CN110091347B - Intelligent end actuating mechanism device for carrying various materials - Google Patents
Intelligent end actuating mechanism device for carrying various materials Download PDFInfo
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- CN110091347B CN110091347B CN201910344806.5A CN201910344806A CN110091347B CN 110091347 B CN110091347 B CN 110091347B CN 201910344806 A CN201910344806 A CN 201910344806A CN 110091347 B CN110091347 B CN 110091347B
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- adsorption
- clamping
- carrying mechanism
- carrying
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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
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
- B25J15/0061—Gripping heads and other end effectors multiple gripper units or multiple end effectors mounted on a modular gripping structure
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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
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0608—Gripping heads and other end effectors with vacuum or magnetic holding means with magnetic holding means
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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
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
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- Engineering & Computer Science (AREA)
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- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an intelligent end actuating mechanism device for carrying various materials, which comprises a clamping carrying mechanism module, a pneumatic adsorption carrying mechanism module and an electromagnetic adsorption carrying mechanism module; the clamping and carrying mechanism module comprises a clamping and carrying mechanism body, clamping jaws and a driving mechanism for driving the clamping jaws to move in an opening and closing mode, and the clamping and carrying mechanism body is fixedly installed at the tail end of the executing mechanism; the pneumatic adsorption carrying mechanism module comprises an adsorption shell with an air inlet hole, the adsorption shell is of a five-surface shell structure with an opening at the lower end, the adsorption shell is fixedly installed on the bottom surface of the clamping jaw, and the air inlet hole is connected with an external air pump through an air inlet pipeline; the electromagnetic adsorption carrying mechanism module realizes electromagnetic adsorption through an electromagnetic chuck. The invention can meet the material carrying requirements of materials with different sizes and heavy loads, and has strong adaptability and wide market prospect.
Description
Technical Field
The invention relates to the field of intelligent manufacturing, in particular to an intelligent end actuating mechanism device for carrying various materials.
Background
The current society, intelligent manufacturing is the main direction of china's manufacturing development, and the robot is typical automated production equipment in the intelligent manufacturing field, is used for replacing the people through terminal actuating mechanism and carries out repeatedly mechanically snatching, carry various objects, and terminal actuating mechanism of robot for material handling is the indispensable device of material handling process, and its structure directly influences the flexibility of robot and the handling efficiency of material.
The materials in the modern industrial production process are various in types, wherein the materials comprise various materials such as iron, aluminum and plastic, the materials are in various shapes such as round, square and irregular shapes, the sizes and the weights of the materials are different, and new challenges are brought to material handling. In order to realize the grabbing and carrying of materials, the Chinese patent application No. 201810093332.7 discloses a robot end effector which can only be used for realizing the carrying of irregular solid colloidal block-shaped materials; chinese patent application No. 201410051076.7 discloses a telescopic clamp, which adopts pneumatic claws to realize material handling at different intervals, but the shape of the material must be regular; chinese patent application No. 201610602673.3 discloses an improved manipulator, which adopts knuckle form to carry out material handling in two modes of clamping and electromagnetic adsorption, but because of the constraint of knuckle structure, the size and weight of the material handling are limited.
As can be seen, the current material handling device has low flexibility, can basically only meet the handling of materials with single material and appearance, and has poor practicability; the material handling process is lack of necessary detection, the clamping force of the handling mechanism to the material is not detected in real time, the material is possibly damaged in the material holding process, and the material is likely to fall off in the material handling process.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the current material handling device can only meet the handling of single material and appearance material, and the practicality is relatively poor.
