CN109760032A - A kind of rotatable grabbing device transmission component of robot - Google Patents
A kind of rotatable grabbing device transmission component of robot Download PDFInfo
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- CN109760032A CN109760032A CN201711095006.1A CN201711095006A CN109760032A CN 109760032 A CN109760032 A CN 109760032A CN 201711095006 A CN201711095006 A CN 201711095006A CN 109760032 A CN109760032 A CN 109760032A
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- sheave
- axis
- driver plate
- disk
- suction nozzle
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Abstract
The present invention relates to a kind of rotatable grabbing device transmission components of robot, it include: rotating disk, the Geneva mechanism for driving rotation disc spins, Geneva mechanism includes the sheave of uniformly distributed four interior recessed Locking arcs, the motor with the active driver plate of sheave cooperation, driving active driver plate rotation, and the output shaft of the motor couples with the rotary shaft of active driver plate；Mechanical arm includes: the first steering engine, the pedestal for fixing the second steering engine rotated with the integrally formed turntable of Y-axis, X-axis, fixed two on a spinstand floor, the supporting parts being fixedly connected with the upper surface of driver plate connector, sheave terminal pad, driving X-axis, the pedestal is equipped with through-hole, Y-axis passes through through-hole, and the junction of through-hole and Y-axis is equipped at least one bearing, Y-axis gear is arranged in Y-axis, the output shaft of the second steering engine is equipped with the driving gear engaged with Y-axis gear.Transmission component of the invention has the advantages that structure is simple, easy to use, reliable transmission.
Description
Technical field
The invention belongs to robot fields, and in particular to a kind of rotatable grabbing device transmission component of robot.
Background technique
On food or components production line, the phenomenon that manually crawl there is also food package box or components, by machine
Device people replaces manual work, is the trend of social development now.
Sucker is widely used in major supermarket or family, is by the way that adsorption cup to be extruded in smooth mounting plane
On, then force the air in adsorption cup to be discharged, when reaching the air pressure that air pressure inside adsorption cup is less than outside adsorption cup, absorption
Cup is then adsorbed on mounting plane, and hook is connected on adsorption cup, and hook then can be used for tangling Cargo bag or various cargos
Deng.
The component that a mechanical arm crawl article using robot is developed using sucker principle, becomes research staff urgently
Problem to be solved.
Summary of the invention
The object of the present invention is to provide a kind of rotatable grabbing device transmission components of robot, solve existing machine
The problem of people's crawl article inconvenience.
For this purpose, technical scheme is as follows:
A kind of rotatable grabbing device transmission component of robot, comprising: rotating disk, the sheave for driving rotation disc spins
Mechanism, the Geneva mechanism include that the sheave of uniformly distributed four interior recessed Locking arcs and the active driver plate of sheave cooperation, driving are actively dialled
The output shaft of the motor of disc spins, the motor couples with the rotary shaft of active driver plate, the rotary shaft and active driver plate one at
Type；
The active driver plate includes: disk equipped with an arc notch, the pivoted arm and straight pin that are arranged in above disk, the circle
Pin is fixedly connected with pivoted arm, and the peripheral wall of the disk is matched with interior recessed Locking arc, for locking sheave；
It is installed with driven shaft on the sheave, and is equipped with the radial direction tangentially passed in and out for straight pin between adjacent interior recessed Locking arc
Slot, the sheave do periodically to turn to stop transport under the drive of active driver plate and move；
The rotating disk includes the boss for installing the disk body of grippers, being installed between disk body and sheave, which makes
Rotating disk is moved synchronously with sheave；
The sheave, rotating disk center at be equipped with driven shaft, the top of the sheave is equipped with sheave terminal pad, and the sheave connects
It connects disk to be fixedly connected with the mechanical arm of robot, the lower section of the rotating disk has a fixed disk, and the both ends of the driven shaft are set
After having external screw thread, the driven shaft sequentially to pass through sheave terminal pad, sheave, rotating disk and fixed disk, the both ends of driven shaft pass through
Nut is fixedly connected；
Between the sheave terminal pad and sheave, several balls, the sheave are embedded between the rotating disk and fixed disk
Bearing is equipped with the junction of driven shaft, and the junction of the rotating disk and driven shaft also is provided at least one bearing；
The mechanical arm includes: and the integrally formed turntable of Y-axis, X-axis, fixed two on a spinstand floor and driver plate
Connector, sheave terminal pad upper surface be fixedly connected supporting parts, driving X-axis rotation the first steering engine, for fixing second
The pedestal of steering engine, the pedestal are equipped with through-hole, and the Y-axis passes through through-hole, and the junction of through-hole and Y-axis is equipped at least one axis
It holds, Y-axis gear is arranged in the Y-axis, the output shaft of second steering engine is equipped with the driving gear engaged with Y-axis gear；
The X-axis passes through supporting parts and is fixedly connected with supporting parts, to realize that X-axis drives supporting parts rotation；The both ends of the X-axis
It is each passed through floor, and is equipped with bearing between floor and X-axis；The output shaft of first steering engine is equipped with first gear, the X
Axis is equipped with second gear engaged with the first gear.
A kind of rotatable grabbing device transmission component of above-mentioned robot, the supporting parts are equipped with the first disk body,
Multiple equally distributed through-holes are equipped in first disk body and sheave terminal pad, first disk body passes through with sheave terminal pad
Bolt is fixedly connected；
The supporting parts are equipped with the second disk body, and the top of the active driver plate is equipped with driver plate connector, the driver plate connector
End face is equipped with multiple threaded holes, and second disk body is equipped with through-hole, and second disk body and driver plate connector pass through screw
It is fixedly connected, embeds several balls between the driver plate connector and active driver plate.
