fixed on described around the end of arm axle, the other end and the upper tie-beam, the lower connection
Beam is fixedly connected；The clutch gear is connected by pin hole with one end of the connecting rod, the other end connection institute of the connecting rod
State connecting rod grasping teeth；
The connecting rod grasping teeth, the riser grasping teeth are connected to by the grasping teeth transmission shaft in the link slot of the riser, described
Grasping teeth transmission shaft gather around there are one around the riser rotate degree of freedom；The riser is uniformly distributed in groups, is equidistantly fixed on the upper company
It connects beam and on the lower tie-beam, the riser grasping teeth is uniformly distributed in groups, is equidistantly fixed on the grasping teeth transmission shaft, centre position
For connecting rod grasping teeth；
The front end sharpening forward directing material of the riser grasping teeth, the connecting rod grasping teeth；Grabbing assembly is by being fixed on arm axle
Around arm link, clutch gear, electromagnetic clutch synergy, realize that connecting rod grasping teeth, riser grasping teeth go out hook or receive to hook up and put
Material.
Preferably, the wobble component further includes clutch shaft bearing, and the clutch shaft bearing is arranged in the fixed plate
Endoporus in, described be arranged in around arm axle in the clutch shaft bearing is rotated.
Preferably, the wobble component further includes cylinder connection piece, key A, key B；The pendulum tooth cylinder passes through the gas
Cylinder connector is fixed on the supporting plate；It is described be fixed on around arm link by the key A it is described on arm axle；The key B will
Electromagnetic clutch is fixed on described on arm axle.
Preferably, the wobble component further includes spacer, Large lining and ringfeder, and the swing rod passes through the spacer, institute
State Large lining, the ringfeder be fixed on it is described around the end of arm axle；The Large lining is connected with the swing rod, and the ringfeder is arranged
In in the Large lining, the end sleeve around arm axle is arranged in the ringfeder, and the ringfeder is acted on by itself tensioner and is connected
It is the Large lining, described around arm axle；The spacer is sheathed on described around arm axle, the fixed Large lining of positioning.
Preferably, the frame portions further include range sensor stent, and the range sensor passes through range sensor
Stent is mounted on the section bar.
Preferably, the range sensor has three groups, is separately mounted to three corners of the section bar, realizes three directions
On material full inspection survey.
Preferably, the wobble component further includes second bearing, the institute that the clutch gear passes through its internal installation
Second bearing is stated to be connected around arm axle with described.
Preferably, the frame portions further include fixed block, and the fixed block is fixedly mounted on fixed plate, described
The corner of section bar.
Compared with prior art, the beneficial effects of the invention are as follows：The present invention can overcome bagged material production, carry, code
It is the fields such as pile labour intensive, narrow space, the problems such as apparatus adaptability is poor, occupied space is big, complicated, inefficiency, real
The automation of existing Bag Material handling process；The bagged material crawl on production line is can be directly used for, is smoothly sent to target position, from
Space and the limitation of position, crawl, de- material of putting are occupied little space, beat is efficient, is simultaneously using different control modes
System carries servomotor, it can be achieved that ± 360 ° of crawl materials；Small space fast removal is realized, adapts to carry to the greatest extent
Space replaces manually carrying completely；The degree of automation in production process is improved, improves working conditions, avoids personal injury, carry
High efficiency reduces production cost；Whole process securely and reliably, rapidly and efficiently, for carrying narrow space, dislike by working environment
Industry bad, workload is heavy can be widely used to promote.
Description of the drawings
Fig. 1 is the dimensional structure diagram of the embodiment of the present invention；
Fig. 2 is wobble component and grabbing assembly dimensional structure diagram in Fig. 1；
Fig. 3 is the top view of the wobble component and grabbing assembly in Fig. 2；
Fig. 4 is material grasping schematic diagram of the present invention；
Fig. 5 carries schematic diagram for the present invention；
Fig. 6 is blowing schematic diagram of the present invention.
