CN108161964B - Automatic gripping apparatus device and intelligent truss robot with same - Google Patents
Automatic gripping apparatus device and intelligent truss robot with same Download PDFInfo
- Publication number
- CN108161964B CN108161964B CN201810147165.XA CN201810147165A CN108161964B CN 108161964 B CN108161964 B CN 108161964B CN 201810147165 A CN201810147165 A CN 201810147165A CN 108161964 B CN108161964 B CN 108161964B
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- seat
- box sleeve
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- gripper
- plate
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- 238000007906 compression Methods 0.000 description 4
- 238000005260 corrosion Methods 0.000 description 4
- 229910000831 Steel Inorganic materials 0.000 description 3
- 230000006378 damage Effects 0.000 description 3
- 230000007547 defect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 229910052751 metal Inorganic materials 0.000 description 3
- 239000002184 metal Substances 0.000 description 3
- 239000010959 steel Substances 0.000 description 3
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 2
- 150000002739 metals Chemical class 0.000 description 2
- 230000002265 prevention Effects 0.000 description 2
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- VYZAMTAEIAYCRO-UHFFFAOYSA-N Chromium Chemical compound [Cr] VYZAMTAEIAYCRO-UHFFFAOYSA-N 0.000 description 1
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- 239000002131 composite material Substances 0.000 description 1
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- 229910044991 metal oxide Inorganic materials 0.000 description 1
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- 238000007747 plating Methods 0.000 description 1
- 229910021654 trace metal Inorganic materials 0.000 description 1
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
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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
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
- B25J15/106—Gripping heads and other end effectors having finger members with three or more finger members moving in parallel relationship
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an automatic gripping apparatus device and an intelligent truss robot with the same. The gripper assembly comprises a rectangular seat, a gripper and a telescopic force device. The gripper comprises two groups of gripper assemblies symmetrically hinged to one side of the rectangular seat, each group of gripper assemblies comprises two grippers, and four grippers are symmetrically arranged at four corners of the rectangular seat. The two ends of the power device are respectively hinged on the rectangular seat and the gripper assembly, and the gripper assembly is opened and closed by the telescopic movement of the power device. The safety device comprises an upper adjusting seat, a lower adjusting seat, a tension sensor, a plate pin and an elastic limiting assembly; the lower adjusting seat is connected to the rectangular seat, the lower part of the lower adjusting seat is connected with a plate pin traversing the upper adjusting seat, the tension sensor is vertically connected to the upper adjusting seat, and the lower end of the tension sensor is hung on a horizontal pin shaft vertically penetrating through the plate pin; the upper adjusting seat and the lower adjusting seat can move up and down relatively, so that the horizontal pin shaft can move up and down, and the elastic limiting assembly is vertically connected between the upper adjusting seat and the lower adjusting seat.
Description
Technical Field
The invention relates to a gripping apparatus device, in particular to an automatic gripping apparatus device and an intelligent truss robot with the same.
Background
The metal parts can be rusted in the service life, so that the product quality is influenced, the service life is reduced, the structural strength of the parts is influenced, and the surface rust prevention treatment is required to be carried out on the parts during the production of the parts.
At present, the rust prevention treatment of the surfaces of parts generally adopts the treatment measures of paint, blackening, chrome plating, PIP and the like, wherein the PIP technology is an anti-corrosion technology which is environment-friendly, pollution-free and excellent in anti-corrosion performance, and a plurality of technological methods are adopted to infiltrate nonmetallic elements and trace metal elements into the surfaces of metals to form a multi-layer composite seepage layer consisting of metal oxides and nonmetallic elements, so that the whole inner part and the outer part of the product simultaneously form anti-corrosion and wear-resistant layers, and the anti-corrosion and wear-resistant layers are completely fused with the surfaces of the metals.