A kind of rotatable grabbing device transmission component of above-mentioned robot, uniformly distributed in the rotating disk there are four crawls
Part, the grippers include that can form the annular suction nozzle of negative pressure cavity and add from what annular suction nozzle upper end extended to connecting plate direction
Strong block, a pre-buried connecting tube in the reinforcement block；
A gas passage for extending to negative pressure cavity, the smooth upper table of the annular suction nozzle and object to be grabbed are equipped in the connecting tube
Face contact, the gas in annular suction nozzle are extracted out by gas passage, form the vacuum area for adsorbing object to be grabbed；
Four grippers pass through telescopic cylinder respectively and connect with disk body lower end surface, and the cylinder body and disk body of the telescopic cylinder connect
It connects, the telescopic rod of the telescopic cylinder is fixedly connected with the outer wall of reinforcement block, is joined so that telescopic cylinder drives with the telescopic cylinder
The grippers connect do stretching motion.
A kind of rotatable grabbing device transmission component of above-mentioned robot is equipped at the center of second disk body and uses
In the accommodating cavity for accommodating motor, the outer wall of the motor is fixedly connected with the upper surface of driver plate connector, the output of the motor
Axis is fixedly connected after passing through driver plate connector with rotary shaft.
A kind of rotatable grabbing device transmission component of above-mentioned robot has outward on the outer wall of the motor
The mounting portion of extension, the mounting portion are equipped with mounting hole, and the driver plate connector is equipped with threaded hole corresponding with mounting hole, institute
It states motor and is fixedly connected with driver plate connector by screw.
A kind of rotatable grabbing device transmission component of above-mentioned robot, the annular suction nozzle is horn-like structure,
The big end of the annular suction nozzle is for adsorbing object to be grabbed；The outer portion of the annular suction nozzle is ladder along the section of connecting tube axial direction
Shape；The internal ring portion of the annular suction nozzle is arc along the section of connecting tube axial direction.
The rotatable grabbing device transmission component of above-mentioned a kind of robot, positioned at the end face of the annular suction nozzle big end
The lateral force being subject to when grabbing object in transfer can be offset equipped with friction pad, the friction pad and wait grab the frictional force between object；
The friction pad is made of Polyurethane or neoprene.
A kind of rotatable grabbing device transmission component of above-mentioned robot, the free end of multiple connecting tubes are all provided with
There is the hose that supplied gas passes through, any connecting tube is equipped with tee pipe coupling, and two outlet sides of the tee pipe coupling lead to respectively
Cross the free end of hose connection connecting tube；Multiple hoses are connect through a four-way union with total hose, and total hose is equipped with two
Two air inlets of position-3-way solenoid valve, the two-bit triplet solenoid valve are separately connected aspiration pump, inflator pump by pipeline, described
Solenoid valve is equipped between connecting tube and tee pipe coupling or connecting tube and four-way union；
The space of annular suction nozzle is evacuated by the aspiration pump, so that grippers is formed negative pressure cavity, to clamp object to be grabbed；It is described
Inflator pump injects air into annular suction nozzle, to realize the disengaging of annular suction nozzle and object to be grabbed.
Beneficial effects of the present invention:
1. the present invention contacts the smooth surface of object to be grabbed by grippers, aspiration pump will be in annular suction nozzle by gas passage
Evacuating air makes annular suction nozzle form negative pressure cavity, since the air pressure inside annular suction nozzle is less than the air pressure outside annular suction nozzle, to
Crawl object is picked up under the action of external pressure, thus achieve the effect that crawl, therefore, rotatable grabbing device of the invention
Have the advantages that structure is simple, easy to use, crawl is reliable；
2. the present invention by Geneva mechanism drive rotating disk do periodically turn stop transport move so that four grippers in rotating disk
Object to be grabbed successively is grabbed, when any grippers in rotating disk are located at any top wait grab object, starting and the crawl
The corresponding telescopic cylinder of part makes the telescopic rod of telescopic cylinder drive the grippers close to object to be grabbed and draws object to be grabbed；
After the completion of grippers work, start rotary shaft, active driver plate drives sheave to be rotated by 90 °, and is located at next grippers wait grab
The top of object.Mechanical arm of the invention can disposably grab four articles, have the advantages that crawl is high-efficient；
3. sheave and rotating disk of the invention are by sheave terminal pad, fixed chuck clamping and fixation, in sheave terminal pad and sheave
Between, between rotating disk and fixed disk embed several balls respectively, when sheave and rotating disk rotate, ball turns in ball-and-socket
It is dynamic, make sheave and rotating disk relative to sheave terminal pad, fixed disc spins.Rotatable grabbing device stability of the invention is high,
It is convenient to assemble and disassemble；
4. active driver plate of the invention is fixedly connected by driver plate connector with the mechanical arm of robot, in active driver plate and driver plate
Several balls are set between connector, when active driver plate work when, ball rotates in ball-and-socket so that active driver plate relative to
The rotation of driver plate connector, rotatable grabbing device stability of the invention are high, convenient to assemble and disassemble.
The present invention is described in further details below with reference to accompanying drawings and embodiments.
Detailed description of the invention
Fig. 1 is the structural schematic diagram one of rotatable grabbing device.
Fig. 2 is the structural schematic diagram two of rotatable grabbing device.
Fig. 3 is the schematic diagram of Geneva mechanism.
Fig. 4 is the cross-sectional view of grippers.