In figure mark for：
1st, frame portions；10th, upper mounted plate；11st, section bar；12nd, fixed block；13rd, range sensor；
14th, range sensor stent；15th, fixed block；2nd, wobble component；21st, supporting plate；22nd, grasping teeth cylinder；23rd, cylinder flange；
24th, Y-shaped connector；25th, around arm link；26th, tooth cylinder is put；27th, rack；28th, the guide plate of gear rack；29th, fixed plate；
201st, around arm axle；202nd, clutch gear；203rd, electromagnetic clutch；206th, key A；207th, key B；208th, spacer；
209th, Large lining；210th, ringfeder；3rd, grabbing assembly；31st, swing rod；32nd, connecting rod；33rd, connecting rod grasping teeth；
34th, upper tie-beam；35th, lower tie-beam；36th, riser；37th, riser grasping teeth；38th, grasping teeth transmission shaft；4th, servopackage；41、
Servomotor；42nd, retarder；43rd, flange connector；44th, connecting shaft.
Specific embodiment
Embodiment below in conjunction with the accompanying drawings is described further the present invention：
Embodiment one
As shown in Figures 1 to 6, a kind of end effector of robot for adapting to tight space bagged material and carrying, including frame portions
1st, wobble component 2, grabbing assembly 3 and servopackage 4, frame portions 1 are used to support wobble component 2, grabbing assembly 3, servo group
Part 4；Frame portions 1 include upper mounted plate 10, section bar 11, fixed block 12, range sensor 13, range sensor stent 14, solid
Determine block 15；Wobble component 2 include supporting plate 21, grasping teeth cylinder 22, cylinder flange 23, Y-shaped connector 24, around arm link 25, pendulum tooth cylinder
26th, rack 27, the guide plate of gear rack 28, fixed plate 29, around arm axle 201, clutch gear 202, electromagnetic clutch 203, first axle
It holds, cylinder connection piece, key A206, key A, spacer 208, Large lining 209, ringfeder 210, second bearing；Grabbing assembly 3 includes pendulum
Bar 31, connecting rod 32, connecting rod grasping teeth 33, upper tie-beam 34, lower tie-beam 35, riser 36, riser grasping teeth 37, grasping teeth transmission shaft 38；
Servopackage 4 includes servomotor 41, retarder 42, flange connector 43, connecting shaft 44, deep groove ball bearing, thrust ball bearing；
Servopackage 4, wobble component 2 control the gearing around arm axle 201 by the opening and closing of grasping teeth cylinder 22, from
And drive the grasping movement of grabbing assembly 3；Servopackage 4, wobble component 2 are by putting the opening and closing of tooth cylinder 26, control
The gearing of rack 27 and clutch gear 202, so as to which the dispensing of grabbing assembly 3 be driven to act；Grabbing assembly 3 is included in groups
Uniformly distributed riser 36 and riser grasping teeth 37, riser 36 and connecting rod grasping teeth 33, riser grasping teeth 37 are attached using screw, and connecting rod is grabbed
The front end sharpening forward directing material of tooth 33, riser grasping teeth 37；Grabbing assembly 3 by be fixed on arm axle 201 around arm link
25th, clutch gear 202,203 synergy of electromagnetic clutch realize that connecting rod grasping teeth 33, riser grasping teeth 37 go out hook or receive hook,
Pick and place material.
Section bar 11 and fixed block 12 in frame portions 1 are fixed on upper mounted plate 10, and upper mounted plate 10 is led by rack
Wobble component 2 is connected to plate 28 and fixed plate 29；Totally three groups of range sensor 14 is mounted on type by range sensor stent 13
On material 11, realize that three direction material full inspections are surveyed.
Servomotor 41 is fixed together with retarder 42, and retarder 42 passes through connecting shaft 44 and deep-groove ball axis 45, thrust
Ball axis 46 connects；Deep-groove ball axis 45, thrust ball axis 46 are installed on the inside of flange connector 43, and the lower part of flange connector 43 is consolidated
Dingan County is mounted in the centre of the upper mounted plate 10 in frame portions 1；Servomotor 41 by retarder 42 drive by section bar 11,
The rotary unit that upper mounted plate 10 forms is suitable for different actual job operating modes, realizes that ± 360 ° of directions pick and place material, quick to throw
Enter production.
