CN111515983B - Snatch manipulator - Google Patents

Abstract

The invention relates to a grabbing manipulator which comprises a main support (1) and a plurality of mechanical claw units (3), wherein each mechanical claw unit (3) is respectively and independently provided with a guide rail (2), the guide rails are movably arranged on the main support (1) in a translation mode relative to the main support (1), the mechanical claw units are hinged with the guide rails (2) and can deflect relative to the guide rails (2), the mechanical claw units (3) are divided into two groups and respectively arranged on two sides of the main support (1), and multi-directional grabbing of a grabbed object is realized through the translation action and the deflection action. The guide rail and the manipulator operate in a coordinated manner, so that the centering requirement of the manipulator on the target object is greatly relaxed. Even if the position of the object is in an eccentric position, the manipulator can still realize grabbing, and the application range is greatly expanded.

Description

Grabbing manipulator

Technical Field

The invention relates to a grabbing manipulator.

Background

In the production process of steel enterprises, the grabbing of irregular steel sample blocks is a difficult problem. The development grabbing mechanical arm can reduce the labor intensity of workers and improve the efficiency.

CN109794959B discloses unloading machine staff claw structure in automation for parts machining, including roof-rack and fixed mounting at its top's footstock, four big claws are installed to the roof-rack bottom, footstock top fixed mounting has the power, power top fixed mounting has the PLC controller. The angle that this technique can realize every claw arm all can be adjusted through the bottom driving motor that PLC controller control corresponds for the big claw can drive the bottom drive shaft through bottom driving motor drive and rotate and drive the claw arm and adjust the direction at big claw bottom when can carrying out the claw arm deformation, and claw arm adjustment direction not only can play the effect of sharing bearing promotion stability, can realize avoiding the bulge position of part in addition and better be applicable to and snatch the part of anomalous shape.

However, the large claw in the above patent technology adopts a relatively embracing manner, which still cannot ensure reliable grasping of the grasped object, and particularly when grasping spherical materials, the spherical materials are easy to roll off from two sides of the large claw, and the defect that the materials in special shapes cannot be reliably grasped still exists.

Disclosure of Invention

The invention aims to solve the technical problem of providing a grabbing manipulator in the prior art, which can realize the closure type grabbing of materials, is particularly suitable for reliably grabbing three-dimensional material blocks, and can realize both centering grabbing and eccentric grabbing.

The technical scheme of the invention is as follows: the mechanical claw units are hinged with the guide rail and can deflect relative to the guide rail, and the mechanical claw units are divided into two groups and respectively arranged on two sides of the main support to realize multidirectional grabbing of grabbed objects through translation and deflection actions.

Preferably, the main support is provided with a slide way, each guide rail corresponds to the slide way one by one, the guide rail slides in the slide way, the edge of the guide rail is in a rack shape, the slide way is provided with a translation driving gear shaft, and the translation driving gear shaft is meshed with the rack structure at the edge of the guide rail to drive the guide rail to slide in the slide way. The translation driving gear shaft is driven by the motor to do forward and reverse rotation actions to drive the guide rail to move forward and backward in the slide way.

Preferably, the guide rail is provided with a shaft perpendicular to the translation direction of the guide rail, and the gripper unit deflects around the shaft. When the guide rails are arranged transversely, the gripper can be deflected in a vertical plane.

Preferably, the end of the gripper unit is connected with a rotary gear, the rotary gear is sleeved on the shaft, and a rotary driving gear is arranged on the guide rail and drives the gripper unit to deflect around the shaft by meshing with the rotary gear. The rotary driving gear is driven by the motor to rotate in forward and reverse directions to drive the mechanical claw to deflect back and forth in a vertical plane.

Furthermore, the gripper units are respectively composed of a plurality of sections of metal joints which sequentially pass through pins, electromagnetic coils are wound on the metal joints, the metal joints can generate magnetism under the condition that the electromagnetic coils are electrified, the metal joints are moved through the magnetic attraction or repulsion action of the adjacent metal joints, and the opening and closing action of the gripper units is realized. Therefore, the magnetic strength of the metal joint can be changed by adjusting the current and the change frequency in the electromagnetic coil, and the grabbing force of the mechanical claw unit can be controlled.