Fig. 5 is the pipeline schematic diagram of rotatable grabbing device.
Fig. 6 is the structural schematic diagram of mechanical arm.
In figure: 1. grippers；11. annular suction nozzle；11-1. outer portion；11-2. internal ring portion；12. reinforcement block；13.
Gas passage；14. connecting tube；2. telescopic cylinder；21. telescopic rod；3. rotating disk；31. disk body；32. boss；41. slot
Wheel；41-1. interior recessed Locking arc；41-2. radial slot；42. active driver plate；42-1. disk；42-11. arc notch；42-
2. pivoted arm；42-3. straight pin；43. motor；44. rotary shaft；5. ball；6. driven shaft；7. sheave terminal pad；8.
Fixed disk；9. mechanical arm；91. the first disk body；92. the second disk body；10-1. aspiration pump；10-2. inflator pump；10-3. two
Position-3-way solenoid valve；10-4. total hose；10-5. four-way union；10-6. hose；10-7. solenoid valve；10-8. tee tube
Connector；100. object to be grabbed；A1. turntable；A2.X axis；A2-1. second gear；A3. floor；A4. supporting parts；A5. the first rudder
Machine；A5-1. first gear；A6.Y axis；A6-1.Y shaft gear；A7. pedestal；A8. the second steering engine；A8-1. output shaft；A8-2. it leads
Moving gear.
Specific embodiment
Reach the technical means and efficacy that predetermined purpose is taken for the present invention is further explained, below in conjunction with attached drawing and reality
Example is applied to a specific embodiment of the invention, structure feature and its effect, detailed description are as follows.
In the description of the invention, it is to be understood that term " center ", " longitudinal direction ", " transverse direction ", "upper", "lower",
The orientation or positional relationship of the instructions such as "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside" is
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of description the invention and simplifies description, rather than indicate
Or imply that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore cannot understand
For the limitation to the invention.
In addition, term " first ", " second ", " third " etc. are used for description purposes only, it is not understood to indicate or imply
Relative importance or the quantity for implicitly indicating indicated technical characteristic.The feature of " first ", " second " etc. is defined as a result,
It can explicitly or implicitly include one or more of the features.In the description of the invention, unless otherwise indicated,
The meaning of " plurality " is two or more.
Term " installation ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, be also possible to removable
Connection is unloaded, or is integrally connected；It can be mechanical connection, be also possible to be electrically connected；It can be directly connected, it can also be in
Between medium be indirectly connected, can be the connection inside two elements.For the ordinary skill in the art, can pass through
Concrete condition understands concrete meaning of the above-mentioned term in the invention.
The rotatable grabbing device transmission component for present embodiments providing a kind of robot, as shown in Fig. 2 and Fig. 1, this
The rotatable grabbing device of embodiment includes rotating disk 3, the Geneva mechanism for driving rotating disk 3 to rotate, is distributed in rotating disk 3
On four grippers 1, Geneva mechanism driving rotating disk 3 do periodically turn to stop transport it is dynamic, due to four grippers 1 with rotation
Disk 3 is fixedly connected, and is uniformly distributed around the center of circle of rotating disk 3.Positioned at after grabbing grippers 1 above object 100 and grabbing article,
The angle that Geneva mechanism driving rotating disk 3 rotates every time is 90 degree, and next object 100 to be grabbed enters under the conveying of conveyer belt
Position is grabbed, next grippers 1 is made to be located at the top of object 100 to be grabbed, carries out grasping movement.And so on, complete four crawls
After the crawl operation of part 1, four crawl objects are transferred to position to be placed by mechanical arm 9.
Referring to Figure 1 and Figure 3, the Geneva mechanism of the present embodiment include uniformly distributed four interior recessed Locking arc 41-1 sheave 41, with
The motor 43 of active driver plate 42, the driving rotation of active driver plate 42 that sheave 41 cooperates, the output shaft and active driver plate of the motor 43
42 rotary shaft 44 couples, and rotary shaft 44 and active driver plate 42 are integrally formed；Active driver plate 42 includes: equipped with an arc notch
The disk 42-1 of 42-11, the pivoted arm 42-2 being arranged in above disk 42-1 and straight pin 42-3, straight pin 42-3 and pivoted arm 42-2
It is fixedly connected, the peripheral wall of disk 42-1 is matched with interior recessed Locking arc 41-1, for locking sheave 41；It is installed on sheave 41
Driven shaft 6, and the radial slot 41-2 tangentially passed in and out for straight pin 42-3, sheave 41 are equipped between adjacent interior recessed Locking arc 41-1
It does periodically to turn to stop transport under the drive of active driver plate 42 and move.
The working principle of the present embodiment Geneva mechanism: when the straight pin 42-3 on continuous rotation pivoted arm 42-2 enters radial slot
When 41-2, stirs sheave 41 and turn over 90 ° of angles;After straight pin 42-3 produces radial slot 41-2, sheave 41 stops operating.Pivoted arm
42-2 circles, and sheave 41 is completed once to turn to stop transport dynamic.It rests to guarantee that sheave 41 is stable, the present embodiment is in disk 42-1
One arc notch 42-11 of upper setting, disk 42-1 peripheral wall are adapted with the interior recessed Locking arc 41-1 on sheave 41.In this way, both
Pivoted arm 42-2 rotation is not influenced, and it is motionless to lock sheave 41.In order to make the stop motion after 90 degree of completion rotations of sheave 41, slot
Radial slot 41-2 number on wheel 41 is 4, and the angle between two neighboring radial slot 41-2 is 90 degree.In order to avoid straight pin
The straight pin 42-3 of impact between 42-3 and radial slot 41-2, the present embodiment should be tangentially into and out of sheave 41, i.e. radial slot 41-2
It is orthogonal in this instantaneous position need with pivoted arm 42-2.