When PIP technology is carried out, the processed parts are required to be placed into a series of high-temperature furnace tanks with corrosive gas volatilized for processing, and at present, the transportation of the parts is operated by staff through traditional travelling crane, and due to high temperature of the working environment and the volatilization of the corrosive gas, certain harm can be generated to human bodies in the environment for a long time.
When the parts are transported, the parts are placed on the transporting clamp, and the transporting clamp has a large weight, especially for certain large parts, the weight of the transporting clamp can even reach thousands of kilograms. At present, the transporting clamp is hoisted by adopting a lifting hook through a traditional crane, and the human eyes judge that the transporting clamp is in place in the furnace tank possibly has errors, that is to say, the transporting clamp may not be in place truly, so that when the lifting hook is separated from the transporting clamp, the transporting clamp may impact the furnace tank, and the safe use of the furnace tank is affected. The parts are processed and transferred, and the parts can possibly impact the ground.
In addition, when transferring the part, transferring from one furnace tank to the next furnace tank must be completed in a short time, which requires the running speed of the travelling crane to be fast, on the one hand, the weight of the transferring clamp is large, the inertia in the transferring process is large, and the lifting hook is connected to the lower end of the steel wire rope, and hooks the transferring clamp to run, so that the transferring clamp can generate larger shaking in the running process of the travelling crane. The gap between the furnace groove wall and the transferring clamp is small, so that the transferring clamp can easily strike the furnace groove wall to damage the furnace groove wall when in place, and the service life of the furnace groove is influenced.
Disclosure of Invention
The invention mainly aims to provide an automatic gripping apparatus which can not only avoid shaking in the part transferring process, but also automatically avoid the impact of a transferring clamp on a furnace tank or the ground.
The invention provides such an automatic gripper apparatus comprising a gripper assembly and a safety device connected thereto. The gripping apparatus assembly comprises a rectangular seat, a gripping apparatus and a power device; the gripping apparatus comprises two groups of gripping apparatus components symmetrically hinged on one side of the rectangular seat, each group of gripping apparatus components comprises two gripping apparatuses, and four gripping apparatuses are symmetrically arranged at four corners of the rectangular seat; the power device is a telescopic device, one end of the power device is hinged to the rectangular seat, the other end of the power device is hinged to the gripper assembly, and the gripper assembly is opened and closed through telescopic movement of the power device. The safety device comprises an upper adjusting seat, a lower adjusting seat, a tension sensor, a plate pin and an elastic limiting assembly; the upper adjusting seat comprises a top plate and an upper box sleeve connected to the lower side of the top plate, the lower adjusting seat comprises a bottom plate and a lower box sleeve connected to the upper side of the bottom plate, and the lower box sleeve is sleeved on the outer wall of the upper box sleeve; the lower part of the lower box sleeve is connected with a plate pin traversing the upper box sleeve, and a rectangular hole along the vertical direction is arranged on the central surface of the plate pin in the length direction; the tension sensor is positioned in the upper box sleeve, the upper end of the tension sensor is connected to the top plate of the upper box sleeve, the lower end of the tension sensor is connected with the hanging seat, and the lower end of the hanging seat is connected with a horizontal pin shaft penetrating through a rectangular hole on the plate pin; the upper box sleeve and the lower box sleeve can move up and down relatively, so that the horizontal pin shaft can move up and down along the rectangular hole on the plate pin, and an elastic limiting assembly arranged vertically is connected between the upper box sleeve and the lower box sleeve. The bottom plate of the lower adjusting seat is fixed on the mounting plate at the middle position of the rectangular seat.
The gripper assembly comprises an upper cross beam and two vertical beams vertically connected to two ends of the upper cross beam, the lower ends of the two vertical beams are respectively connected with the grippers, the grippers are L-shaped, and a herringbone connecting beam is arranged between the two vertical beams; one end of the two upper cross beams extends out of the vertical beams in an antisymmetric way.