In order to solve the technical problems, the invention provides the following technical scheme:
a terminal actuating mechanism device of intelligence for multiple material handling, including centre gripping handling mechanism module, pneumatic absorption
The electromagnetic adsorption conveying mechanism module is arranged on the conveying mechanism module;
the clamping and carrying mechanism module comprises a clamping and carrying mechanism body, clamping jaws and a driving mechanism for driving the clamping jaws to move in an opening and closing mode, and the clamping and carrying mechanism body is fixedly installed at the tail end of the executing mechanism;
the pneumatic adsorption carrying mechanism module comprises an adsorption shell with an air inlet hole, the adsorption shell is of a five-surface shell structure with an opening at the lower end, the adsorption shell is fixedly installed on the bottom surface of the clamping jaw, and the air inlet hole is connected with an external air pump through an air inlet pipeline;
the electromagnetic adsorption carrying mechanism module comprises a positive electrode, a negative electrode and an electromagnetic chuck, the electromagnetic chuck is matched with an opening at the lower end of the adsorption shell and forms an adsorption cavity together with the adsorption shell, a plurality of air outlets are distributed on the electromagnetic chuck, and the lower surface of the electromagnetic chuck is in contact with materials; the electromagnetic chuck is internally embedded with a coil, two sides of the upper surface of the electromagnetic chuck are respectively connected with a positive electrode and a negative electrode, and the positive electrode and the negative electrode penetrate through the upper surface of the adsorption shell and are connected with an external current controller.
As a further scheme of the invention: the driving mechanism comprises a servo motor, and the servo motor drives the clamping jaws to open and close through a ball screw pair.
As a still further scheme of the invention: and the servo motor is in transmission connection with the ball screw pair through a synchronous belt pulley.
As a still further scheme of the invention: the inlet port has a plurality ofly and is the multiseriate and arranges.
As a still further scheme of the invention: and the upper surface of the adsorption shell is provided with two electrode holes matched with the positive electrode and the negative electrode.
As a still further scheme of the invention: the electromagnetic chuck is sealed along the periphery thereof by sealant.
As a still further scheme of the invention: the intelligent sensing unit is composed of a pressure sensor, an air pressure sensor and a Hall sensor, and the pressure sensor is installed on the clamping jaw; the air pressure sensor is arranged in an air inlet pipeline connected with the air inlet; the Hall sensor is arranged on the negative electrode.
Compared with the prior art, the invention has the beneficial effects that: 1) the device integrates clamping carrying, pneumatic adsorption carrying and electromagnetic adsorption carrying technologies, can meet material carrying requirements of different materials and shapes and structures, can meet the material carrying requirements of materials with different sizes and heavy loads by adopting a clamping jaw carrying mode, and is strong in adaptability and wide in market prospect.
2) The device uses a modular design, comprises three modules, namely a clamping and carrying mechanism module, a pneumatic adsorption and carrying mechanism module and an electromagnetic adsorption and carrying mechanism module, and has the advantages of flexible installation, simple maintenance and convenient use.
3) Each module in the device can be used independently or in combination, so that the possibility of combining and using a plurality of clamping modes is provided; and the pneumatic adsorption carrying mechanism module and the electromagnetic adsorption carrying mechanism module are organically integrated, so that the occupied space is reduced, and the normal clamping operation of the clamping and carrying mechanism module is not influenced.
4) Pressure sensor, baroceptor and hall sensor integrated installation detect the power of carrying in real time, guarantee the safety of handling process material, and its expansibility is strong, and the security is high.
5) The pneumatic adsorption carrying mechanism module and the electromagnetic adsorption carrying mechanism module are installed under the clamping jaws, the acting point of pneumatic adsorption or electromagnetic adsorption can be adjusted through the clamping jaws according to the size of the material, and the stability of the material in different sizes during carrying is improved.
Drawings
Fig. 1 is a schematic structural diagram of the first embodiment.
Fig. 2 is a schematic view of a clamping and transporting mechanism module according to a first embodiment.
Fig. 3 is a schematic structural diagram of a pneumatic adsorption handling mechanism module and an electromagnetic adsorption handling mechanism module according to an embodiment of the present invention.
FIG. 4 is a schematic diagram of a pneumatic suction handling mechanism module according to an embodiment.
FIG. 5 is a schematic diagram of a pneumatic suction handling mechanism module with an electromagnetic chuck installed according to an embodiment.
Fig. 6 is a schematic view of an electromagnetic adsorption handling mechanism module according to an embodiment.
