CN109715350A - Robot and its mechanical gripper - Google Patents
Robot and its mechanical gripper Download PDFInfo
- Publication number
- CN109715350A CN109715350A CN201880002446.4A CN201880002446A CN109715350A CN 109715350 A CN109715350 A CN 109715350A CN 201880002446 A CN201880002446 A CN 201880002446A CN 109715350 A CN109715350 A CN 109715350A
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- China
- Prior art keywords
- connecting plate
- mechanical gripper
- assembly
- grabbing assembly
- grabbing
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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
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A kind of mechanical gripper (100), for grabbing object, the mechanical gripper includes cylinder assembly (10), grabbing assembly (20), the first detection device (30) and second detection device (40), wherein, cylinder assembly include cylinder body (12) and can opposing cylinder the flexible push rod (14) in end；Grabbing assembly is connect with push rod；The position on cylinder body, for detection object is arranged in first detection device；Whether second detection device is arranged on grabbing assembly, for detection object within the scope of the crawl of grabbing assembly.It further include a kind of robot including above-mentioned mechanical gripper.Above-mentioned robot and mechanical gripper on mechanical gripper by being arranged the first detection device and second detection device, cooperated by the first detection device and second detection device, realize the detection to object space, and whether object is in the detection within the scope of the crawl of mechanical gripper, so as to avoid the occurrence of the phenomenon that using leisure moments, to improve the handling efficiency of object.
Description
Technical field
The present invention relates to intelligent robot technology fields, more particularly to a kind of robot and its mechanical gripper.
Background technique
Currently, realize that carrying is very universal in automated production equipment using robot, carried using robot,
The biggish object of weight can be not only carried, but also handling efficiency is high, can carry out operating for 24 hours, thus use robot
It is the most extensive to carry out cargo carrying utilization.
Existing robot to object clamping can only detection object Position Approximate, not can be carried out and accurately judge, often
It uses leisure moments, thus needs to re-start positioning and crawl, handling efficiency is caused to reduce.
Summary of the invention
The present invention provides a kind of robot and its mechanical gripper, to go out when solving mechanical gripper carry an object in the prior art
It now uses leisure moments, the technical issues of inefficiency.
In order to solve the above technical problems, one technical scheme adopted by the invention is that: a kind of mechanical gripper is provided, for grabbing
Take object, comprising: cylinder assembly, including cylinder body and can opposing cylinder the flexible push rod in end；Grabbing assembly connects with push rod
It connects；The position on cylinder body, for detection object is arranged in first detection device；Second detection device is arranged in grabbing assembly
On, for detection object whether within the scope of the crawl of grabbing assembly.
In order to solve the above technical problems, another technical solution that the present invention uses is: providing a kind of robot, comprising:
Mechanical arm；Mechanical gripper is fixed on the end of mechanical arm, comprising: cylinder assembly, including cylinder body and can the end of opposing cylinder stretch
The push rod of contracting；Grabbing assembly is connect with push rod；The position that detection object is used on cylinder body is arranged in first detection device；Second
Whether detection device is arranged on grabbing assembly, for detection object within the scope of the crawl of grabbing assembly.
Above-described embodiment has the beneficial effect that by fixing grabbing assembly on the push rod of cylinder, and on mechanical gripper
First detection device and second detection device are set, by the position of the first detection device detection object, to control mechanical gripping
Hand is moved at the position of object, when second detection device detects that object is within the scope of the crawl of mechanical gripper, air cylinder group
Part control grabbing assembly is grabbed, so as to avoid the occurrence of the phenomenon that using leisure moments, to improve the handling efficiency of object.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is the schematic perspective view of the mechanical gripper in one embodiment of the invention；
Fig. 2 is the decomposition texture schematic diagram of mechanical gripper in Fig. 1；
Fig. 3 is the floor map of mechanical gripper in Fig. 1；
Fig. 4 is the decomposition texture schematic diagram under another visual angle of mechanical gripper in Fig. 2；
Fig. 5 is the schematic perspective view of the robot in another embodiment of the present invention.