The rectangular seat is a frame seat, two groups of four gripper hinging seats are symmetrically welded on the outer sides of a pair of side beams of the rectangular seat, the middle parts of vertical beams of the gripper assemblies are respectively hinged with the gripper hinging seats into a whole through pin shafts, and the vertical beams can rotate around the pin shafts; the power device is provided with two sets of power devices which are arranged on the other opposite side of the rectangular seat in an antisymmetric way, one end of the power device is hinged with the extending section of the upper cross beam, the other end of the power device is hinged with the side beam of the rectangular seat, the upper side of the end part of the extending section of the upper cross beam is welded with an upper hinge lug seat, and the outer side of the side beam of the rectangular seat is welded with a lower hinge lug seat.
The tension sensor is a square S-shaped tension sensor, and two ends of the tension sensor are respectively provided with a connecting screw hole.
The upper box sleeve and the lower box sleeve are rectangular sleeves, and the lower end of the upper box sleeve and the upper end of the lower box sleeve are open ends; the tension sensor is positioned on the vertical central planes of the two box sleeves.
One end of the plate pin is vertically connected with an end plate, the lower parts of a pair of side walls of the lower box sleeve are provided with mounting holes corresponding to the plate pin in size, the positions, corresponding to the mounting holes, of the outer sides of the side walls are provided with connecting plates, the connecting plates are provided with corresponding mounting holes, one end of the plate pin is inserted into the mounting hole of one side wall, and the other end of the plate pin is fastened through the connecting plates and bolts; the side wall of the upper box sleeve is provided with a rectangular hole with the size larger than that of the plate pin at the passing position corresponding to the plate pin.
The upper parts of a pair of side walls of the lower box sleeve are connected with guide blocks, the outer ends of the guide blocks are connected with mounting plates, and the mounting plates are fastened with the connecting plates of the side walls of the lower box sleeve through bolts; the inner end of the guide block penetrates through the corresponding side wall of the upper box sleeve, and a vertical rectangular hole with the size larger than that of the guide block is formed in the side wall of the upper box sleeve.
The elastic limiting component comprises a circular tube fixed on the bottom plate of the lower adjusting seat and a pressure spring sleeved on the outer wall of the circular tube, the original length of the pressure spring is equal to the maximum distance between the top plate of the upper adjusting seat and the bottom plate of the lower adjusting seat, and the length of the circular tube is not greater than the length of the lower box sleeve.
The lifting seat comprises a fixed seat and a movable seat, wherein the fixed seat and the movable seat are double-lug plate seats, a top plate of the fixed seat is connected to the lower end of the tension sensor, a hinge shaft is connected to the lower portion between the two lugs, the upper end of the movable seat is hung on the hinge shaft at the lower portion of the lug plate of the fixed seat through a hinge hole, and a horizontal pin shaft is connected between the two lugs at the lower portion of the movable seat.
The invention also provides a truss robot which comprises the automatic gripping apparatus and a rigid lifting mechanism connected to the upper end of the automatic gripping apparatus.
The automatic gripper device is used for stabilizing the clamping and transferring clamp through two pairs of four rigid grippers, and the upper end of the automatic gripper device is also connected with a rigid lifting mechanism. The defect that the transfer clamp is rocked when being lifted by the steel wire rope and the lifting hook in the prior art is avoided, and the transfer clamp cannot impact the wall of the furnace tank when being in place in the furnace tank.
During the lifting and lowering operation of the automatic gripper device, the control system judges whether the transfer clamp is in place in the furnace tank or is grounded through whether the tension sensor is in tension. When the tension sensor is in a tension state, the control system judges that the gripping apparatus device is in a lifting working state, that is to say, the part is in a transferring process; when the tension sensor is in a non-tensioned state, the control system judges that the transfer clamp is in place in the furnace tank or is grounded, and simultaneously controls the gripper device to stop descending continuously. Because the clamp is in place or the ground is automatically judged by the control system through the stress state of the tension sensor, on one hand, the transfer clamp can be ensured to be in place or the ground, the defect that the furnace tank or the ground is likely to be impacted in the prior art can be avoided, and on the other hand, an operator only needs to perform button operation at the control center, does not need to enter a part treatment site, and can avoid harm to the body. The elastic limiting component is arranged to enable the upper box sleeve and the lower box sleeve to be in upper limit and have a certain pretightening force, so that the gripping apparatus device cannot swing when not gripping a heavy object, and the tension sensor is prevented from being influenced by lateral force.