In the figure: the clamping and carrying mechanism comprises a clamping and carrying mechanism module 100, a servo motor 101, a small synchronous pulley 102, a synchronous belt 103, a large synchronous pulley 104, a motor supporting block 105, a guide rail 106, a screw shaft 107, a shell 108, a nut block 109, a sleeve 110, a guide rail slider 111, a cushion block 112, a clamping jaw 113, a pneumatic adsorption and carrying mechanism module 200, an adsorption shell 201, an electrode hole 202, an air inlet hole 203, an air loop 204, an electromagnetic adsorption and carrying mechanism module 300, a positive electrode 301, a negative electrode 302, an air outlet hole 303, an electromagnetic suction cup 304, a connecting flange plate 401, a sealant 402, an intelligent sensing unit 500, a pressure sensor 501, an air pressure sensor 502 and a Hall sensor 503.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The first embodiment is as follows:
referring to fig. 1, an intelligent end effector mechanism for multiple material handling includes a gripping and handling mechanism module 100, a pneumatic suction and handling mechanism module 200, and an electromagnetic suction and handling mechanism module 300. The clamping and carrying mechanism module 100 is fixedly mounted at the tail end of an executing mechanism such as a mechanical arm through a connecting flange 401, the executing mechanism such as the mechanical arm is used as a body, and the intelligent tail end executing mechanism device for carrying various materials is cooperated to carry the materials.
Referring to fig. 2, the clamping and conveying mechanism module 100 is driven by a servo motor 101, and transmits motion to a screw shaft 107 through a synchronous belt 103, the servo motor 101 rotates forward and backward to drive a ball screw pair to rotate forward and backward synchronously, so that opening and closing of a clamping jaw 113 are realized, and clamping and conveying of materials are further realized. The servo motor 101 is fixedly arranged on a motor supporting block 105 at the tail end of the bottom guide rail 106, an output shaft of the servo motor 101 is connected with the small synchronous pulley 102, the small synchronous pulley 102 transmits motion to the large synchronous pulley 104 through a synchronous belt, the synchronous pulley transmission effectively shortens the axial distance of a transmission chain, reduces the installation space of parts and reasonably controls the size of the clamping and carrying mechanism module 100. Two ends of the screw shaft 107 are optical axes, one end of the screw shaft is fixedly arranged on a sleeve 110, the sleeve 110 is fixed on the shell 108, and the other end of the screw shaft passes through a middle hole of the motor supporting block 105 and is matched with a central hole of the large synchronous pulley 104; the middle part of the screw shaft 107 is a screw and is matched with a nut in a nut block 109, the nut block 109 is composed of the nut and a connecting block, the connecting block is fixedly arranged on a cushion block 112, a guide rail sliding block 111 is also fixedly arranged on the cushion block 112, and the other surface of the cushion block 112 is fixedly connected with a clamping jaw 113.
Referring to fig. 3 to 5, the pneumatic suction conveying mechanism module 200 is fixedly mounted on the bottom surface of the clamping jaw 113 of the clamping and conveying mechanism module 100 by bolts. An adsorption shell 201 in the pneumatic adsorption carrying mechanism module 200 is of a five-surface shell structure, two rows of through holes on the upper surface of the adsorption shell 201 are air inlets 203, and two through holes are electrode holes 202; wherein, the air inlet 203 is communicated with two rows of air loops 204 on the other side of the upper surface of the adsorption shell 201. When the pneumatic adsorption carrying mechanism module 200 works, the air pump pumps away the air in the adsorption shell 201 through the air inlet hole, so that the air inside the adsorption shell 201 and the outside air generate negative pressure difference to generate adsorption force, and the material contacting the surface of the electromagnetic chuck 304 is adsorbed.
Referring to fig. 3 and 6, the electromagnetic absorption carrying mechanism module 300 is installed at the bottom of the pneumatic absorption carrying mechanism module 200 and is sealed along the periphery of the electromagnetic chuck 304 by a sealant 402 to prevent air leakage. The electromagnetic adsorption handling mechanism module 300 consists of an electromagnetic chuck 304, a positive electrode 301 and a negative electrode 302; the positive electrode 301 and the negative electrode 302 penetrate through the two electrode holes 202 on the upper surface of the adsorption shell 201 and are connected with a current controller, and meanwhile, the sealing glue 402 is adopted to seal along the electrode holes 202 to prevent the air leakage of the electromagnetic adsorption carrying mechanism module 300; the electromagnetic chuck 304 is distributed with a plurality of air outlets 303, coils are embedded in the air outlets, two sides of the upper surface of the electromagnetic chuck are connected with the positive electrode 301 and the negative electrode 302, the on-off and the size of current are controlled by a current controller, magnetic force with different sizes is generated, and materials contacting the surface of the electromagnetic chuck 304 are sucked.