Fixed plate 29 in wobble component 2 totally four, the upper and lower end face of fixed plate 29 connect frame portions 1 and pendulum respectively
Dynamic component 2, clutch shaft bearing are mounted in the endoporus of fixed plate 29；21 outside of supporting plate is arranged in along substantially symmetrical about its central axis around arm axle 201,
Both ends are positioned by fixed plate 29, around arm axle 201 gather around there are one can around fixed plate 29 rotate degree of freedom.
Grasping teeth cylinder 22 is connected on supporting plate 21 by cylinder flange 23 along arrangement substantially symmetrical about its central axis, and gathers around that there are one can
The degree of freedom rotated around cylinder flange 23；Pendulum tooth cylinder 26 is fixed on by cylinder connection piece on supporting plate 21, grasping teeth cylinder 22
Piston rod front end is connected by Y-shaped connector 24 around arm link 25, is fixed on around arm link 25 by key A206 on arm axle 201；Key B
Electromagnetic clutch 203 is fixed on arm axle 201；The front end of the piston rod of 26 left and right ends of tooth cylinder is put, respectively tooth connection
Item 27；One end of pendulum tooth cylinder 26 is positioned by the guide plate of gear rack 28 being connected with upper mounted plate 10 in frame portions 1, is protected
Its direction of advance degree of freedom is demonstrate,proved, limits remaining degree of freedom；The other end of tooth cylinder 26 is put by the guide groove on supporting plate 21, is ensured
Direction of advance degree of freedom limits remaining degree of freedom.
Clutch gear 202 is engaged with rack 27, and the inside of clutch gear 202 is equipped with second bearing, clutch teeth
Wheel 202 by second bearing with being socketed around arm axle 201, clutch gear 202 gather around there are one can be around the freedom rotated around arm axle 201
Degree；Clutch gear 202 is connected by pin hole thereon with the connecting rod 32 in grabbing assembly 3, there are one clutch gear 202 is gathered around
The degree of freedom that can be rotated around 35 connecting shaft of connecting rod；Clutch gear 202 is combined into linkage unit, electromagnetism with electromagnetic clutch 203
Clutch 203 is fixed on arm axle 201.
When needing to capture material, clutch gear 202 and 203 locking of electromagnetic clutch, the connecting rod in grabbing assembly 3
32nd, clutch gear 202, electromagnetic clutch 203 and it is relatively fixed around arm axle 201, forms a rigid body；Put tooth cylinder 26 freely
Scaling drives integral-rotation by grasping teeth cylinder 22, grabbing assembly 3 is driven to capture material, at this time end effector by electromagnetism from
Grabbing assembly 3 is formed integral rigidity system by clutch 203；
When needing to launch material, clutch gear 202 is opened with electromagnetic clutch 203, connecting rod 32 in grabbing assembly 3, from
It clutch gear 202, electromagnetic clutch 203 and is relatively rotated around arm axle 201, grasping teeth cylinder 22 keeps stretching state, by pendulum tooth gas
Cylinder 26 drives clutch gear 202 that connecting rod 32 is driven to rotate, and individually opens riser grasping teeth 37, realizes that material is quickly launched, saves
Drop spaces, at this time end effector grabbing assembly 3 is formed by flexible autonomous system by electromagnetic clutch 203, it is compact-sized,
It captures solid and reliable.
Swing rod 31 in grabbing assembly 3 is fixed on by spacer 208, Large lining 209 and ringfeder 210 around the end of arm axle 201
Portion, Large lining 209 are connected with swing rod 31, and ringfeder 210 is sheathed in Large lining 209, and the end sleeve around arm axle 201 is arranged on ringfeder
In 210, ringfeder 210 acts on the Large lining 209 that is connected by itself tensioner, around arm axle 201；Spacer 208 is sheathed on around arm axle 201,
The fixed Large lining 209 of positioning.