Referring to Fig. 6, the mechanical arm of the present embodiment include: with the integrally formed turntable a1 of Y-axis a6, X-axis a2, be installed in rotation
Two floor a3 on turntable a1, the supporting parts a4 being fixedly connected with the upper surface of driver plate connector, sheave terminal pad, driving X
The first steering engine a5, the pedestal a7 for fixing the second steering engine a8 of axis a2 rotation, pedestal a7 are equipped with through-hole, the Y-axis a6
Across through-hole, and the junction of through-hole and Y-axis a6 are equipped at least one bearing, are arranged with Y-axis gear a6-1 on the Y-axis a6,
The output shaft a8-1 of the second steering engine a8 is equipped with the driving gear a8-2 of driving Y-axis gear a6-1 rotation；
The X-axis a2 passes through supporting parts a4 and is fixedly connected with supporting parts a4, to realize that X-axis a2 drives supporting parts a4 rotation；Institute
The both ends for stating X-axis a2 are each passed through floor a3, and bearing is equipped between floor a3 and X-axis a2；The output of the first steering engine a5
Axis is equipped with first gear a5-1, and the X-axis a2 is equipped with the second gear a2-1 engaged with first gear a5-1.
The first servo driving X-axis a2 of the present embodiment rotates, and X-axis a2 is fixedly connected with supporting parts a4, when X-axis a2 is rotated,
Supporting parts a4 is also rotated with it；The present embodiment since Y-axis gear a6-1 is fixedly connected with Y-axis a6, as driving gear a8-2
After engaging with Y-axis gear a6-1, the second steering engine a8 drives Y-axis a6 rotation, and supporting parts a4 is also rotated with the rotation of Y-axis a6.This
The first steering engine, the second steering engine of embodiment are electrically connected with the interior controller for setting single-chip microcontroller, under the control of the controller, first
Steering engine, the second steering engine make to be adsorbed in the object to be grabbed 100 in grippers and are delivered to next Working position from position to be held.
It may be noted that in actual use, the pedestal a7 of the present embodiment is also possible to connect with the fuselage of robot or base.
The supporting parts a4 of the present embodiment can be by the first noumenon that is fixedly connected with X-axis a2 and perpendicular to the second ontology group of the first noumenon
It is greater than the length of the first noumenon at the length of, the second ontology, the lower end surface of the second ontology and driver plate connector, sheave terminal pad
Upper surface is fixedly connected, and when X-axis a2 or Y-axis a6 rotate, driver plate connector, sheave terminal pad turn with the rotation of the second ontology
It is dynamic.Certainly, the supporting parts a4 of the present embodiment is not limited to above structure, as long as being able to achieve to driver plate connector, sheave terminal pad
Undertaking, drive the function of driver plate connector, grippers rotation in sheave terminal pad.
Referring to Fig.1, the rotating disk 3 of the present embodiment includes for installing the disk body 31 of grippers 1, being installed in disk body 31 and slot
Boss 32 between wheel 41, the boss 32 move synchronously rotating disk 3 with sheave 41.The sheave 41 of the present embodiment, rotating disk 3
Center at be equipped with driven shaft 6, the top of sheave 41 is equipped with sheave terminal pad 7, the mechanical arm 9 of sheave terminal pad 7 and robot
It is fixedly connected, the lower section of rotating disk 3 has a fixed disk 8, and the both ends of driven shaft 6 are equipped with external screw thread, and driven shaft 6 sequentially passes through slot
After taking turns terminal pad 7, sheave 41, rotating disk 3 and fixed disk 8, the both ends of driven shaft 6 are fixedly connected by nut；Sheave terminal pad 7
Between sheave 41, several balls 5 are embedded between rotating disk 3 and fixed disk 8, sheave 41 and the junction of driven shaft 6 are set
There is bearing, rotating disk 3 and the junction of driven shaft 6 also are provided at least one bearing.
As shown in Figure 1, the connection type of the present embodiment mechanical arm 9 and sheave terminal pad 7 may is that mechanical arm 9 is equipped with
Multiple equally distributed through-holes, the first disk body 91 and slot are equipped in first disk body 91, first disk body 91 and sheave terminal pad 7
Wheel terminal pad 7 is bolted to connection.
The present embodiment setting sheave terminal pad 7 and the purpose of fixed disk 8 are: in order to by sheave 41, rotating disk 3, mechanical arm 9
It is fixedly connected, after the driven shaft 6 of the present embodiment sequentially passes through sheave terminal pad 7, sheave 41, rotating disk 3 and fixed disk 8, uses
Nut is tightened, to achieve the purpose that fastening.By being fixedly connected for mechanical arm 9 and sheave terminal pad 7 so that mechanical arm 9 with grab
Pickup 1 is relatively fixed.
When rotating in view of sheave 41, rotating disk 3, sheave terminal pad 7 and fixed disk 8 need to be stationary, therefore, this implementation
Example embeds several balls 5, correspondingly, sheave between sheave terminal pad 7 and sheave 41, between rotating disk 3 and fixed disk 8
Terminal pad 7, rotating disk 3, is provided with the ball-and-socket being embedded in for ball 5 in fixed disk 8 at sheave 41, on the one hand which can prevent
Ball 5 is detached from rotation track when rotating, and is on the other hand also convenient for fastening sheave 41 and rotating disk 3.
