CN110936401A

CN110936401A - Article picking and placing manipulator for production and manufacturing

Info

Publication number: CN110936401A
Application number: CN201911258284.3A
Authority: CN
Inventors: 贝绍轶; 金犇; 范鑫; 张兰春; 黄飞
Original assignee: Jiangsu Institute of Technology
Current assignee: Jiangsu University of Technology; Jiangsu Institute of Technology
Priority date: 2019-12-10
Filing date: 2019-12-10
Publication date: 2020-03-31

Abstract

The invention discloses an article taking and placing manipulator for production and manufacturing, which comprises two clamping jaws, wherein a connecting plate is arranged on one side of each clamping jaw, a connecting column is fixed at one end of the connecting plate, one ends of the two clamping jaws are rotatably connected with the outer wall of the connecting column, a telescopic rod is fixed on the outer wall of the connecting plate, a driving end of the telescopic rod is rotatably connected with two rotating rods, one end of each rotating rod, far away from the telescopic rod, is rotatably connected with one clamping jaw, and a protection mechanism is arranged between each clamping jaw and the connecting plate. According to the invention, the clamping jaw is arranged to clamp an article, so that the article is taken and placed, and the protection mechanism is arranged on the clamping jaw, so that the problem that the article is damaged due to the fact that the force of the clamping jaw after clamping the article is not easy to control is solved.

Description

Article picking and placing manipulator for production and manufacturing

Technical Field

The invention relates to the technical field of manipulators, in particular to an article taking and placing manipulator for production and manufacturing.

Background

A robot is an automatic manipulator that simulates some of the motion functions of a human hand and arm to grasp, transport objects or manipulate tools according to a fixed program.

Traditional manipulator accomplishes the centre gripping to article for the shrink of opening through the clamping jaw, carries out getting of follow-up article again and puts, realizes the transfer of article, but the tradition is difficult to control the clamping jaw shrink dynamics of article centre gripping, causes the damage of article easily at the in-process of centre gripping.

Disclosure of Invention

The invention aims to solve the problems in the background art and provides an article taking and placing manipulator for production and manufacturing.

In order to achieve the purpose, the invention adopts the following technical scheme:

the utility model provides a production is got with article and is put mechanical hand, includes two clamping jaws, one side of clamping jaw is equipped with the connecting plate, the one end of connecting plate is fixed with the spliced pole, two the one end of clamping jaw rotates with the outer wall of spliced pole to be connected, be fixed with the telescopic link on the outer wall of connecting plate, the drive end of telescopic link rotates and is connected with two bull sticks, two the one end that the telescopic link was kept away from to the bull stick rotates with one of them clamping jaw to be connected, be equipped with protection machanism between clamping jaw and the connecting plate.

Preferably, the protection mechanism comprises strain gauges fixed at one ends, far away from the connecting column, of the two clamping jaws, a force sensor is fixed on the connecting plate, and the strain gauges are connected with the force sensor through leads

Preferably, protection machanism is including seting up at the inside cavity of clamping jaw, it has the slide to slide in the cavity, one side that the slide is close to another slide is fixed with the connecting rod, be fixed with expanding spring between the one side that the connecting rod was kept away from to the slide and the inner wall of cavity, one side that the connecting rod was kept away from to the slide still is fixed with the press lever, be fixed with the switch that corresponds the setting with the press lever on the inner wall of cavity, the switch is connected with outside siren.

Preferably, the end of the connecting rod penetrates through the clamping jaw and extends to the outside of the clamping jaw, and the connecting rod is fixedly connected with the abutting plate which is a rubber plate.

Preferably, the protection mechanism comprises a sucker fixedly installed at one end, far away from the connecting column, of the two clamping jaws, and an air pump connected with the sucker through an air pipe is fixed on the connecting plate.