Grabbing assembly 3 is two groups, and the two is along central shaft backwards to symmetrical；Riser 36 is uniformly distributed in groups, is equidistantly fixed on connection
On beam 34 and lower tie-beam 35, riser grasping teeth 37 is uniformly distributed in groups, is equidistantly fixed on grasping teeth transmission shaft 38, centre position is connecting rod
Grasping teeth 33, connecting rod grasping teeth 33 and riser grasping teeth 37 are connected to by grasping teeth transmission shaft 38 in the link slot of riser 36, grasping teeth transmission
Axis 38 is gathered around there are one the degree of freedom rotated around riser 36, and swing rod 34 is fixedly connected with upper tie-beam 37 and lower tie-beam 38.
The operation principle and the course of work of the present invention is as follows：
As shown in Figures 1 to 6, material grasping process：End effector of robot is placed in above bagged material, original state electromagnetic clutch
203 lockings, grabbing assembly 3 form an integrated model, connecting rod 32, clutch gear 202, electromagnetic clutch 203 and around arm axle
201 are relatively fixed, and form a rigid body, and riser 36 and connecting rod grasping teeth 33, riser grasping teeth 37 put tooth cylinder in 90 ° of rigid connections
26 freely scale, and drive integral-rotation by grasping teeth cylinder 22, grabbing assembly 3 is driven to capture material.
De- material process：As shown in Figure 5,6, when launching material, electromagnetic clutch 203 is opened, and grabbing assembly 3 forms two
There are rotational freedom, grasping teeth cylinder 22 keeps stretching state for flexible autonomous system, riser 36 and connecting rod grasping teeth 33, and riser 36 is quiet
Only motionless, pendulum tooth cylinder 26 is operated alone rack 27 and clutch gear 202 is driven to rotate, and connecting rod 32 is gradually opened, and drives connecting rod
Grasping teeth 33 rotates, and material is launched until, in 180 °, realizing that connecting rod grasping teeth 33 and riser grasping teeth 37 are individually swung with riser 36, then into
Row next round acts, and realizes that material is quickly launched, saves drop spaces.
The above described is only a preferred embodiment of the present invention, being not that the invention has other forms of limitations, appoint
What those skilled in the art changed or be modified as possibly also with the technology contents of the disclosure above equivalent variations etc.
Imitate embodiment.But it is every without departing from technical solution of the present invention content, technical spirit according to the invention is to above example institute
Any simple modification, equivalent variations and the remodeling made still fall within the protection domain of technical solution of the present invention.
Claims (8)
1. a kind of end effector of robot for adapting to tight space bagged material and carrying, it is characterised in that：Including frame portions,
Wobble component, grabbing assembly and servopackage, the frame portions are used to support the wobble component, the grabbing assembly, institute
Servopackage is stated, the servopackage, the wobble component drive the grabbing assembly to be captured, dispensing action；
The frame portions include upper mounted plate, section bar, fixed block, range sensor；The section bar is fixedly mounted on described
In fixed plate, strengthen the rigidity and intensity of fixed plate；The range sensor is mounted on the section bar；
The servopackage includes servomotor, retarder, flange connector, connecting shaft, deep groove ball bearing, thrust ball bearing；
Servomotor is fixed together with retarder, and passes through the connecting shaft and the deep-groove ball axis, the thrust ball axis connection；Institute
State deep-groove ball axis, the thrust ball axis is installed on the inside of the flange connector, the lower part fixation peace of the flange connector
Mounted in fixed plate centre；The servomotor by the retarder drive by the section bar with it is fixed
The rotary unit of plate composition, is suitable for different actual job operating modes, realizes that ± 360 ° of directions pick and place material, quickly puts into production；
The wobble component include supporting plate, grasping teeth cylinder, cylinder flange, Y-shaped connector, around arm link, pendulum tooth cylinder, rack, tooth
Guide plate, fixed plate, around arm axle, clutch gear, electromagnetic clutch；
The fixed plate is vertically fixedly mounted in four corners on the supporting plate, and the upper surface of the fixed plate connects the company
Connect the fixed plate in frame portions；The middle part of the supporting plate, backwards to the grasping teeth cylinder arranged symmetrically, two grasping teeths
The pendulum tooth cylinder is set between cylinder；