Due to sheave 41, rotating disk 3 rotate when, driven shaft 6 is stationary, therefore, the present embodiment sheave 41 with it is driven
The junction of axis 6 is equipped with bearing, and rotating disk 3 and the junction of driven shaft 6 also are provided at least one bearing.In this way, sheave 41, rotation
When turntable 3 rotates, the outer ring rotating of bearing, inner ring is not rotated, thus when realizing that sheave 41, rotating disk 3 rotate, driven shaft 6
It does not rotate.
Referring to FIG. 1, FIG. 2 and FIG. 4, the grippers 1 of the present embodiment include that can form the annular suction nozzle 11 of negative pressure cavity and from ring
The reinforcement block 12 that 11 upper end of shape suction nozzle extends to connecting plate direction, a pre-buried connecting tube 14 in reinforcement block 12；
Be equipped with a gas passage 13 for extending to negative pressure cavity in connecting tube 14, annular suction nozzle 11 and object 100 to be grabbed it is smooth on
Surface contacts, and the gas in annular suction nozzle 11 is extracted out by gas passage 13, forms the vacuum area for adsorbing object 100 to be grabbed
Domain；
Four grippers 1 are connect by telescopic cylinder 2 with 31 lower end surface of disk body respectively, and the cylinder body and disk body 31 of telescopic cylinder 2 connect
It connects, the telescopic rod 21 of telescopic cylinder 2 is fixedly connected with the outer wall of reinforcement block 12, so that telescopic cylinder 2 drives and the telescopic cylinder 2
The grippers 1 of connection do stretching motion.
The present embodiment gives the fixed connection method of a kind of telescopic cylinder 2 and disk body 31, reinforcement block, wherein disk body
31 lower end surface is fixed with the bracket for placing cylinder body, which is made of four vertical bars and four horizon bars, four water
The end of flat bar mutually overlaps, and is fixed into frame structure；
One end of four vertical bars is fixedly connected with 31 lower end surface of disk body respectively, and the other end and frame structure of four vertical bars are solid
Fixed connection, so that forming the cavity placed for cylinder body between four vertical bars and four horizon bars；One end of cylinder body and disk body 31
Lower end face contact, the other end of cylinder body is fixedly connected with framework.
First flange disk is embedded in reinforcement block, the end of telescopic rod 21 is equipped with the second flange cooperated with first flange disk
The inner hole of disk, first flange disk is equipped with internal screw thread, and first flange disk is contacted with second flange disk and fixed by screw.
As shown in figure 4, the present embodiment is the smooth surface for contacting object 100 to be grabbed by grippers 1, aspiration pump 10-1 is logical
Gas passage 13 is crossed by the evacuating air in annular suction nozzle 11, so that annular suction nozzle 11 is formed negative pressure cavity, due in annular suction nozzle 11
The air pressure in portion is less than the air pressure outside annular suction nozzle 11, and object 100 to be grabbed is picked up under the action of external pressure.The present embodiment
Vacuum chuck component have the advantages that cleaning, absorption is steady reliable, does not damage grabbed object surface.
After telescopic cylinder 2 drives grippers 1 and is moved to suitable position wait grab object 100, inflator pump 10-2 passes through gas
Body channel 13 is inflated to the inner cavity of annular suction nozzle 11, makes the air pressure inside of annular suction nozzle 11 and external pressure keep balancing, crawl
Part 1 and object 100 to be grabbed are detached from.
The annular suction nozzle 11 of the present embodiment is horn-like structure, and the big end of annular suction nozzle 11 is used to adsorb object 100 to be grabbed,
Small end is connect with reinforcement block 12.The outer portion 11-1- of annular suction nozzle 11 is trapezoidal along the axial section of connecting tube 14；Annular suction nozzle
11 internal ring portion 11-2- is arc along the axial section of connecting tube 14.The purpose being arranged in this way be make annular suction nozzle 11 with wait grab
Take the cavity better tightness between object 100.
The air-channel system connection schematic diagram of the present embodiment is as shown in Figure 5, wherein the free end of multiple connecting tubes 14 is equipped with
The hose 10-6 that supplied gas passes through, any connecting tube 14 be equipped with tee pipe coupling 10-8, two of tee pipe coupling 10-8
Outlet side passes through the free end of hose 10-6 connection connecting tube 14 respectively；Multiple hose 10-6 through a four-way union 10-5 with
Total hose 10-4 connection, total hose 10-4 equipped with two-bit triplet solenoid valve 10-3, two of two-bit triplet solenoid valve 10-3 into
Port is separately connected aspiration pump 10-1, inflator pump 10-2, connecting tube 14 and tee pipe coupling 10-8 or connecting tube 14 by pipeline
Solenoid valve 10-7 is equipped between four-way union 10-5；
The space of annular suction nozzle 11 is evacuated by aspiration pump 10-1, so that grippers 1 is formed negative pressure cavity, to clamp object to be grabbed
100；Inflator pump 10-2 injects air into annular suction nozzle 11, to realize the disengaging of annular suction nozzle 11 and object 100 to be grabbed.