Specific embodiment
With reference to the accompanying drawings and examples, the present invention is described in further detail.It is emphasized that following implement
Example is merely to illustrate the present invention, but is not defined to the scope of the present invention.Likewise, following embodiment is only portion of the invention
Point embodiment and not all embodiments, institute obtained by those of ordinary skill in the art without making creative efforts
There are other embodiments, shall fall within the protection scope of the present invention.
Term " first ", " second ", " third " in the present invention are used for description purposes only, and should not be understood as instruction or dark
Show relative importance or implicitly indicates the quantity of indicated technical characteristic." first ", " second ", " are defined as a result,
Three " feature can explicitly or implicitly include at least one of the features.In description of the invention, the meaning of " plurality " is extremely
It is two few, such as two, three etc., unless otherwise specifically defined.The directional instruction of institute is (all in the embodiment of the present invention
Such as up, down, left, right, before and after ...) it is only used for explaining in the phase under a certain particular pose (as shown in the picture) between each component
To positional relationship, motion conditions etc., if the particular pose changes, directionality instruction also correspondingly changes therewith
Become.In addition, term " includes " and " having " and their any deformations, it is intended that cover and non-exclusive include.Such as comprising
The process, method, system, product or equipment of a series of steps or units are not limited to listed step or unit, and
It is optionally further comprising the step of not listing or unit, or optionally further comprising for these process, methods, product or equipment
Intrinsic other step or units.
Referenced herein " embodiment " is it is meant that a particular feature, structure, or characteristic described can wrap in conjunction with the embodiments
Containing at least one embodiment of the present invention.Each position in the description occur the phrase might not each mean it is identical
Embodiment, nor the independent or alternative embodiment with other embodiments mutual exclusion.Those skilled in the art explicitly and
Implicitly understand, embodiment described herein can be combined with other embodiments.
The present invention provides a kind of mechanical gripper 100, for grabbing object.It please refers to Fig.1 to Fig.3, Fig. 1 is that the present invention one is real
The schematic perspective view of the mechanical gripper in example is applied, Fig. 2 is the decomposition texture schematic diagram of mechanical gripper in Fig. 1, and Fig. 3 is Fig. 1
The floor map of middle mechanical gripper.
As shown in Figure 1 to Figure 3, in the present embodiment, mechanical gripper 100 can include: cylinder assembly 10, grabbing assembly
20, the first detection device 30 and second detection device 40.Wherein, grabbing assembly 20 is connect with cylinder assembly 10, the first detection dress
30 settings are set on cylinder assembly 10, second detection device 40 is arranged on grabbing assembly 20.
Specifically, in the present embodiment, please continue to refer to Fig. 1 to Fig. 3, cylinder assembly 10 includes cylinder body 12 and can be opposite
The flexible push rod 14 in the end of cylinder body 12.Wherein, push rod 14 may be provided at the side of cylinder assembly 10, also can be set in cylinder
The opposite sides of component 10.Push rod 14 is arranged on the axial direction of cylinder body 12, and when cylinder body 12 is inflated, push rod 14 can be with respect to cylinder
Body 12 is stretched out to outside；When 12 air-breathing of cylinder body, push rod 14 can opposing cylinder 12 be internally retracted, stretching for push rod 14 is realized with this
Contracting.
In the present embodiment, it is respectively arranged with push rod 14 in the opposite end of cylinder body 12, and the push rod 14 for being located at every end has
Two.When cylinder body 12 is inflated, the push rod 14 positioned at 12 opposite end of cylinder body is stretched out to outside simultaneously；When 12 air-breathing of cylinder body,
Push rod 14 positioned at 12 opposite end of cylinder body is internally retracted simultaneously, realizes the flexible of two sides push rod 14 with this.