The grasping teeth cylinder is connected to by the cylinder flange on the supporting plate, and the grasping teeth cylinder gathers around that there are one can be around
The degree of freedom that cylinder flange rotates；It is worn in two symmetrical fixed plates described around arm axle, the piston of the grasping teeth cylinder
Bar is described around arm link by Y-shaped connector connection, described described around arm axle around arm link connection；Pass through the opening of grasping teeth cylinder
And closure, the gearing around arm axle is controlled, so as to drive the grasping movement of grabbing assembly；
The piston rod at the both ends of the pendulum tooth cylinder connects the rack respectively, and the guide plate of gear rack is buckled in the rack
On, the upper surface of the guide plate of gear rack connects fixed plate；One end of the rack by the guide plate of gear rack into
Row positioning, ensures direction of advance degree of freedom, limits remaining degree of freedom, the supporting plate is setting guide groove below arm axle, described
The other end of rack ensures direction of advance degree of freedom, limits remaining degree of freedom by the guide groove of the supporting plate；
The clutch gear is sheathed on described on arm axle, and gathers around that there are one can be around the degree of freedom rotated around arm axle, institute
Clutch gear is stated to be connected with grabbing assembly by pin hole；The pendulum tooth cylinder is nibbled by the rack and the clutch gear
It closes, the clutch gear connects the electromagnetic clutch；The electromagnetic clutch be mounted on it is described on arm axle, by putting tooth
The opening and closing of cylinder, the gearing of the control rack and the clutch gear, so as to drive the throwing of grabbing assembly
Put action；
The grabbing assembly includes swing rod, connecting rod, connecting rod grasping teeth, upper tie-beam, lower tie-beam, riser, riser grasping teeth and grabs
Tooth transmission shaft；One end of the swing rod is fixed on described around the end of arm axle, the other end and the upper tie-beam, the lower connection
Beam is fixedly connected；The clutch gear is connected by pin hole with one end of the connecting rod, the other end connection institute of the connecting rod
State connecting rod grasping teeth；
The connecting rod grasping teeth, the riser grasping teeth are connected to by the grasping teeth transmission shaft in the link slot of the riser, described
Grasping teeth transmission shaft gather around there are one around the riser rotate degree of freedom；The riser is uniformly distributed in groups, is equidistantly fixed on the upper company
It connects beam and on the lower tie-beam, the riser grasping teeth is uniformly distributed in groups, is equidistantly fixed on the grasping teeth transmission shaft, centre position
For connecting rod grasping teeth；
The front end sharpening forward directing material of the riser grasping teeth, the connecting rod grasping teeth；Grabbing assembly is by being fixed on arm axle
Around arm link, clutch gear, electromagnetic clutch synergy, realize that connecting rod grasping teeth, riser grasping teeth go out hook or receive to hook up and put
Material.
2. the end effector of robot that tight space bagged material is carried is adapted to as described in claim 1, it is characterised in that：
The wobble component further includes clutch shaft bearing, and the clutch shaft bearing is arranged in the endoporus in the fixed plate, it is described around
Arm axle is arranged in the clutch shaft bearing and is rotated.
3. the end effector of robot that tight space bagged material is carried is adapted to as claimed in claim 2, it is characterised in that：
The wobble component further includes cylinder connection piece, key A, key B；The pendulum tooth cylinder is fixed on institute by the cylinder connection piece
It states on supporting plate；It is described be fixed on around arm link by the key A it is described on arm axle；Electromagnetic clutch is fixed on by the key B
It is described on arm axle.
4. the end effector of robot for adapting to tight space bagged material and carrying as described in claims 1 to 3 is any, special
Sign is：The wobble component further includes spacer, Large lining and ringfeder, the swing rod by the spacer, the Large lining,
The ringfeder is fixed on described around the end of arm axle；The Large lining is connected with the swing rod, and the ringfeder is sheathed on described big
In bushing, the end sleeve around arm axle is arranged in the ringfeder, and the ringfeder acts on the big lining that is connected by itself tensioner
It covers, is described around arm axle；The spacer is sheathed on described around arm axle, the fixed Large lining of positioning.