Compared with the prior art, this manipulator is got and put with article to manufacturing's advantage lies in:

1. when the driving end of the telescopic rod is retracted, the two rotating rods are pulled to move towards the telescopic rod, so that the two clamping jaws are driven to rotate towards the outer side, the clamping jaws are opened, and when the driving end of the telescopic rod extends out, the two clamping jaws rotate towards the inner side to clamp an article;

2. when the strain gauge and the force sensor clamping jaw are arranged to be close to each other to clamp an article, pressure is transmitted to the strain gauge, the resistance value of the strain gauge is changed according to the pressure, and the change is displayed on the force sensor;

3. when the pressure of the abutting plate on an article is larger than the deformation force of the telescopic spring, the pressing rod is in contact with the switch to press, the switch is turned on, and the external alarm works to prompt that the pressure is too large;

4. the suction cup is arranged, and after the end part of the clamping jaw is contacted with an article, the article is adsorbed by negative pressure at the port of the suction cup, so that hard clamping is avoided, and damage is avoided;

in conclusion, the clamping jaw is arranged to clamp an article, so that the article is taken and placed, and the protection mechanism is arranged on the clamping jaw, so that the problem that the article is damaged due to the fact that the force of the clamping jaw after clamping the article is not easy to control is solved.

Drawings

Fig. 1 is a schematic structural diagram of a first embodiment of a manipulator for picking and placing articles for manufacturing according to the present invention;

FIG. 2 is a schematic structural diagram of a second embodiment of a production and manufacturing article pick-and-place robot according to the present invention;

FIG. 3 is an enlarged view of portion A of FIG. 2;

fig. 4 is a schematic structural diagram of a third embodiment of an article pick-and-place manipulator for manufacturing according to the present invention.

In the figure: the device comprises a clamping jaw 1, a connecting plate 2, a connecting column 3, a telescopic rod 4, a rotating rod 5, a strain gauge 6, a lead 7, an air pipe 8, a connecting rod 9, a resisting plate 10, a telescopic spring 11, a pressing rod 12, a switch 13 and a sucker 14.

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.

Example one

Referring to fig. 1, a manipulator is got with article to production and manufacturing, including two clamping jaws 1, one side of clamping jaw 1 is equipped with connecting plate 2, the one end of connecting plate 2 is fixed with spliced pole 3, the one end of two clamping jaws 1 rotates with the outer wall of spliced pole 3 to be connected, be fixed with telescopic link 4 on the outer wall of connecting plate 2, the drive end rotation of telescopic link 4 is connected with two bull sticks 5, the one end that telescopic link 4 was kept away from to two bull sticks 5 rotates with one of them clamping jaw 1 to be connected, when the drive end of telescopic link 4 was withdrawed, stimulate two bull sticks 5 and remove toward telescopic link 4, and then drive two clamping jaws 1 and rotate toward the outside, realize opening of clamping jaw 1, when the drive end of telescopic link 4 stretches out, article are carried out the centre gripping toward inboard rotation to two clamping jaws 1.

Be equipped with protection machanism between clamping jaw 1 and connecting plate 2, protection machanism is including fixing the foil gage 6 of keeping away from 3 one ends of spliced pole in two clamping jaws 1, be fixed with force sensor on the connecting plate 2, foil gage 6 passes through wire 7 and is connected with force sensor, when two clamping jaws 1 are close to each other and carry out the centre gripping to article, pressure transmission is to on the foil gage 6, pressure makes foil gage 6 produce and meets an emergency, when foil gage 6 produces compressive strain, its resistance reduces, the change of 6 resistances of foil gage, corresponding millivolt level potential output is obtained to rethread bridge circuit, and show on force sensor, obtain the size of centre gripping dynamics, avoid the too big article centre gripping damage that causes of dynamics.