Further, it is additionally provided with guide post 16 in the end of the opposite end of cylinder body 12, and is located at the guide post at every end
There are two 16.Guide post 16 is fixed on cylinder body 12, and is extended along the portion axially outward of cylinder body 12.In the present embodiment, such as Fig. 1
Shown, the every end of cylinder body 12 is respectively set there are two push rod 14 and two guide posts 16, two push rods 14 can opposing cylinder 12 it is flexible,
Two guide posts 16 are fixed on the end face of cylinder body 12, non-telescoping.Two push rods 14 and two guide posts 16 are evenly distributed on
On 12 end face of cylinder body, and the line of centres of two push rods 14 and the line of centres of two guide posts 16 intersect.That is, push rod 14 with lead
It is alternately distributed on the end face of cylinder body 12 to column 16.
As shown in Figure 1 to Figure 3, grabbing assembly 20 is connect with the push rod 14 on cylinder assembly 10, to work as cylinder assembly 10
Push rod 14 to outside stretch out when, grabbing assembly 20 can opposing cylinder 12 open；When the push rod 14 of cylinder assembly 10 internally contracts
Into when, grabbing assembly 20 can opposing cylinder 12 be closed, to realize the opening and closing of grabbing assembly 20.
In the present embodiment, as shown in Figure 1 to Figure 3, grabbing assembly 20 includes two, and two grabbing assemblies 20 distinguish position
It is attached in the opposite end of cylinder body 12, and with the push rod 14 on cylinder assembly 10.
Specifically, in the present embodiment, as shown in Fig. 2, the position for corresponding to push rod 14 on grabbing assembly 20 is arranged coaxially
Through-hole 22, and the diameter of through-hole 22 is equal with the diameter of push rod 14 or is slightly less than the diameter of push rod 14.The insertion of push rod 14 is logical
After in hole 22, grabbing assembly 20 and push rod 14 are relatively fixed so that grabbing assembly 20 is directly connected to push rod 14, be not required to by
External fixation device.
In the present embodiment, coaxial pilot hole 24 is arranged in the place that guide post 16 is corresponded on grabbing assembly 20, and is oriented to
The diameter in hole 24 is equal with the diameter of guide post 16 or the diameter of pilot hole 24 is slightly larger than the diameter of guide post 16.By guide post
After being cooperatively connected in 16 insertion pilot holes 24, grabbing assembly 20 can move under the action of push rod 14 along the extending direction of guide post 16
It is dynamic.
In the present embodiment, push rod 14 is connect with grabbing assembly 20, for pushing the grabbing assembly 20 of 12 opposite end of cylinder body
The end of opposing cylinder 12 is flexible.Guide post 16 and pilot hole 24 cooperate, for being oriented to for grabbing assembly 20, so that grabbing assembly
20 is mobile to the direction of guide post 16；Meanwhile guide post 16 can also reduce the stress of push rod 14, anti-throw-out lever 14 is by object weight
The influence of amount deforms.
Specifically, as shown in Figure 1 to Figure 3, grabbing assembly 20 includes the first connecting plate 26 and the second connecting plate 27.Wherein,
First connecting plate 26 with push rod 14 for connecting, and the second connecting plate 27 is for grabbing object.First connecting plate 26 can directly and gas
Push rod 14 on cylinder component 10 is attached, and can also be attached by remaining connecting plate.
In the present embodiment, the first connecting plate 26 and the second connecting plate 27 are integrally formed.The advantages of this arrangement are as follows can
To reduce the quantity of part, so that install convenient.Certainly, in other embodiments, the first connecting plate 26 can also be made respectively
With the second connecting plate 27, and the first connecting plate 26 and the second connecting plate 27 are attached using clamp device, herein, the present invention
It is not specifically limited.
In the present embodiment, the first connecting plate 26 is attached by one the 4th connecting plate 28 with cylinder assembly 10.Such as Fig. 1
Shown, in the present embodiment, the first connecting plate 26 can be fixed on the 4th connecting plate 28 for example, by clamp devices such as screws
On one end.Opened up respectively on the other end of the 4th connecting plate 28 with push rod 14 cooperate through-hole 22 and with guide post 16 cooperate
Pilot hole 24 realizes the connection of grabbing assembly 20 Yu push rod 14 with this to being attached the 4th connecting plate 28 with push rod 14.
