CN111791245A - Five-axis transfer robot manipulator with multiple clamping states - Google Patents
Five-axis transfer robot manipulator with multiple clamping states Download PDFInfo
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- CN111791245A CN111791245A CN202010555473.3A CN202010555473A CN111791245A CN 111791245 A CN111791245 A CN 111791245A CN 202010555473 A CN202010555473 A CN 202010555473A CN 111791245 A CN111791245 A CN 111791245A
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- clamping
- tong
- spoiler
- hole
- air hole
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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
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
Abstract
The invention discloses a five-axis transfer robot mechanical arm with multiple clamping states, which comprises: but a pair of relative activity is used for the tong of centre gripping object, and the first wind hole of tong both sides, second wind hole still can adsorb article fixedly, and the sucking disc of tong bottom also can adsorb article fixedly, and fixture has multiple clamping status, adapts to the multiple article of transport, can produce the negative pressure and be used for adsorbing the flow control unit of object, and the flow control unit includes: the spoiler that can be at the inside activity of tong, when the interior electromagnetism piece of relevant position starts, the spoiler that corresponds interior electromagnetism piece position is adsorbed and is removed and finally laminate in the outside of adhering to the frame towards the tong inboard, and at this moment, the first wind hole, the second wind hole or the through-hole of corresponding position are opened, make negative pressure suction transmit the fixture below object through different positions on, guarantee under negative pressure fan minimum load condition, produce sufficient negative pressure suction to the object of fixture below.
Description
Technical Field
The invention relates to the technical field of transfer robots, in particular to a five-axis transfer robot mechanical arm with multiple clamping states.
Background
The transfer robot is an automatic product which uses the motion trail of the robot to replace manual transfer.
In the conventional application, a transfer robot generally uses a robot arm to clamp an external article, and there are a clamping and fixing method, an adsorption and fixing method, and the like.
The existing robot adopting the adsorption fixing mode usually adsorbs and fixes articles on a plurality of groups of negative pressure suction holes, but the clamping ends of the articles cannot cover all the negative pressure suction holes, so that when enough negative pressure suction is obtained, the corresponding negative pressure fan has larger load, and the mode of adsorption and fixation by using a fixed surface is achieved only by arranging the negative pressure suction holes on one surface during the transportation in the form of the negative pressure suction holes, the changeable clamping state is less, and the robot is not suitable for adsorption, fixation and transportation of articles in various shapes.
Therefore, the five-axis transfer robot manipulator with multiple clamping states is provided to solve the problems.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a five-axis transfer robot mechanical arm with multiple clamping states, wherein a clamping mechanism has multiple clamping states and is suitable for transferring multiple articles, a first air hole for generating suction is formed in one side of a clamping hand, a second air hole for generating suction is formed in the other side of the clamping hand, and a sucking disc is arranged at the bottom of the clamping hand, so that sufficient negative pressure suction is generated on the articles below the clamping mechanism under the condition of minimum load of a negative pressure fan.
In order to achieve the above object, a five-axis transfer robot hand having a plurality of gripping states according to the present invention includes:
a robot as a general support;
the robot comprises a first mechanical arm and a second mechanical arm which are used as robot operating ends;
the pair of clamping hands can move relatively and are used for clamping objects, the clamping hands are arranged at the end parts of the second mechanical arm, the clamping hands move relatively to clamp the objects between the two clamping hands when the clamping hands are close to each other, and the clamping hands move back to be away from each other to release the objects clamped between the two clamping hands;
can produce the negative pressure and be used for adsorbing the flow control unit of object, the flow control unit is located inside the tong, and the both sides of tong correspond the flow control unit and are equipped with first wind hole, the second wind hole that can produce the negative pressure, and the flow control unit includes: the spoiler can move inside the tong, the spoiler enables the first air hole and the second air hole to be opened or closed through movement, when the first air hole and the second air hole are opened, negative pressure is generated on two sides of the tong and adsorbs and fixes objects outside the tong, and when the first air hole and the second air hole are closed, the negative pressure on two sides of the tong is closed and loosens the objects adsorbed and fixed outside the tong.
As a further optimization of the scheme, the clamping hands have a first state and a second state, when in the first state, the two clamping hands move oppositely or back to back, and when in the second state, the two clamping hands synchronously and vertically lift.
As a further optimization of the above scheme, the end of the second mechanical arm is provided with a control mechanism for switching the clamping hands between the first state and the second state, the control mechanism comprises a base plate fixedly arranged at the end of the second mechanical arm and a working plate arranged between two groups of clamping hands, a pushing unit for pushing the two groups of clamping hands to be relatively close to or far away from each other is arranged between the working plate and the clamping hands, a lifting unit for pushing the working plate to vertically lift is arranged between the working plate and the base plate, and the clamping hands lift synchronously during vertical lifting of the working plate.
According to the scheme, the sucker is arranged at the bottom of the clamping hand, the sucking groove is formed in the sucker, the external electromagnetic block capable of generating magnetic attraction to an object between the two clamping plates is arranged in the sucking groove, and the through hole for communicating the inside of the clamping hand with the sucker is formed in the clamping hand.