Drawings
Fig. 1 is a schematic structural view of an embodiment of the present invention.
FIG. 2 is a schematic C-C diagram of FIG. 1.
Fig. 3 is a schematic top view of fig. 1.
Fig. 4 is a schematic diagram of the axial structure of the present embodiment (two side plates of the upper and lower cases of the safety device are hidden).
Fig. 5 is an enlarged schematic view of the safety device of fig. 1.
Fig. 6 is a schematic view of A-A in fig. 5.
Fig. 7 is a schematic diagram of B-B in fig. 5.
Fig. 8 is an enlarged schematic view of the upper adjusting seat in fig. 5.
Fig. 9 is a side view schematic of fig. 8.
Fig. 10 is an enlarged schematic view of the lower adjustment seat of fig. 5.
Fig. 11 is a side view schematic of fig. 10.
Detailed Description
As can be seen in connection with fig. 1 to 4, the automatic gripper device of the present embodiment disclosed comprises a gripper assembly 1 and a safety device 2 connected thereto.
The gripper assembly 1 comprises a rectangular seat 11, a gripper 12 and a power device 13.
The rectangular seat 11 is a frame seat. The gripper 12 includes two sets of gripper assemblies 121 symmetrically hinged to one side of the rectangular base 11. Each set of gripper assemblies 121 includes two grippers, four grippers being symmetrically arranged at four corners of the rectangular seat 11. The power unit 13 is a telescopic unit.
The gripper assembly 121 comprises an upper beam 1211 and two vertical beams 1212 vertically connected to both ends thereof, the lower ends of the two vertical beams are respectively connected with grippers 1213, the grippers are L-shaped, and a herringbone connecting beam 1214 is arranged between the two vertical beams. One end of the upper beam 1211 extends out of the vertical beam 1212 in anti-symmetric manner.
Two groups of four gripper hinging seats 111 are symmetrically welded on the outer sides of a pair of side beams of the rectangular seat 11, the middle parts of vertical beams 1212 of the gripper assemblies 121 are hinged with the gripper hinging seats 111 into a whole through pin shafts respectively, and the vertical beams 1212 can rotate around the pin shafts.
The power unit 13 of this embodiment employs a pair of electric cylinders which are disposed on the other opposite side of the rectangular base 11 in an antisymmetric manner. One end of the electric cylinder is hinged with the extending section of the upper cross beam, and the other end of the electric cylinder is hinged with the side beam of the rectangular seat. An upper hinge lug 112 is welded on the upper side of the end part of the extending section of the upper cross beam, and a lower hinge lug 113 is welded on the outer side of the side beam of the rectangular seat. The opening and closing of the two pairs of gripper assemblies 121 is achieved by telescopic movement of the electric cylinders.
As can be seen in connection with fig. 5 to 7, the safety device 2 comprises an upper adjustment seat 21, a lower adjustment seat 22, a tension sensor 23, a plate pin 24, a compression spring 25, a round tube 26, a fixed seat 27, a movable seat 28, a guide block 29, and a horizontal pin 210.
As can be seen in conjunction with fig. 5, 6, 8 and 9, the upper adjustment seat 21 includes a top plate 211 and an upper box cover 212 welded to the underside thereof. The top plate 211 is a rectangular plate, and the upper case 212 is a rectangular opening case.
As can be seen in connection with fig. 5, 6, 8 and 9, the lower adjustment seat 22 includes a bottom plate 221 and a lower box cover 222 welded to an upper side thereof. The bottom plate 221 is a rectangular plate, and the lower case 222 is a rectangular opening case.