Please continue to refer to Fig. 1 to Fig. 3, the second connecting plate 27 is vertical with the first connecting plate 26.In the present embodiment, it grabs for two
Take the second connecting plate 27 of component 20 respectively to opposite direction bending and vertical with the first connecting plate 26.The benefit being arranged in this way
It is, after the second connecting plate 27 grabs object, object can be located at the centre of two grabbing assemblies 20, so that and grabbing assembly
The cylinder assembly 10 of 20 connections can be with uniform force.
Further, baffle 29 is additionally provided on grabbing assembly 20, baffle 29 connects with the first connecting plate 26 and second respectively
Fishplate bar 27 connects, and for enhancing the bonding strength of the first connecting plate 26 and the second connecting plate 27, prevents 27 stress of the second connecting plate
Deformation, to improve the load-bearing capacity of grabbing assembly 20.
Fig. 2 and Fig. 3 are please referred to, in the present embodiment, baffle 29 and the first connecting plate 26 and the second connecting plate 27 are detachably
Connection.Specifically, baffle 29 includes baffle main body 292 and the interconnecting piece 294 positioned at 292 two sides of baffle main body.In each company
The first connecting hole 296 is respectively set in socket part 294, on the first connecting plate 26 and the second connecting plate 27 and on interconnecting piece 294
The second connecting hole 298 is respectively set at the corresponding position of first connecting hole 296, and utilizes the clamp device such as bolt by first
Connecting hole 296 and the second connecting hole 298 are relatively fixed, realize the first connecting plate 26, the second connecting plate 27 and baffle 29 with this
It is relatively fixed.
Certainly, in other embodiments, baffle 29 can also be integrally formed with the first connecting plate 26 and the second connecting plate 27.
Specifically, using Shooting Technique, the first connecting plate 26 and the second connecting plate 27 being connected to each other are formed, and in the first connecting plate 26
The baffle 29 connecting respectively with the first connecting plate 26 and the second connecting plate 27 is formed with the junction of the second connecting plate 27, is subtracted with this
The quantity of few part, so that assembly is convenient.
Please continue to refer to Fig. 1 to Fig. 3, in the present embodiment, the end of the second connecting plate 27 is additionally provided with scratch resistant guide part
21.It when grabbing object due to the second connecting plate 27, may be in contact with body surface, scratch resistant guide part 21 is for preventing the
Two connecting plates 27 scratch body surface when contacting with object.
In the present embodiment, scratch resistant guide part 21 and the second connecting plate 27 are integrally formed.Specifically, scratch resistant guide part 21 by
The end of second connecting plate 27 extends outwardly and inflection is formed.On the one hand scratch resistant guide part 21 can prevent object to be scraped off, separately
On the one hand the intensity that can increase by 27 end of the second connecting plate, prevents 27 end stress deformation of the second connecting plate.
Please continue to refer to Fig. 1 to Fig. 3, in the present embodiment, grabbing assembly 20 further includes setting in the first connecting plate 26, the
Filler 23 between two connecting plates 27 and baffle 29.
Specifically, in the present embodiment, as shown in Fig. 2, being surrounded in the first connecting plate 26, the second connecting plate 27 and baffle 29
Space in be provided with filler 23.In one embodiment, the thickness along two baffles, 29 direction of the filler 23 can be slightly larger
In the distance between two baffles 29 on same grabbing assembly 20 so that filler 23 can be clamped in two opposing flaps 29 it
Between.
In another embodiment, which can also be bonded in the first connecting plate for example, by double-sided adhesive and glue etc.
26 or second on connecting plate 27 or baffle 29.Certainly, in other embodiments, filler 23 can also be consolidated using other way
It is scheduled on the region between the first connecting plate 26, the second connecting plate 27 and baffle 29, herein, the present invention is with no restrictions.