Preferably, a shock pad is arranged on the inner side of the metal joint to protect a grabbed object. The pressure sensor is arranged in the shock pad and can be used as the regulation indication of current in the electromagnetic coil, so that the uniform grabbing force of each mechanical claw unit is ensured, the overload is prevented, and data reference is provided for the position regulation of the whole device.

Compared with the prior art, the invention has the advantages that: according to the grabbing manipulator disclosed by the invention, each manipulator unit corresponds to one station, and the mechanical claw of each station can realize plane linear motion, rotary motion and spatial grabbing motion. This produces three beneficial effects: (1) the linear motion can be utilized to enable the plurality of mechanical claws to be horizontally moved and dispersed, so that the plurality of mechanical claws are symmetrically distributed, and the operation on a strip-shaped target object is facilitated; and the near-spherical body can be fully wrapped and grabbed by utilizing the rotary motion. (2) The special design of the mechanical claw can lead the mechanical claw to be grasped in a human-simulated way depending on the appearance of the target object. (3) The power components of the design work in a mutually coordinated mode, and the centering requirements of the mechanical arm and the target object are greatly relaxed. Even if the position of the target object is in an eccentric position, the design can still realize grabbing, and the application range is greatly expanded.

Drawings

Fig. 1 is a three-dimensional structure diagram of the grabbing manipulator of the embodiment;

FIG. 2 is a horizontal cross-sectional view of the structure shown in FIG. 1;

FIG. 3 is a top view of the structure shown in FIG. 2;

fig. 4 is a side view of the grasping robot of the present embodiment;

FIG. 5 is a structural view of the gripper unit;

FIG. 6 is a schematic diagram of the operation (1);

FIG. 7 is a schematic diagram of the operation (2);

FIG. 8 is a schematic diagram of the operation (3);

FIG. 9 is an ampere rule diagram;

FIG. 10 is a schematic view of a cylinder grip;

FIG. 11 is a schematic view of hexagonal cylinder gripping;

FIG. 12 is a schematic view of irregular cylinder grabbing;

FIG. 13 is a schematic view of an eccentric grabbing of an irregular cylinder;

FIG. 14 is an exterior view of an irregular multi-segmented column;

FIG. 15 is a schematic view of irregular multi-segment column grabbing;

FIG. 16 is a top view of a ball capture;

fig. 17 is a perspective view of sphere grasping (1);

fig. 18 is a perspective view of sphere grasping (2);

FIG. 19 is a view of a complete irregularity profile;

FIG. 20 is a perspective view of a complete irregularity capture (1);

FIG. 21 is a top view of a complete irregularity capture;

FIG. 22 is a perspective view of a full irregularity capture (2);

in the figure, 1 a main bracket, 2 guide rails, 3 mechanical claws, 4 translation driving gear shafts, 5 rotation driving gears, 6 rotation gears, 7 metal joints, 8 pins, 9 shock pads (built-in pressure sensors), 10 electromagnetic coils, 11 cylinders, 12 hexagonal cylinders, 13 irregular cylinders, 14 irregular cylinders, 15 irregular multi-section cylinders, 16 spheres and 17 complete irregular bodies.

A: the A station executing mechanism is arranged on the machine frame,

a2: station a guide rail, a 3: station a gripper, a 4: station a translation drive gear shaft, a 5: station a rotation drive gear, a 6: station A rotates the gear.

B: the B station executing mechanism is used for executing the B station,

b2: b-station guide, B3: b-station gripper, B4: b station translation driving gear shaft, B5: station B rotation drive gear, B6: and B station rotating gears.

C: c, a station C executing mechanism is arranged,

c2: c-station guide, C3: c-position gripper, C4: c-station translation drive gear shaft, C5: c-station rotation drive gear, C6: and C, rotating the gear at the station.

D: a D-position executing mechanism is arranged on the machine,

d2: d-station guide, D3: d-position gripper, D4: d-position translation driving gear shaft, D5: d-station rotation drive gear, D6: d station rotary gear.

E: an actuating mechanism at the station E is arranged at the station E,

e2: e-station guide, E3: e-station gripper, E4: e-position translation driving gear shaft, E5: e-station rotary drive gear, E6: and E, rotating the gear.

F: an actuating mechanism at the F station is arranged at the front end of the machine,

f2: f station guide, F3: f-station gripper, F4: f station translation driving gear shaft, F5: station F rotary drive gear, F6: and F, rotating the gear.