As can be seen from fig. 1 and 2, two connecting beams 114 symmetrical with respect to the central plane in the length direction are arranged in the inner cavity of the rectangular seat, and a rectangular plate 115 is welded on the upper sides of the two connecting beams 114. The bottom plate 221 of the lower adjustment seat 22 is mounted on the rectangular plate 115 by bolts.
As can be seen in conjunction with fig. 5, 6, 10 and 11, the lower cartridge 222 is sleeved over the outer wall of the upper cartridge 212. The lower part of the lower case 222 is connected with a plate pin 24 traversing the upper case 212, and a rectangular hole 241 is provided on the longitudinal center plane of the plate pin 24 in the vertical direction.
As can be seen from fig. 6, the tension sensor 23 of the present embodiment adopts a square S-shaped tension sensor, and has connecting screw holes at both ends thereof. The tension sensor 23 is located on the vertical center plane in the upper box sleeve 212, the upper end of the tension sensor is connected to the top plate 211 of the upper box sleeve 212 through a bolt, the lower end of the tension sensor is connected with the fixed seat 27 through a bolt, and the lower end of the fixed seat 27 is connected with the movable seat 28. Both the fixed seat 27 and the movable seat 28 are double-lug plate seats. The top plate of the fixing seat 27 is connected to the lower end of the tension sensor 23, and a hinge shaft is connected to the lower portion between the two ear plates. The upper end of the movable seat 28 is hung on the hinge shaft at the lower part of the ear plates of the fixed seat 27 through a hinge hole, and a horizontal pin shaft 210 is connected at the lower part between the two ear plates at the lower part of the movable seat 28. The horizontal pin shaft 210 passes through a rectangular hole 241 in the plate pin 24, and the rectangular hole 241 has a length greater than the diameter of the horizontal pin shaft 210.
The tension sensor 23 is located on the vertical center plane in the upper box sleeve 212, so that the tension sensor is stressed uniformly, unbalanced load can be prevented, the structural space can be saved, the structure is compact, and the appearance is attractive.
The upper end fixed connection, the lower extreme swing joint of tension sensor 23 adopts the articulated shaft to connect between fixing base 27 and the movable seat 28, is connected through the horizontal round pin axle 210 that arranges perpendicularly with the articulated shaft between movable seat 28 and the cotter pin 24, and the horizontal atress in the horizontal plane can both be eliminated to such a structure, also can eliminate the vertical atress in the horizontal plane for tension sensor only receives the vertical direction's force, can avoid receiving the transverse load influence, thereby avoids tension sensor to receive signal interference.
In this embodiment, rectangular holes with a size matching the height of the plate pin 24 are provided on a pair of side walls of the lower case 222, mounting plates are welded to the outer sides of both side walls of the lower case 22, and the same rectangular holes are provided on the mounting plates. One end of the plate pin 24 is vertically welded to the end plate, the non-end plate end of the plate pin 24 passes through rectangular holes in a pair of side walls of the lower box sleeve, and the other end of the plate pin is fastened with a mounting plate of the side walls of the lower box sleeve through bolts through the end plate.
Mounting plates are provided on a pair of side walls of the lower case 222 to make the fixing direction of the plate pin 24 more flexible. Rectangular holes having a size larger than the height of the plate pin 24 are provided at the two side walls of the upper case 212 corresponding to the passing positions of the plate pin 24 so that the upper case 212 can move up and down. The plate pin 24 serves as a lower guide for the up and down movement of the upper cartridge sleeve 212.
The upper parts of the pair of side walls of the lower box sleeve 222 are symmetrically connected with the guide blocks 29, the outer ends of the guide blocks 29 are connected with mounting plates, and the mounting plates are fastened with the connecting plates of the side walls of the lower box sleeve 222 through bolts. The inner ends of the guide blocks 29 pass through the corresponding side walls of the upper box cover 212, and rectangular holes with a size larger than that of the guide blocks 29 are arranged on the side walls of the upper box cover 212 to provide upper guide for the up-and-down movement of the upper box cover 212. Preferably, the guide blocks 29 are disposed in a perpendicular orientation to the plate pins 24 so as to stabilize the up and down movement of the upper cartridge sleeve 212.