Filler 23 is arranged between the first connecting plate 26, the second connecting plate 27 and baffle 29 to be advantageous in that: can be made
It obtains position of the object on grabbing assembly 20 more to fasten, after preventing grabbing assembly 20 from grabbing object, object is in two crawl groups
It is slided between part 20.
In one embodiment, filler 23 is foam.Foam is the material that plastic pellet foamed, and foam is divided into PU
(Polyurethane, polyurethanes) foam, antistatic foam, conducting foam, EPE (Expandable
Polyethylene, expandability polyethylene), (Ethylene Propylene Diene Monomer, EPDM is second to EPDM
Alkene) etc..Foam has that flexible, light-weight, quickly pressure-sensitive fixation, easy to use, bending are freely, volume is ultra-thin, reliable performance
Etc. a series of features.
In the present embodiment, select EPDM foam as filler 23.Since EPDM foam has good wear-resisting property,
Thus, using EPDM foam production filler 23 that can make filler 23 in the present embodiment, the service life is longer, reduces more
Change number.
Further, in the present embodiment, Fig. 2 and Fig. 3 are please referred to, is respectively arranged with grabbing assembly at the both ends of cylinder body 12
20, and filler is provided between the first connecting plate 26, the second connecting plate 27 and baffle 29 of each grabbing assembly 20
23, the V-shaped setting of opposite gripping surface 232 of two fillers 23.That is, between the opposite gripping surface 232 of two fillers 23
Distance is gradually increased along the direction far from the second connecting plate 27.The advantages of this arrangement are as follows object can be made to be located just at two
On the symmetry axis of a grabbing assembly 20, so that two 20 uniform forces of grabbing assembly, it is more preferable to consolidate effect.
Wherein, the first detection device 30 is radar installations, and radar installations is fixed on mechanical gripper 100, is used for detectable substance
The position of body.Specifically, as shown in Fig. 2, mechanical gripper 100 includes a connection piece 50,50 one side of connector is for fixing
On the other hand radar installations is connect with cylinder body 12 by clamp device, radar installations is fixed on cylinder body 12.
Fig. 2 and Fig. 4 are please referred to, in the present embodiment, department of assembly 52 is provided on connector 50, is provided on cylinder body 12
Fitting groove 18.Specifically, dress is offered on the opposite sides face vertical with towards the side of the second connecting plate 27 of cylinder body 12
Slot allocation 18.Convex is equipped with a department of assembly 52 on the contact surface of connector 50 and cylinder body 12.The cross sectional shape of department of assembly 52 with
The cross sectional shape of fitting groove 18 is identical, so that department of assembly 52 can be completely accommodated in fitting groove 18.
When carrying out assembling connecting piece 50, department of assembly 52 and fitting groove 18 are cooperated first, then by connector 50
It is fixedly connected with cylinder body 12.Department of assembly 52 is cooperated with fitting groove 18, on the one hand can promote the positioning accuracy of assembly,
On the other hand connector 50 can also be made to be cooperatively connected with cylinder body 12 more stable.
Wherein, second detection device 40 is infrared induction device.Whether the infrared induction device is used for detection object
Within the scope of the crawl of grabbing assembly 20.Specifically, as depicted in figs. 1 and 2, in the present embodiment, infrared induction device packet
Include transmitter 42 and receiver 44.Transmitter 42 and receiver 44 are separately positioned on two the second connecting plates 27, and with second
Connecting plate 27 flushes.
Specifically, a transmitter 42 is fixed on second connecting plate 27, and on another second connecting plate 27
Fix a receiver 44.It for example can be viscous by the mode that transmitter 42 and receiver 44 are fixed on the second connecting plate 27
The modes such as connect, weld, be clamped or be socketed.