5. the end effector of robot that tight space bagged material is carried is adapted to as claimed in claim 4, it is characterised in that：
The frame portions further include range sensor stent, and the range sensor is mounted on the type by range sensor stent
On material.
6. the end effector of robot that tight space bagged material is carried is adapted to as claimed in claim 5, it is characterised in that：
The range sensor has three groups, is separately mounted to three corners of the section bar, realizes that the material full inspection on three directions is surveyed.
7. the end effector of robot that tight space bagged material is carried is adapted to as claimed in claim 6, it is characterised in that：
The wobble component further includes second bearing, the clutch gear by described second bearing of its internal installation with it is described
It is connected around arm axle.
8. the end effector of robot that tight space bagged material is carried is adapted to as claimed in claim 7, it is characterised in that：
The frame portions further include fixed block, and the fixed block is fixedly mounted on fixed plate, the corner of the section bar.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810096608.7A CN108100659B (en) | 2018-01-31 | Robot end effector suitable for carrying bagged materials in compact space |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810096608.7A CN108100659B (en) | 2018-01-31 | Robot end effector suitable for carrying bagged materials in compact space |
Publications (2)
| Publication Number | Publication Date |
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| CN108100659A true CN108100659A (en) | 2018-06-01 |
| CN108100659B CN108100659B (en) | 2024-04-19 |
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| CN108516343A (en) * | 2018-06-14 | 2018-09-11 | 广州云厦智能设备有限公司 | One kind grabbing brick device |
| CN109623799A (en) * | 2019-02-28 | 2019-04-16 | 上海应用技术大学 | A kind of mechanical handing device |
| CN109775390A (en) * | 2018-12-24 | 2019-05-21 | 台州高知科技有限公司 | Bagged material transfer device end effector |
| CN111605959A (en) * | 2019-02-25 | 2020-09-01 | 北京京东尚科信息技术有限公司 | Automatic warehousing system, warehousing logistics system and automatic warehousing method |
| CN114506505A (en) * | 2022-03-07 | 2022-05-17 | 青岛宝佳智能装备股份有限公司 | Be applied to bale transferring mechanism of formula production line that directly goes out in premix |
| CN116788873A (en) * | 2023-06-28 | 2023-09-22 | 中储恒科物联网系统有限公司 | Automatic unloader suitable for box freight bags |
| US11858137B2 (en) | 2020-12-15 | 2024-01-02 | Ford Global Technologies, Llc | Mechanical grasping end effector with horizontal and vertical movement |
| CN110788476B (en) * | 2019-12-17 | 2024-04-26 | 常熟大众机器人研究院有限公司 | Workpiece clamping jaw opening and closing execution device of automatic workpiece transferring manipulator |
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| CN108516343A (en) * | 2018-06-14 | 2018-09-11 | 广州云厦智能设备有限公司 | One kind grabbing brick device |
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| CN110788476B (en) * | 2019-12-17 | 2024-04-26 | 常熟大众机器人研究院有限公司 | Workpiece clamping jaw opening and closing execution device of automatic workpiece transferring manipulator |
| US11858137B2 (en) | 2020-12-15 | 2024-01-02 | Ford Global Technologies, Llc | Mechanical grasping end effector with horizontal and vertical movement |
| CN114506505A (en) * | 2022-03-07 | 2022-05-17 | 青岛宝佳智能装备股份有限公司 | Be applied to bale transferring mechanism of formula production line that directly goes out in premix |
| CN116788873A (en) * | 2023-06-28 | 2023-09-22 | 中储恒科物联网系统有限公司 | Automatic unloader suitable for box freight bags |
| CN116788873B (en) * | 2023-06-28 | 2024-01-05 | 中储恒科物联网系统有限公司 | Automatic unloader suitable for box freight bags |
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