The following detailed description of the design principle of the present embodiment: the grippers 1 of the present embodiment use vacuum principle, i.e., with true
Idling pressure carrys out adsorbent article to achieve the purpose that grab article.As shown in figure 5, the free end of connecting tube 14 and hose 10-6 connect
It connects, hose 10-6 is connect by total hose 10-4 with aspiration pump 10-1.In any 1 operation of grippers, in 1 gas circuit of grippers
Solenoid valve 10-7 open, the solenoid valve 10-7 closure in remaining grippers 1, after aspiration pump 10-1 starting, the grippers 1
The gas of annular 11 inner cavity of suction nozzle is extracted out by aspiration pump 10-1, and the air inside annular suction nozzle 11 is pumped, and forms internal gas
Pressure is less than the vacuum state of external pressure.At this point, since the air pressure inside annular suction nozzle 11 is lower than outside annular suction nozzle 11
Atmospheric pressure, article picks up under the action of external pressure by the grippers 1.Vacuum degree inside annular suction nozzle 11 is higher,
It is pasted between annular suction nozzle 11 and article tighter.
After sucking wait grab object 100, Geneva mechanism drives 90 degree of the rotation of rotating disk 3, meanwhile, next object to be grabbed
100 enter crawl position under the conveying of conveyer belt, and next grippers 1 is made to be located at the top of object 100 to be grabbed, next to grippers
Solenoid valve 10-7 on 1 is opened, and the solenoid valve 10-7 in remaining grippers 1 is closed, using aforesaid way to next object to be grabbed
100 carry out crawl operation.And so on, until the drive of mechanical arm 9 of robot is grabbed after completing the crawl work that four grab object
Pickup 1 and crawl object, item transfer to suitable position is filled at this point, the solenoid valve 10-7 on four hose 10-6 is fully open
Air pump 10-2 is inflated by gas passage 13 to the inner cavity of annular suction nozzle 11, and the air pressure inside and external pressure of annular suction nozzle 11 are made
Balance is kept, grippers 1 and object 100 to be grabbed are detached from, and this completes a duty cycles.
Stress: the grippers 1 of the present embodiment need to contact with the sealing contents being adsorbed when in use, form one
After a closed gas chamber, aspiration pump 10-1 could be started, air-tight chamber is vacuumized.Above-mentioned analysis it is found that the present embodiment vacuum
Clamp assemblies have the characteristics that it is pollution-free, do not hurt workpiece and easy-to-use.
It since the material of annular suction nozzle 11 is generally rubber, directly contacts, can wear tight with object 100 to be grabbed for a long time
Weight, and the phenomenon that crawl object moves horizontally is easy to appear during shifting article.For this purpose, the present embodiment is being located at annular suction nozzle
The end face of 11 big ends is equipped with friction pad, and the frictional force between the friction pad and object to be grabbed 100 can offset object 100 to be grabbed and turn
The lateral force being subject to when shifting；Friction pad is made of Polyurethane or neoprene.
Referring to Fig.1, the present embodiment active driver plate 42 and the fixed form of mechanical arm 9 are: mechanical arm 9 is equipped with the second disk body
92, the top of active driver plate 42 is equipped with driver plate connector, and the end face of the driver plate connector is equipped with multiple threaded holes, the second disk body
92 are equipped with through-hole, and the second disk body 92 is fixedly connected with driver plate connector by screw；Driver plate connector and active driver plate 42 it
Between embed several balls 5.
Equally, it is to make active driver plate 42 that ball 5, which is arranged, in the present embodiment between driver plate connector and active driver plate 42
It is rotated relative to driver plate connector, the fixation without influencing active driver plate 42.On the present embodiment driver plate connector, active driver plate 42
It is provided with the ball-and-socket being embedded in for ball 5, on the one hand which can prevent ball 5 to be detached from rotation track when rotating, on the other hand
It is also convenient for fixed active driver plate 42.
The fixed form of the present embodiment motor 43 is described below in detail: as shown in Figure 1, being equipped at the center of the second disk body 92
For accommodating the accommodating cavity of motor 43, the outer wall of motor 43 is fixedly connected with the upper surface of driver plate connector, the output of motor 43
Axis is fixedly connected after passing through driver plate connector with rotary shaft 44.There is the mounting portion extended outward on the outer wall of motor 43, it should
Mounting portion is equipped with mounting hole, and driver plate connector is equipped with threaded hole corresponding with mounting hole, and motor 43 and driver plate connector are logical
Screw is crossed to be fixedly connected.
The motor 43 of the present embodiment is fixed on driver plate connector, and the motor 43 for being higher by driver plate connector part, which is located at, to be held
Set intracavitary, setting in this way is to make entire rotatable grabbing device more compact structure.
The present embodiment contacts the smooth surface of object 100 to be grabbed by grippers 1, and aspiration pump 10-1 passes through gas passage 13
By the evacuating air in annular suction nozzle 11, annular suction nozzle 11 is set to form negative pressure cavity, since the air pressure inside annular suction nozzle 11 is less than
Air pressure outside annular suction nozzle 11, object 100 to be grabbed is picked up under the action of external pressure, thus achieve the effect that crawl,
Therefore, the rotatable grabbing device of the present embodiment has the advantages that structure is simple, easy to use, crawl is reliable；
The present embodiment drives rotating disk 3 to do a periodically turn stoppage in transit and moves by Geneva mechanism, so that four in rotating disk 3 grab
Part 1 successively grabs object 100 to be grabbed, and when any grippers 1 in rotating disk 3 are located at any top wait grab object 100, opens
Telescopic cylinder 2 corresponding with the grippers 1 is moved, the telescopic rod 21 of telescopic cylinder 2 is made to drive the grippers 1 to object 100 to be grabbed
It is close and draw object 100 to be grabbed；After the completion of the grippers 1 work, start rotary shaft 44, active driver plate 42 drives sheave 41 to revolve
Turn 90 °, next grippers 1 is made to be located at the top of object 100 to be grabbed.The mechanical arm 9 of the present embodiment can disposably grab four objects
Product have the advantages that crawl is high-efficient；
The sheave 41 and rotating disk 3 of the present embodiment are clamped and are fixed by sheave terminal pad 7, fixed disk 8, in sheave terminal pad 7
Between sheave 41, several balls 5 are embedded between rotating disk 3 and fixed disk 8 respectively, when sheave 41 and the rotation of rotating disk 3,
Ball 5 rotates in ball-and-socket, rotates sheave 41 and rotating disk 3 relative to sheave terminal pad 7, fixed disk 8.The present embodiment can
Rotary grasping device stability is high, convenient to assemble and disassemble；
The active driver plate 42 of the present embodiment is fixedly connected by driver plate connector with the mechanical arm 9 of robot, in active driver plate 42
Several balls 5 are set between driver plate connector, and when active driver plate 42 works, ball 5 rotates in ball-and-socket, so that actively
Driver plate 42 is rotated relative to driver plate connector, and the rotatable grabbing device stability of the present embodiment is high, convenient to assemble and disassemble.