In one embodiment, it can use bonding agent and transmitter 42 and receiver 44 be bonded in the second connecting plate 27
On.In another embodiment, transmitter 42 and receiver 44 can be welded on the second connecting plate 27 by the way of electric welding
On.In yet another embodiment, mutually matched buckle can be set on transmitter 42 and one of them second connecting plate 27,
And mutually matched buckle is set on receiver 44 and another second connecting plate 27, thus using buckling transmitter 42
It is connected on the second connecting plate 27 with receiver 44.In yet another embodiment, can also divide on two the second connecting plates 27
Not Han Jie a fixing sleeve, and transmitter 42 and receiver 44 are placed in fixing sleeve.It is, of course, also possible to using other fixations
Transmitter 42 and receiver 44 are fixed on the second connecting plate 27 by mode, and the present invention is not specifically limited, it should be understood that ground is,
Transmitter 42 and receiver 44 are fixed on the fixed form on two the second connecting plates 27 in this hair in other manners
In bright protection scope.
In the present embodiment, transmitter 42 and receiver 44 are fixed on the second connecting plate 27 and neat with the second connecting plate 27
It is flat.Detection is using transmitter 42 and receiver 44 to injecting capable detection, when have object enter two the second connecting plates 27 it
Between when, transmitter 42 issue infrared ray blocked by object so that receiver 44 do not receive transmitter 42 transmitting infrared ray.
And when mechanical gripper 100 continues to move downward, when crossing object, receiver 44 can continue to the red of the transmitting of transmitter 42
Outside line, so that judgment object crosses second connecting plate 27 of two grabbing assemblies 20, to judge that object is in grabbing assembly
Within the scope of 20 crawl.
Further, mechanical gripper 100 further includes delay controller (not shown), when infrared induction device detects
After being within the scope of the crawl of grabbing assembly 20 to object, delay controller makes the delay crawl object of grabbing assembly 20.For example,
The delay time of delay controller can be set as 0.1-2 seconds, at this point, when detecting object by infrared induction device 0.1-2
After second, cylinder assembly 10 controls grabbing assembly 20 and grabs object.Specifically, in the present embodiment, in order to ensure object is complete
The second connecting plate 27 on grabbing assembly 20 is crossed, thus is provided with delay controller, grabbing assembly 20 is allowed to postpone to press from both sides
Object is taken, that is, is detecting object after infrared induction device 0.1-2 seconds, grabbing assembly 20 just starts to grab object,
It collides to avoid grabbing assembly 20 with object, clamping is caused to fail.Further, it is also possible to be installed in mechanical arm or surrounding enviroment
Vision acquisition device grabs the size of object according to the visual determination of acquisition, adjusts delay time, and control grabbing assembly 20 grabs
Object, so that the different size of object that is crawled closely is consolidated with 23 adaptability of filler.
Please continue to refer to Fig. 2 and Fig. 3, mechanical gripper 100 further comprises a third connecting plate 60, the third connecting plate 60
Archwise is set.It is connect after the both ends difference outward bending of third connecting plate 60 with the both ends of cylinder body 12.
Specifically, as shown in Fig. 2, in the present embodiment, being respectively arranged with connection through-hole at the both ends of third connecting plate 60
62, be coaxially arranged with connection blind hole 64 with the corresponding position of connection through-hole 62 on cylinder body 12, each connection through-hole 62 with often
One connection blind hole 64 is corresponding, and for example, by the clamp devices such as screw will connect through-hole 62 with to connect blind hole 64 relatively fixed,
To which third connecting plate 60 is fixedly connected with cylinder body 12.
Further, as shown in Fig. 2, in the present embodiment, multiple connecting holes 66 are additionally provided on third connecting plate 60,
Multiple connecting hole 66 is arranged on the arcuate region of third connecting plate 60, and is connected by multiple connecting holes 66 with mechanical arm
It connects, thus mechanical gripper 100 is fixed on the robotic arm, mechanical gripper 100 is controlled by mechanical arm and grabs object.