The intelligent end actuating mechanism device for carrying various materials integrates clamping carrying, pneumatic adsorption carrying and electromagnetic adsorption carrying technologies, and can carry materials of different materials, shapes and structures.
The working process of the invention is as follows: the method comprises the following steps: selecting a proper material handling mode according to the material and shape characteristics of the material, and entering the second step if the material is selected to be clamped and handled; if pneumatic adsorption is selected to carry the materials, entering the third step; and if the electromagnetic adsorption is selected to carry the materials, entering the step four.
Step two: the servo motor 101 is controlled to drive the clamping jaw 113 to clamp materials in a forward and reverse rotation mode, when the clamping jaw 113 is in contact with the materials, the pressure sensor 501 on the clamping jaw 113 feeds back clamping force in real time, when the clamping force reaches a set value, the materials are clamped to be carried, the materials can be prevented from being damaged due to overlarge clamping force, and the materials can be guaranteed to slide off due to small clamping force in the carrying process.
Step three: according to the size of the material, the opening and closing of the clamping jaw 113 are controlled by controlling the servo motor 101 so as to adjust the adsorption force application point; then the air pump is controlled to pump away the air in the adsorption shell 201 through the air inlet hole, so that negative pressure difference is generated between the air inside the adsorption shell 201 and the outside air, adsorption force is generated, the material in contact with the surface of the electromagnetic chuck 304 is adsorbed, the adsorption force of the material is detected in real time through the air pressure sensor 502 installed on the air inlet pipeline in the adsorption process, when the adsorption force reaches a set value, the adsorbed material is carried, the material can be prevented from being damaged due to overlarge adsorption force, and the falling of the material due to small adsorption force in the carrying process can be ensured.
Step four: according to the size of the material, the opening and closing of the clamping jaw 113 are controlled by controlling the servo motor 101 so as to adjust the adsorption force application point; the current controller is controlled to control the on-off and the size of the current, magnetic force with different sizes is generated to suck magnetic materials contacting the surface of the electromagnetic chuck 304, the electromagnetic adsorption force of the materials is detected in real time through the Hall sensor 503 installed on the negative electrode 302 in the adsorption process, and when the electromagnetic adsorption force reaches a set value, the adsorbed materials are conveyed, so that the materials can be prevented from being damaged due to overlarge adsorption force, and the falling of the materials due to small adsorption force in the conveying process can also be guaranteed.
Example two:
the first embodiment is the same as the first embodiment, except that the first embodiment further comprises an intelligent sensing unit 500, wherein the intelligent sensing unit 500 is composed of a pressure sensor 501, an air pressure sensor 502 and a hall sensor 503; the pressure sensor 501 is arranged on the clamping jaw 113 to detect the clamping force of the clamping jaw 113 acting on the material in real time; the air pressure sensor 502 is arranged in an air inlet pipeline connected with the air inlet 203 and is used for detecting the adsorption force of the materials in real time; the hall sensor 503 is installed on the negative electrode 302, and detects the electromagnetic adsorption force of the material in real time.
A pressure sensor 501, an air pressure sensor 502 and a Hall sensor 503 are integrally installed on the mechanism to detect the conveying force in real time, so that the materials are guaranteed to be safely and controllably conveyed.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (6)
1. An intelligent end actuating mechanism device for carrying various materials is characterized by comprising a clamping carrying mechanism module, a pneumatic adsorption carrying mechanism module and an electromagnetic adsorption carrying mechanism module;
the clamping and carrying mechanism module comprises a clamping and carrying mechanism body, clamping jaws and a driving mechanism for driving the clamping jaws to move in an opening and closing mode, and the clamping and carrying mechanism body is fixedly installed at the tail end of the executing mechanism;
the pneumatic adsorption carrying mechanism module comprises an adsorption shell with an air inlet hole, the adsorption shell is of a five-surface shell structure with an opening at the lower end, the adsorption shell is fixedly installed on the bottom surface of the clamping jaw, and the air inlet hole is connected with an external air pump through an air inlet pipeline;
the electromagnetic adsorption carrying mechanism module comprises a positive electrode, a negative electrode and an electromagnetic chuck, the electromagnetic chuck is matched with an opening at the lower end of the adsorption shell and forms an adsorption cavity together with the opening, and a plurality of air outlet holes are distributed on the electromagnetic chuck; a coil is embedded in the electromagnetic chuck, two sides of the upper surface of the electromagnetic chuck are respectively connected with a positive electrode and a negative electrode, and the positive electrode and the negative electrode penetrate through the upper surface of the adsorption shell and are connected with an external current controller;
the intelligent sensing unit is composed of a pressure sensor, an air pressure sensor and a Hall sensor, and the pressure sensor is installed on the clamping jaw; the air pressure sensor is arranged in an air inlet pipeline connected with the air inlet; the Hall sensor is arranged on the negative electrode.