The above content is a further detailed description of the present invention in conjunction with specific preferred embodiments, and it cannot be said that
Specific implementation of the invention is only limited to these instructions.For those of ordinary skill in the art to which the present invention belongs, exist
Under the premise of not departing from present inventive concept, a number of simple deductions or replacements can also be made, all shall be regarded as belonging to of the invention
Protection scope.
Claims (8)
1. a kind of rotatable grabbing device transmission component of robot characterized by comprising rotating disk (3), for driving
The Geneva mechanism of rotating disk (3) rotation, the Geneva mechanism include uniformly distributed four interior recessed Locking arcs (41-1) sheave (41), with
The motor (43) that the active driver plate (42) of sheave (41) cooperation, driving active driver plate (42) rotate, the output shaft of the motor (43)
Couple with the rotary shaft (44) of active driver plate (42), the rotary shaft (44) and active driver plate (42) are integrally formed；
The active driver plate (42) includes: disk (42-1) equipped with an arc notch (42-11), is arranged on disk (42-1)
The pivoted arm (42-2) and straight pin (42-3) of side, the straight pin (42-3) are fixedly connected with pivoted arm (42-2), the disk
The peripheral wall of (42-1) is matched with interior recessed Locking arc (41-1), for locking sheave (41)；
It is installed with driven shaft (6) on the sheave (41), and is equipped between adjacent interior recessed Locking arc (41-1) for straight pin
The radial slot (41-2) that (42-3) is tangentially passed in and out, the sheave (41) is done under the drive of active driver plate (42) periodically to be turned to stop
Movement；
The rotating disk (3) includes for installing the disk body of grippers (1) (31), being installed between disk body (31) and sheave (41)
Boss (32), which move synchronously rotating disk (3) with sheave (41)；
The sheave (41), rotating disk (3) center at be equipped with driven shaft (6), the top of the sheave (41) is equipped with sheave company
Meet disk (7) sheave terminal pad (7), the fixed company of the mechanical arm (9) of sheave terminal pad (7) the sheave terminal pad (7) and robot
It connects, the lower section of the rotating disk (3) has a fixed disk (8), and the both ends of the driven shaft (6) are equipped with external screw thread, described driven
It is driven after axis (6) sequentially passes through sheave terminal pad (7) sheave terminal pad (7), sheave (41), rotating disk (3) and fixed disk (8)
The both ends of axis (6) are fixedly connected by nut；
Between sheave terminal pad (7) the sheave terminal pad (7) and sheave (41), between the rotating disk (3) and fixed disk (8)
Embed several balls (5), the junction of the sheave (41) and driven shaft (6) is equipped with bearing, the rotating disk (3) with from
The junction of moving axis (6) also is provided at least one bearing；
The mechanical arm (9) include: with Y-axis (a6) integrally formed turntable (a1), X-axis (a2), be installed in turntable (a1)
On two floors (a3), hold with what the upper surface of driver plate connector, sheave terminal pad (7) sheave terminal pad (7) was fixedly connected
The first steering engine (a5), the pedestal (a7) for fixing the second steering engine (a8) that supporting piece (a4), driving X-axis (a2) rotate, the pedestal
(a7) it is equipped with through-hole, the Y-axis (a6) passes through through-hole, and the junction of through-hole and Y-axis (a6) are equipped at least one bearing, institute
It states and is arranged on Y-axis (a6) Y-axis gear (a6-1), the output shaft (a8-1) of second steering engine (a8) is equipped with and Y-axis gear
(a6-1) driving gear (a8-2) engaged；
The X-axis (a2) passes through supporting parts (a4) and is fixedly connected with supporting parts (a4), to realize that X-axis (a2) drives supporting parts
(a4) it rotates；The both ends of the X-axis (a2) are each passed through floor (a3), and bearing is equipped between floor (a3) and X-axis (a2)；Institute
The output shaft for stating the first steering engine (a5) is equipped with first gear (a5-1), and the X-axis (a2) is equipped with and first gear (a5-1)
The second gear (a2-1) of engagement.
2. being used for the rotatable grabbing device transmission component of robot as described in claim 1, which is characterized in that described to hold
Supporting piece (a4) is equipped with the first disk body (91), is equipped in first disk body (91) and sheave terminal pad (7) sheave terminal pad (7)
Multiple equally distributed through-holes, first disk body (91) and sheave terminal pad (7) sheave terminal pad (7) company of being bolted
It connects；
The supporting parts (a4) are equipped with the second disk body (92), and the top of the active driver plate (42) is equipped with driver plate connector, should
The end face of driver plate connector is equipped with multiple threaded holes, and second disk body (92) is equipped with through-hole, second disk body (92)
It is fixedly connected with driver plate connector by screw, embeds several balls between the driver plate connector and active driver plate (42)
(5).