The present invention also provides a kind of robots 1.As shown in figure 5, in the present embodiment, which includes mechanical arm 200
With mechanical gripper 300.Wherein, mechanical arm 200 is mobile for controlling mechanical gripper 300, and mechanical gripper 300 is fixed on mechanical arm
200 end, for grabbing object.
Wherein, mechanical gripper 300 includes cylinder assembly 310, grabbing assembly 320, the first detection device 330 and the second detection
Device 340.Cylinder assembly 310 include cylinder body 312 and can opposing cylinder 312 the flexible push rod 314 in end, grabbing assembly 320
It is connect with push rod 314, the first detection device 330 is arranged on cylinder body 312, for the position of detection object, second detection device
Whether 340 are arranged on grabbing assembly 320, for detection object within the scope of the crawl of grabbing assembly 320.
The structure of mechanical gripper 300 in the present embodiment is identical as the structure of mechanical gripper 100 in a upper embodiment, tool
Body can refer to the description of mechanical gripper 100 in an embodiment, and herein, the present invention repeats no more.
To sum up, the present invention on the push rod of cylinder by fixing grabbing assembly, and the first detection of setting on mechanical gripper
Device and second detection device, by the position of the first detection device detection object, so that controlling mechanical gripper is moved to object
Position at, when second detection device detects that object is within the scope of the crawl of mechanical gripper, cylinder assembly control crawl group
Part is grabbed, so as to avoid the occurrence of the phenomenon that using leisure moments, to improve the handling efficiency of object.
Mode the above is only the implementation of the present invention is not intended to limit the scope of the invention, all to utilize this
Equivalent structure or equivalent flow shift made by description of the invention and accompanying drawing content is applied directly or indirectly in other relevant
Technical field is included within the scope of the present invention.
Claims (20)
1. a kind of mechanical gripper, for grabbing object characterized by comprising
Cylinder assembly, including cylinder body and can the relatively described cylinder body the flexible push rod in end；
Grabbing assembly is connect with the push rod；
First detection device is arranged on the cylinder body, for detecting the position of the object；
Second detection device, be arranged on the grabbing assembly, for detect the object whether grabbing in the grabbing assembly
It takes in range.
2. mechanical gripper according to claim 1, which is characterized in that the grabbing assembly includes the first connecting plate and second
Connecting plate, first connecting plate with the push rod for connecting, and second connecting plate is for grabbing object.
3. mechanical gripper according to claim 2, which is characterized in that second connecting plate and first connecting plate hang down
Directly.
4. mechanical gripper according to claim 1, which is characterized in that the cylinder assembly further includes being arranged in the cylinder body
End guide post, be additionally provided with pilot hole on the grabbing assembly, the pilot hole is connect with the guide post.
5. mechanical gripper according to claim 2, which is characterized in that baffle is additionally provided on the grabbing assembly, it is described
Baffle is connect with first connecting plate and second connecting plate.
6. mechanical gripper according to claim 5, which is characterized in that the baffle include baffle main body and be located at the gear
The interconnecting piece of plate main body two sides, the interconnecting piece are connect with first connecting plate and second connecting plate respectively.
7. mechanical gripper according to claim 2, which is characterized in that the end of second connecting plate is additionally provided with scratch resistant
Guide part.
8. mechanical gripper according to claim 7, which is characterized in that the scratch resistant guide part is by second connecting plate
End extends outwardly and inflection is formed.
9. mechanical gripper according to claim 5, which is characterized in that the grabbing assembly further includes filler, described to fill out
Object is filled to be arranged between first connecting plate, second connecting plate and the baffle.
10. mechanical gripper according to claim 9, which is characterized in that the grabbing assembly includes two, and described in two
The V-shaped setting of opposite gripping surface of the filler on grabbing assembly.
11. mechanical gripper according to claim 1, which is characterized in that first detection device is radar installations, described
Mechanical gripper further includes connector, and the radar installations is connect by the connector with the cylinder body.
12. mechanical gripper according to claim 11, which is characterized in that be provided with fitting groove, the company on the cylinder body
Department of assembly is provided on fitting, the department of assembly cooperates with the fitting groove to position to the radar installations.