2. The intelligent end effector mechanism for multiple material handling of claim 1, wherein the drive mechanism comprises a servo motor that drives jaws to open and close via a ball screw assembly.
3. The intelligent end effector mechanism for multiple material handling of claim 2, wherein the servo motor is in drive connection with the ball screw assembly through a synchronous pulley.
4. The intelligent end effector mechanism for multiple material handling of claim 1, wherein the air intake holes are multiple and arranged in multiple rows.
5. The intelligent end effector mechanism for multiple material handling of claim 1, wherein the adsorbent housing upper surface is provided with two electrode holes that mate with a positive electrode and a negative electrode.
6. The intelligent end effector mechanism for multiple material handling of claim 1, wherein the electromagnetic chuck is sealed along its perimeter by a sealant.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910344806.5A CN110091347B (en) | 2019-04-26 | 2019-04-26 | Intelligent end actuating mechanism device for carrying various materials |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910344806.5A CN110091347B (en) | 2019-04-26 | 2019-04-26 | Intelligent end actuating mechanism device for carrying various materials |
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| CN110091347A CN110091347A (en) | 2019-08-06 |
| CN110091347B true CN110091347B (en) | 2022-04-01 |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06262575A (en) * | 1993-03-15 | 1994-09-20 | Toyoda Mach Works Ltd | Robot hand |
| CN104890001A (en) * | 2014-03-07 | 2015-09-09 | 发那科株式会社 | Robot hand, robot, robot system, and method of holding object |
| CN205438601U (en) * | 2015-12-31 | 2016-08-10 | 天津恒德玛达科技有限公司 | Electromagnetism adsorbs transports manipulator |
| CN205590145U (en) * | 2016-04-15 | 2016-09-21 | Tcl王牌电器(惠州)有限公司 | Magnetic chuck |
| CN109079768A (en) * | 2018-09-10 | 2018-12-25 | 广东宏穗晶科技服务有限公司 | A kind of transfer robot |
| CN109279357A (en) * | 2018-11-29 | 2019-01-29 | 湖北导航工贸股份有限公司 | A kind of mechanical gripper loaded for cargo |
| CN109573611A (en) * | 2019-01-22 | 2019-04-05 | 辽宁科技大学 | A kind of adjustable carrier robot grasper |
-
2019
- 2019-04-26 CN CN201910344806.5A patent/CN110091347B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06262575A (en) * | 1993-03-15 | 1994-09-20 | Toyoda Mach Works Ltd | Robot hand |
| CN104890001A (en) * | 2014-03-07 | 2015-09-09 | 发那科株式会社 | Robot hand, robot, robot system, and method of holding object |
| CN205438601U (en) * | 2015-12-31 | 2016-08-10 | 天津恒德玛达科技有限公司 | Electromagnetism adsorbs transports manipulator |
| CN205590145U (en) * | 2016-04-15 | 2016-09-21 | Tcl王牌电器(惠州)有限公司 | Magnetic chuck |
| CN109079768A (en) * | 2018-09-10 | 2018-12-25 | 广东宏穗晶科技服务有限公司 | A kind of transfer robot |
| CN109279357A (en) * | 2018-11-29 | 2019-01-29 | 湖北导航工贸股份有限公司 | A kind of mechanical gripper loaded for cargo |
| CN109573611A (en) * | 2019-01-22 | 2019-04-05 | 辽宁科技大学 | A kind of adjustable carrier robot grasper |
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| CN110091347A (en) | 2019-08-06 |
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