The upper case 212 is sleeved in the lower case 222, so that the upper case and the lower case can only move up and down, and the influence of transverse load on the tension sensor can be avoided.
In this embodiment, two round tubes 26 are disposed at a pair of corners on the bottom plate of the lower adjusting seat 22, and a compression spring 25 is sleeved on the round tube 26 to form a vertical elastic limiting assembly. In the initial state, the two ends of the compression spring 25 are respectively fixed between the bottom plate of the lower adjusting seat 22 and the top plate of the upper adjusting seat 21, the length of the round tube 26 is smaller than that of the compression spring 25, and the length of the round tube 26 is at most flush with the upper end of the lower box sleeve 222. The elastic limiting component makes the upper box 212 always be at the upper limit position in the normal state, and the lower box 222 can have enough descending space.
The upper adjusting seat and the lower adjusting seat of the safety device are connected through the tension sensor, the hanging seat, the plate pin and the horizontal pin shaft, the rectangular hole is formed in the center surface of the length direction of the plate pin, the lower end of the hanging seat is connected with the horizontal pin shaft penetrating through the rectangular hole in the plate pin, the horizontal pin shaft can move up and down in the rectangular hole in the plate pin, the rectangular hole in the side wall of the upper box sleeve is longer than the height of the plate pin, and therefore the upper box sleeve can slide up and down in the lower box sleeve, and the upper box sleeve can be prevented from separating from the lower box sleeve when a bolt connecting the tension sensor and the upper adjusting seat is broken accidentally, so that a good protection effect is achieved. The elastic limiting component is connected between the upper box sleeve and the lower box sleeve and is vertically arranged, so that the upper box sleeve and the lower box sleeve are in upper limit and have a certain pretightening force, and therefore the gripping apparatus device cannot run inertial force to swing when not gripping a heavy object, and the tension sensor cannot be affected by lateral force.
When the automatic gripping apparatus device is used for a truss robot, the upper end of the upper adjusting seat top plate of the safety device is connected with the rigid lifting mechanism.
The automatic gripper device is used for stabilizing the clamping and transferring clamp through two pairs of four rigid grippers, and the upper end of the automatic gripper device is also connected with a rigid lifting mechanism. The defect that the transfer clamp is rocked when being lifted by the steel wire rope and the lifting hook in the prior art is avoided, and the transfer clamp cannot impact the wall of the furnace tank when being in place in the furnace tank.
When the transfer clamp with the parts clamped by the automatic gripping apparatus device is lifted, the tension sensor is pulled, a current signal output by the tension sensor is sent to the control system to judge that the transfer clamp is in a lifted state, when the transfer clamp is grounded, the tension sensor is not stressed, no current signal is output, at the moment, the control system does not receive the current signal of the tension sensor, and the transfer clamp is judged to be in place in the furnace tank or grounded. If the abnormal condition gripping apparatus device continues to descend, the spring of the elastic limiting assembly is compressed, the upper box sleeve slides downwards in the lower box sleeve until the horizontal pin shaft slides to the lower limiting process in the rectangular hole of the plate pin, the sensor is not stressed, the control system can prompt that if the operator cannot intervene in the emergency stop at this time, the clamp continues to descend, the tension sensor is stressed, the tension sensor sends different current signals, the control system alarms and locks the lifting mechanism at the upper end of the gripping apparatus device, so that the gripping apparatus device stops descending, and the lifting mechanism is well protected from being damaged.