Detailed Description

The present invention will be described in further detail below with reference to the embodiments of the drawings, which are illustrative and intended to be illustrative of the present invention and are not to be construed as limiting the present invention.

The invention relates to a grabbing manipulator which is not influenced by the shape of a grabbed material. As shown in fig. 6 to 22, the preferred embodiment of the present invention is described in detail as follows.

The grabbing manipulator comprises a main support 1 and six station executing mechanisms: the system comprises an A-station executing mechanism, a B-station executing mechanism, a C-station executing mechanism, a D-station executing mechanism, an E-station executing mechanism and an F-station executing mechanism (shown in figure 4). Each station actuating mechanism respectively comprises: a guide rail 2, a mechanical claw 3, a translational driving gear 4, a rotary driving gear 5 and a rotary gear 6, wherein the translational driving gear 4 and the rotary driving gear 5 are respectively provided with a driving motor (not shown in the figure) to drive the translational driving gear 4 and the rotary driving gear 5 to rotate. Wherein, the gripper includes: the multi-section metal joint 7 is hinged through the pin 8, the shock absorption pad 9 is arranged on the inner side of the multi-section metal joint 7, the pressure sensor is arranged in the shock absorption pad 9, the electromagnetic coil 10 is wound on each section of metal joint 7, the electromagnetic coil 10 is electrified to enable the metal joint 7 to generate magnetism, and therefore the metal joint 7 can move, and the multi-section metal joint 7 can extend or contract. All the guide rails are collectively called a guide rail set, all the mechanical claws are collectively called a mechanical claw set, all the translational drive gear shafts 4 are collectively called a guide rail power device set, all the rotational drive gears 5 are collectively called a rotational drive gear 5, and all the rotational gears 6 are collectively called a rotational gear set.

The key point of the design of the manipulator is as follows:

(1) the operation assembly of the system has the operation freedom degrees of straight line, rotation and bending, so that the mechanical claw for terminal operation can grab the long-strip-shaped and columnar object (symmetrically grabbing) and the spheroid object (enveloping grabbing).

(2) The special mechanical claw structure design utilizes the principle of ampere's rule to form the electro-magnet, utilizes "homopolar repulsion, heteropolar attraction" mode to provide the revolving force again, realizes "gripping" and "unclamping".

(3) The combination of the space operation freedom degree and the special mechanical claw structure of the design generates new advantages: namely, the requirement of centering the manipulator and the target object is relaxed. Even if the position of the target object is in an eccentric position, the target object can still be captured eccentrically through the cooperation of each metal joint and the power device, and the application range is greatly expanded.

The working principle of the manipulator is as follows:

when the target is determined, the design begins to operate. Firstly, the guide rail power device group 4 drives the guide rail group 2 to move linearly along the guide rail direction, so that the mechanical claw groups are dispersed. And then, whether the rotating gear 6 needs to be driven by the rotating driving gear 5 is determined according to the shape of the target object, so that each mechanical claw of the mechanical claw group is uniformly distributed along the shape of the target object and is in a folding type. Finally, the electromagnetic coil 10 on each metal joint 7 in the mechanical claw group is electrified, so that the mechanical claw can be clamped and loosened. The three actions can complete the grabbing of the special-shaped object. Eccentric grabbing can be realized to this design, also can realize the heart and snatch. The shock pad 9 is internally provided with a pressure sensor which mainly plays a role in protection, and the pressure sensor detects the acting force of the mechanical claw in real time, so that overload is prevented, and data reference is provided for position adjustment of the whole device.

An embodiment of the invention is shown in fig. 10 to 22.

Example 1: the cases shown in fig. 10-12 are "centered grabbing" cases for "cylindrical objects". The target objects are respectively: regular-shaped cylinders, regular-shaped hexagonal cylinders, and irregular-shaped cylinders. In this type of case, the translational driving gear shaft 4 drives the guide rail 2 to move linearly along the guide rail direction, so as to disperse the mechanical claw groups. Then, the electromagnetic coil 10 on each metal joint 7 in the mechanical claw group is electrified, so that the mechanical claw can 'grasp' the target object, and then the grabbing can be completed.