3. being used for the rotatable grabbing device transmission component of robot as claimed in claim 2, which is characterized in that the rotation
It is uniformly distributed there are four grippers (1) on turntable (3), the grippers (1) include can be formed negative pressure cavity annular suction nozzle (11) and from
The reinforcement block (12) that annular suction nozzle (11) upper end extends to connecting plate direction, a pre-buried connecting tube in the reinforcement block (12)
(14)；
Be equipped with a gas passage (13) for extending to negative pressure cavity in the connecting tube (14), the annular suction nozzle (11) with wait grab
The smooth upper surface of object (100) contacts, and the gas in annular suction nozzle (11) is extracted out by gas passage (13), formed for adsorb to
Grab the vacuum area of object (100)；
Four grippers (1) are connect by telescopic cylinder (2) with disk body (31) lower end surface respectively, the telescopic cylinder (2)
Cylinder body connect with disk body (31), the telescopic rod (21) of the telescopic cylinder (2) is fixedly connected with the outer wall of reinforcement block (12), is made
Obtaining telescopic cylinder (2) drives the grippers (1) coupled with the telescopic cylinder (2) to do stretching motion.
4. being used for the rotatable grabbing device transmission component of robot as claimed in claim 3, which is characterized in that described the
The accommodating cavity for accommodating motor (43), the outer wall and driver plate connector of the motor (43) are equipped at the center of two disk bodies (92)
Upper surface be fixedly connected, the output shaft of the motor (43) is fixedly connected after passing through driver plate connector with rotary shaft (44).
5. being used for the rotatable grabbing device transmission component of robot as claimed in claim 4, which is characterized in that the horse
There is the mounting portion extended outward, which is equipped with mounting hole, sets on the driver plate connector on up to the outer wall of (43)
There is threaded hole corresponding with mounting hole, the motor (43) is fixedly connected with driver plate connector by screw.
6. being used for the rotatable grabbing device transmission component of robot as claimed in claim 3, which is characterized in that the ring
Shape suction nozzle (11) is horn-like structure, and the big end of the annular suction nozzle (11) is for adsorbing object to be grabbed (100)；The annular is inhaled
The outer portion (11-1) of mouth (11) is trapezoidal along the section of connecting tube (14) axial direction；Internal ring portion (the 11- of the annular suction nozzle (11)
It 2) is arc along the section of connecting tube (14) axial direction.
7. being used for the rotatable grabbing device transmission component of robot as claimed in claim 6, which is characterized in that be located at institute
The end face for stating annular suction nozzle (11) big end is equipped with friction pad, and the frictional force between the friction pad and object to be grabbed (100) can be offset
The lateral force being subject to when grabbing object (100) in transfer；The friction pad is made of Polyurethane or neoprene.
8. being used for the rotatable grabbing device transmission component of robot as claimed in claim 3, which is characterized in that Duo Gesuo
The free end for stating connecting tube (14) is equipped with the hose that supplied gas passes through, and any connecting tube (14) is equipped with tee pipe coupling, should
Two outlet sides of tee pipe coupling pass through the free end of hose connection connecting tube (14) respectively；Multiple hoses are through a four-way pipe
Connector is connect with total hose, and total hose is equipped with two-bit triplet solenoid valve, and two air inlets of the two-bit triplet solenoid valve are logical
Piping is separately connected aspiration pump, inflator pump, the connecting tube (14) and tee pipe coupling or connecting tube (14) and four-way pipe connector
Solenoid valve is equipped between head；
The space of annular suction nozzle (11) is evacuated by the aspiration pump, so that grippers (1) is formed negative pressure cavity, to clamp wait grab
Object (100)；The inflator pump injects air into annular suction nozzle (11), to realize annular suction nozzle (11) and object to be grabbed (100)
Disengaging.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711095006.1A CN109760032A (en) | 2017-11-09 | 2017-11-09 | A kind of rotatable grabbing device transmission component of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711095006.1A CN109760032A (en) | 2017-11-09 | 2017-11-09 | A kind of rotatable grabbing device transmission component of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109760032A true CN109760032A (en) | 2019-05-17 |
Family
ID=66449154
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711095006.1A Withdrawn CN109760032A (en) | 2017-11-09 | 2017-11-09 | A kind of rotatable grabbing device transmission component of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109760032A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111104814A (en) * | 2019-12-27 | 2020-05-05 | 中国联合网络通信集团有限公司 | Product information acquisition system |
| CN112828660A (en) * | 2020-12-31 | 2021-05-25 | 江苏南高智能装备创新中心有限公司 | Truss manipulator of full-automatic digit control machine tool processing |
-
2017
- 2017-11-09 CN CN201711095006.1A patent/CN109760032A/en not_active Withdrawn
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111104814A (en) * | 2019-12-27 | 2020-05-05 | 中国联合网络通信集团有限公司 | Product information acquisition system |
| CN111104814B (en) * | 2019-12-27 | 2023-05-09 | 中国联合网络通信集团有限公司 | Product information acquisition system |
| CN112828660A (en) * | 2020-12-31 | 2021-05-25 | 江苏南高智能装备创新中心有限公司 | Truss manipulator of full-automatic digit control machine tool processing |
| CN112828660B (en) * | 2020-12-31 | 2022-05-24 | 江苏南高智能装备创新中心有限公司 | Truss manipulator of full-automatic digit control machine tool processing |
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Application publication date: 20190517 |