Claims (10)
1. An automatic gripper device, characterized in that: the device comprises a gripping apparatus assembly and a safety device connected to the gripping apparatus assembly; the gripping apparatus assembly comprises a rectangular seat, a gripping apparatus and a power device; the gripping apparatus comprises two groups of gripping apparatus components symmetrically hinged on one side of the rectangular seat, each group of gripping apparatus components comprises two gripping apparatuses, and four gripping apparatuses are symmetrically arranged at four corners of the rectangular seat; the power device is a telescopic device, one end of the power device is hinged to the rectangular seat, the other end of the power device is hinged to the gripper assembly, and the gripper assembly is opened and closed through telescopic movement of the power device; the safety device comprises an upper adjusting seat, a lower adjusting seat, a tension sensor, a plate pin and an elastic limiting assembly; the upper adjusting seat comprises a top plate and an upper box sleeve connected to the lower side of the top plate, the lower adjusting seat comprises a bottom plate and a lower box sleeve connected to the upper side of the bottom plate, and the lower box sleeve is sleeved on the outer wall of the upper box sleeve; the lower part of the lower box sleeve is connected with a plate pin traversing the upper box sleeve, and a rectangular hole along the vertical direction is arranged on the central surface of the plate pin in the length direction; the tension sensor is positioned in the upper box sleeve, the upper end of the tension sensor is connected to the top plate of the upper box sleeve, the lower end of the tension sensor is connected with the hanging seat, and the lower end of the hanging seat is connected with a horizontal pin shaft penetrating through a rectangular hole on the plate pin; the upper box sleeve and the lower box sleeve can move up and down relatively, so that the horizontal pin shaft can move up and down along the rectangular hole on the plate pin, and an elastic limiting assembly arranged vertically is connected between the upper box sleeve and the lower box sleeve; the bottom plate of the lower adjusting seat is fixed on the mounting plate at the middle position of the rectangular seat.
2. The automatic gripper apparatus of claim 1, wherein: the gripper assembly comprises an upper cross beam and two vertical beams vertically connected to two ends of the upper cross beam, the lower ends of the two vertical beams are respectively connected with the grippers, the grippers are L-shaped, and a herringbone connecting beam is arranged between the two vertical beams; one end of the two upper cross beams extends out of the vertical beams in an antisymmetric way.
3. The automatic gripper apparatus of claim 2, wherein: the rectangular seat is a frame seat, two groups of four gripper hinging seats are symmetrically welded on the outer sides of a pair of side beams of the rectangular seat, the middle parts of vertical beams of the gripper assemblies are respectively hinged with the gripper hinging seats into a whole through pin shafts, and the vertical beams can rotate around the pin shafts; the power device is provided with two sets of power devices which are arranged on the other opposite side of the rectangular seat in an antisymmetric way, one end of the power device is hinged with the extending section of the upper cross beam, the other end of the power device is hinged with the side beam of the rectangular seat, the upper side of the end part of the extending section of the upper cross beam is welded with an upper hinge lug seat, and the outer side of the side beam of the rectangular seat is welded with a lower hinge lug seat.
4. The automatic gripper apparatus of claim 1, wherein: the tension sensor is a square S-shaped tension sensor, and two ends of the tension sensor are respectively provided with a connecting screw hole.
5. The automatic gripper apparatus of claim 1, wherein: the upper box sleeve and the lower box sleeve are rectangular sleeves, and the lower end of the upper box sleeve and the upper end of the lower box sleeve are open ends; the tension sensor is positioned on the vertical central planes of the two box sleeves.
6. The automated gripper apparatus of claim 5, wherein: one end of the plate pin is vertically connected with an end plate, the lower parts of a pair of side walls of the lower box sleeve are provided with mounting holes corresponding to the plate pin in size, the positions, corresponding to the mounting holes, of the outer sides of the side walls are provided with connecting plates, the connecting plates are provided with corresponding mounting holes, one end of the plate pin is inserted into the mounting hole of one side wall, and the other end of the plate pin is fastened through the connecting plates and bolts; the side wall of the upper box sleeve is provided with a rectangular hole with the size larger than that of the plate pin at the passing position corresponding to the plate pin.