Example 2: as shown in fig. 13, the "eccentric grabbing" case is a "cylindrical object", and the objects are regular cylinders and irregular cylinders, respectively. The translational driving gear shaft 4 drives the guide rail 2 to linearly move along the guide rail direction, so that the mechanical claw group is dispersed. Then, finally, the electromagnetic coil 10 on each metal joint 7 in the mechanical claw 3 is electrified, so that the mechanical claw is clamped, and the gripping can be completed. In this case, the object center line does not coincide with the device center line, but the object is still grasped, and therefore, the object is "eccentric grasping". Except that the gripper grips are different on either side of the object centerline.

Example 3: as shown in fig. 14-15, the case of "eccentric grabbing" is a "cylindrical object", and the object is a multi-sectional column. In this type of case, the translational driving gear shaft 4 drives the guide rail 2 to move linearly along the guide rail direction, so as to disperse the mechanical claw group. Then, finally, the electromagnetic coil 10 on each metal joint 7 in the mechanical claw 3 is electrified, so that the mechanical claw is clamped, and the gripping can be completed. The scattered mechanical claws respectively realize grabbing aiming at each length section. In particular, in this case, the object centerline does not coincide with the device centerline, but the object is still gripped, and therefore also referred to as "off-center gripping". The gripper grips on both sides of the object centerline are different.

Example 4: the "center grab" case, shown in fig. 16-18 as the "ball object", is a regular sphere. In this type of case, the translational drive gear shaft 4 drives the guide rail 2 to move linearly in the guide rail direction, spreading the gripper 3 apart. Then, the rotary drive gear 5 drives the rotary gear set 6 to rotate, thereby causing the mechanical claw to rotate along with the rotation. Finally, the electromagnetic coil 10 on each metal joint 7 in the mechanical claw 3 is electrified, so that the mechanical claw can be grasped, and the grabbing can be completed.

Example 5: the "off-center-of-space capture" case, shown in fig. 19-22, is for a "ball-like object", which is a completely irregular ball-like body. In this type of case, the translational driving gear shaft 4 drives the guide rail 2 to move linearly along the guide rail direction, so as to disperse the mechanical claw group. Then, the rotary drive gear 5 drives the rotary gear 6 to rotate, thereby rotating the mechanical claw. And finally, electrifying the electromagnetic coil 10 on each metal joint 7 in the mechanical claw group 3, so that the mechanical claw can grasp the metal joint to complete the grabbing.

Although preferred embodiments of the present invention have been described in detail hereinabove, it should be clearly understood that modifications and variations of the present invention are possible to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (5)

1. The utility model provides a snatch manipulator which characterized in that: the mechanical claw units (3) are movably arranged on the main support (1) in a manner of being capable of translating relative to the main support (1), the mechanical claw units are hinged with the guide rails (2) and capable of deflecting relative to the guide rails (2), the mechanical claw units (3) are divided into two groups and respectively arranged on two sides of the main support (1), and multi-directional grabbing of grabbed objects is realized through the translation action and the deflection action; the mechanical claw unit (3) is composed of a plurality of sections of metal joints (7) which sequentially pass through pins (8), an electromagnetic coil (10) is wound on each metal joint (7), the electromagnetic coil (10) can enable the metal joints (7) to generate magnetism under the condition of electrification, the metal joints (7) are moved through the magnetic attraction or repulsion action of the adjacent metal joints, and the opening and closing action of the mechanical claw unit (3) is achieved.

2. The grasping robot according to claim 1, wherein: be provided with the slide on main support (1), guide rail (2) are in slide in the slide, the guide rail edge is the rack form, be provided with translation drive pinion (4) on the slide, this translation drive pinion (4) are through the rack structure meshing with the guide rail edge and drive guide rail (2) are in slide in the slide.

3. The grasping robot according to claim 1, characterized in that: the end part of the mechanical claw unit (3) is connected with a rotating gear (6), the rotating gear (6) is sleeved on the shaft, a rotating driving gear (5) is arranged on the guide rail (2), and the rotating driving gear (5) is meshed with the rotating gear (6) to drive the mechanical claw unit (3) to deflect around the shaft.

4. The grasping robot according to claim 1, characterized in that: and a shock pad (9) is arranged on the inner side of the metal joint (7).

5. The grasping robot according to claim 4, characterized in that: and a pressure sensor is arranged in the shock pad (9).

Images