Example two

Referring to fig. 2 to 3, the difference from the first embodiment is that:

the protection mechanism comprises a cavity arranged in the clamping jaw 1, a sliding plate slides in the cavity, one side of the sliding plate close to the other sliding plate is fixedly provided with a connecting rod 9, the end part of the connecting rod 9 penetrates through the clamping jaw 1 to extend to the outside of the clamping jaw and is fixedly connected with a supporting plate 10, the supporting plate 10 is a rubber plate which has certain elasticity and can avoid rigid damage of a clamping position and has certain protection effect on an article, an expansion spring 11 is fixed between one side of the sliding plate far away from the connecting rod 9 and the inner wall of the cavity, one side of the sliding plate far away from the connecting rod 9 is also fixedly provided with a pressing rod 12, a switch 13 which is arranged corresponding to the pressing rod 12 is fixed on the inner wall of the cavity, the switch 13 is connected with an external alarm, when the clamping jaw 1 clamps the article, the supporting plate 10 is extruded to move towards the outer side to drive the sliding plate to move and extrude the expansion spring 11, the pressing lever 12 is pressed by contact with the switch 13, the switch 13 is turned on, and the external alarm operates to indicate that the pressure is excessive.

EXAMPLE III

Referring to fig. 4, the difference from the first embodiment is:

protection machanism includes that fixed mounting keeps away from the sucking disc 14 of spliced pole 3 one end at two clamping jaws 1, be fixed with the air pump of being connected through trachea 8 with sucking disc 14 on the connecting plate 2, when clamping jaw 1 toward inboard rotation and article contact, the outer wall contact of sucking disc 14 and article, take out air in the sucking disc 14 through the air pump, it is tight to realize that sucking disc 14 carries out the negative pressure to article and inhales, clamping jaw 1 need not rotate great range and article and support tightly, can accomplish getting of article through the absorption of sucking disc 14 and put, the damage of article has been avoided.

Further, unless otherwise specifically stated or limited, the above-described fixed connection is to be understood in a broad sense, and may be, for example, welded, glued, or integrally formed as is conventional in the art.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.

Claims

1. The utility model provides a production is made and is got and put mechanical hand with article, includes two clamping jaw (1), its characterized in that, one side of clamping jaw (1) is equipped with connecting plate (2), the one end of connecting plate (2) is fixed with spliced pole (3), two the one end of clamping jaw (1) is rotated with the outer wall of spliced pole (3) and is connected, be fixed with telescopic link (4) on the outer wall of connecting plate (2), the drive end of telescopic link (4) is rotated and is connected with two bull stick (5), two the one end that telescopic link (4) were kept away from in bull stick (5) rotates with one of them clamping jaw (1) and is connected, be equipped with protection machanism between clamping jaw (1) and connecting plate (2).

2. The manipulator for picking and placing articles for manufacturing according to claim 1, wherein the protection mechanism comprises a strain gauge (6) fixed at one end of the two clamping jaws (1) far from the connecting column (3), a force sensor is fixed on the connecting plate (2), and the strain gauge (6) is connected with the force sensor through a lead (7).

3. The manipulator for taking and placing the articles for manufacturing according to claim 1, wherein the protection mechanism comprises a cavity opened inside the clamping jaw (1), a sliding plate slides in the cavity, a connecting rod (9) is fixed on one side of the sliding plate close to the other sliding plate, a telescopic spring (11) is fixed between one side of the sliding plate far away from the connecting rod (9) and the inner wall of the cavity, a pressing rod (12) is further fixed on one side of the sliding plate far away from the connecting rod (9), a switch (13) corresponding to the pressing rod (12) is fixed on the inner wall of the cavity, and an external alarm is connected to the switch (13).

4. A production and manufacturing item pick-and-place manipulator according to claim 1, characterized in that the ends of the connecting rods (9) extend through the gripping jaws (1) to the outside thereof and are fixedly connected to the abutment plate (10), the abutment plate (10) being a rubber plate.

5. The manipulator for picking and placing articles for manufacturing according to claim 1, wherein the protection mechanism comprises a suction cup (14) fixedly mounted at one end of the two clamping jaws (1) far from the connecting column (3), and an air pump connected with the suction cup (14) through an air pipe (8) is fixed on the connecting plate (2).