13. mechanical gripper according to claim 2, which is characterized in that the second detection device is infrared induction dress
It sets.
14. mechanical gripper according to claim 13, which is characterized in that the infrared induction device include transmitter and
Receiver, the transmitter and the receiver are separately positioned on two second connecting plates, and the transmitter and institute
Receiver is stated to flush with corresponding one second connecting plate.
15. mechanical gripper according to claim 14, which is characterized in that the transmitter and the receiver are by gluing
It connects, weld, be clamped or be sleeved and fixed on second connecting plate.
16. mechanical gripper according to claim 14, which is characterized in that the infrared induction device is utilized to injecting row
Detection, when detecting the object after the infrared induction device to penetrating, the infrared induction device is detected
The object is within the scope of the crawl of the grabbing assembly.
17. mechanical gripper according to claim 16, which is characterized in that the mechanical gripper further includes delay controller,
After the infrared induction device detects that the object is within the scope of the crawl of the grabbing assembly, the delay control
Device makes the grabbing assembly delay grab the object.
18. mechanical gripper according to claim 1, which is characterized in that the mechanical gripper further includes third connecting plate, institute
The both ends for stating third connecting plate are connect with the both ends of the cylinder body respectively.
19. mechanical gripper according to claim 18, which is characterized in that be additionally provided on the third connecting plate for inciting somebody to action
The connecting hole that the third connecting plate is connect with mechanical arm.
20. a kind of robot characterized by comprising
Mechanical arm；With
Mechanical gripper is fixed on the end of the mechanical arm, comprising:
Cylinder assembly, including cylinder body and can the relatively described cylinder body the flexible push rod in end；
Grabbing assembly is connect with the push rod；
First detection device is arranged on the cylinder body, for detecting the position of the object；With
Second detection device, be arranged on the grabbing assembly, for detect the object whether grabbing in the grabbing assembly
It takes in range.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2018/085913 WO2019213825A1 (en) | 2018-05-07 | 2018-05-07 | Robot and mechanical gripper thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109715350A true CN109715350A (en) | 2019-05-03 |
| CN109715350B CN109715350B (en) | 2022-07-05 |
Family
ID=66261412
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201880002446.4A Active CN109715350B (en) | 2018-05-07 | 2018-05-07 | Robot and mechanical tongs thereof |
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| WO (1) | WO2019213825A1 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112706180A (en) * | 2020-11-26 | 2021-04-27 | 江苏汉田机械工业有限公司 | Aluminium product structure of grabbing |
| CN114179889A (en) * | 2021-12-21 | 2022-03-15 | 宿州市海得利箱包有限公司 | A intelligent transfer device for case and bag workshop |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112223339A (en) * | 2020-10-16 | 2021-01-15 | 国网江苏省电力有限公司盐城供电分公司 | Automatic clamping manipulator and control method thereof |
| CN113921457B (en) * | 2021-09-30 | 2022-05-24 | 弥费实业(上海)有限公司 | Grabbing device and air transport vehicle |
| CN114227726B (en) * | 2021-11-29 | 2023-12-19 | 北京特种机械研究所 | Cover plate grabbing clamp |
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| CN114179889A (en) * | 2021-12-21 | 2022-03-15 | 宿州市海得利箱包有限公司 | A intelligent transfer device for case and bag workshop |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN109715350B (en) | 2022-07-05 |
| WO2019213825A1 (en) | 2019-11-14 |
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Address after: 518000 h3103, Chiwan 1st Road, Chiwan community, merchants street, Nanshan District, Shenzhen City, Guangdong Province Applicant after: Shenzhen Lan pangzi machine intelligence Co.,Ltd. Address before: B701-702, industrialization building, Shenzhen Virtual University Park, No.2, Yuexing Third Road, Nanshan District, Shenzhen, Guangdong Province Applicant before: SHENZHEN DORABOT Inc. |
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