7. The automated gripper apparatus of claim 5, wherein: the upper parts of a pair of side walls of the lower box sleeve are connected with guide blocks, the outer ends of the guide blocks are connected with mounting plates, and the mounting plates are fastened with the connecting plates of the side walls of the lower box sleeve through bolts; the inner end of the guide block penetrates through the corresponding side wall of the upper box sleeve, and a vertical rectangular hole with the size larger than that of the guide block is formed in the side wall of the upper box sleeve.
8. The automated gripper apparatus of claim 5, wherein: the elastic limiting component comprises a circular tube fixed on the bottom plate of the lower adjusting seat and a pressure spring sleeved on the outer wall of the circular tube, the original length of the pressure spring is equal to the maximum distance between the top plate of the upper adjusting seat and the bottom plate of the lower adjusting seat, and the length of the circular tube is not greater than the length of the lower box sleeve.
9. The automated gripper apparatus of claim 4, wherein: the lifting seat comprises a fixed seat and a movable seat, wherein the fixed seat and the movable seat are double-lug plate seats, a top plate of the fixed seat is connected to the lower end of the tension sensor, a hinge shaft is connected to the lower portion between the two lugs, the upper end of the movable seat is hung on the hinge shaft at the lower portion of the lug plate of the fixed seat through a hinge hole, and a horizontal pin shaft is connected between the two lugs at the lower portion of the movable seat.
10. An intelligent truss robot, its characterized in that: the robot comprising the automated gripper apparatus of any one of claims 1-9 and a rigid lifting mechanism attached to the upper end of the automated gripper apparatus.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810147165.XA CN108161964B (en) | 2018-02-12 | 2018-02-12 | Automatic gripping apparatus device and intelligent truss robot with same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810147165.XA CN108161964B (en) | 2018-02-12 | 2018-02-12 | Automatic gripping apparatus device and intelligent truss robot with same |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108161964A CN108161964A (en) | 2018-06-15 |
| CN108161964B true CN108161964B (en) | 2024-05-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810147165.XA Active CN108161964B (en) | 2018-02-12 | 2018-02-12 | Automatic gripping apparatus device and intelligent truss robot with same |
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| CN112551011B (en) * | 2020-12-11 | 2022-05-17 | 长沙中联重科环境产业有限公司 | Dustbin loading attachment |
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| CN102001092A (en) * | 2010-10-29 | 2011-04-06 | 上海理工大学 | Mechanical arm for swarm-robot |
| DE102015223999A1 (en) * | 2015-12-02 | 2017-06-08 | Krones Ag | Parallel kinematic robot for manipulating piece goods with at least one manipulator and at least one actuating device for the at least one manipulator and method for manipulating piece goods by means of at least one parallel kinematic robot |
| CN107378997A (en) * | 2017-06-20 | 2017-11-24 | 安徽悦尔伟塑料机械有限公司 | Grasping mechanism on manipulator |
| CN208005703U (en) * | 2018-02-12 | 2018-10-26 | 湖南祥瑞智能机器有限公司 | A kind of automatic grasper device and the Intelligent Truss Structures robot with the device |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102001092A (en) * | 2010-10-29 | 2011-04-06 | 上海理工大学 | Mechanical arm for swarm-robot |
| DE102015223999A1 (en) * | 2015-12-02 | 2017-06-08 | Krones Ag | Parallel kinematic robot for manipulating piece goods with at least one manipulator and at least one actuating device for the at least one manipulator and method for manipulating piece goods by means of at least one parallel kinematic robot |
| CN107378997A (en) * | 2017-06-20 | 2017-11-24 | 安徽悦尔伟塑料机械有限公司 | Grasping mechanism on manipulator |
| CN208005703U (en) * | 2018-02-12 | 2018-10-26 | 湖南祥瑞智能机器有限公司 | A kind of automatic grasper device and the Intelligent Truss Structures robot with the device |
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