As a further optimization of the above scheme, a spoiler is also arranged on the inner wall of the gripper at the end of the through hole, the spoiler is arranged between the spoiler and the inner wall of the gripper, an elastic element for pulling and holding the spoiler to be attached to the inner wall of the gripper is arranged between the spoiler and the inner wall of the gripper, and when the spoiler moves towards the inner side of the gripper, the first air hole, the second air hole and the through hole at the corresponding positions of the spoiler are opened and generate suction to the outside of the gripper.
As a further optimization of the above scheme, a sealing gasket for sealing the positions of the corresponding first air hole, the second air hole and the through hole is arranged on one side of the spoiler.
As a further optimization of the above scheme, the upper surface of the clamping hand is provided with a negative pressure fan which provides suction for the first air hole, the second air hole and the sucker, and the first air hole, the second air hole and the sucker are all provided with multiple groups.
As a further optimization of the above scheme, the flow control unit further includes an attachment frame in a shape like a Chinese character 'ao' located inside the gripper, the attachment frame divides the gripper into an inner cavity and an outer cavity which are distributed inside and outside, and the attachment frame is provided with a plurality of groups of air holes communicating the outer cavity and the inner cavity.
As a further optimization of the above scheme, an inner electromagnetic block which provides magnetic attraction for the spoiler and enables the spoiler to move towards the inner side of the clamping hand is arranged inside the attachment frame.
As a further optimization of the above scheme, a motor is arranged above the first mechanical arm and on one side of the second mechanical arm, the motor is in transmission connection with the second mechanical arm, an adjusting unit and a telescopic piece are arranged at the bottom of the motor, and the upper part and the lower part of the adjusting unit and the telescopic piece are respectively and movably hinged on a first hinged seat at the bottom of the motor and a second hinged seat at the upper end of the first mechanical arm.
The five-axis transfer robot mechanical arm with multiple clamping states has the following beneficial effects:
1. the invention relates to a five-axis transfer robot mechanical arm with multiple clamping states, which comprises a pair of clamping hands which can move relatively and are used for clamping objects, the clamping hands are arranged at the end part of a second mechanical arm, the clamping hands move relatively to clamp the objects positioned between the two clamping hands when the clamping hands are close to each other, the clamping hands move back to release the objects clamped between the two clamping hands, the clamping hands have a first state and a second state, the two clamping hands move relatively or back to back when the clamping hands are in the first state, the two clamping hands synchronously and vertically lift when the clamping hands are in the second state, a control mechanism for switching the clamping hands between the first state and the second state is arranged at the end part of the second mechanical arm, the control mechanism comprises a base plate fixedly arranged at the end part of the second mechanical arm and a working plate between the two clamping hands, and a pushing unit for pushing the two clamping hands to relatively close to or far away is arranged between the working plate and the clamping, the lifting unit is arranged between the working plate and the base plate and used for pushing the working plate to vertically lift, when the working plate vertically lifts, the clamping hands synchronously lift, the pushing unit can control two groups of clamping hands to relatively approach or separate from each other, so that objects can be clamped or outwards expanded and fixed, the first air holes and the second air holes on the two sides of the clamping hands can also adsorb and fix the objects, the sucking discs at the bottoms of the clamping hands can also adsorb and fix the objects, the clamping mechanism has multiple clamping states and can be suitable for carrying multiple objects, and the lifting unit can control the working plate, the clamping hands and the objects clamped on the clamping hands to vertically lift, so that the carrying is convenient;
2. the invention relates to a five-axis transfer robot mechanical arm with multiple clamping states, which is a flow control unit capable of generating negative pressure and adsorbing objects, wherein the flow control unit is arranged in a gripper, a first air hole and a second air hole capable of generating negative pressure are arranged on two sides of the gripper corresponding to the flow control unit, and the flow control unit comprises: the spoiler can move inside the clamping hand, the spoiler enables the first air hole and the second air hole to be opened or closed through movement, when the first air hole and the second air hole are opened, negative pressure is generated on two sides of the clamping hand and adsorbs and fixes objects outside the clamping hand, when the first air hole and the second air hole are closed, the negative pressure on two sides of the clamping hand is closed and loosens the objects outside the clamping and fixing the objects, the bottom of the clamping hand is provided with a sucker, the clamping hand is provided with a through hole for communicating the inside of the clamping hand with the sucker, when the inner electromagnetic block at the corresponding position is started, the spoiler corresponding to the position of the inner electromagnetic block is adsorbed and moves towards the inner side of the clamping hand and finally is attached to the outer side of the attachment frame, at the moment, the first air hole, the second air hole or the through hole at the corresponding position is opened, so that the negative pressure is transmitted to the objects below the clamping mechanism through the first air hole, the second air hole and the sucker at different positions, only the first air hole, the second air hole, the, And the second air hole or the sucking disc ensures that enough negative pressure suction is generated on an object below the clamping mechanism under the condition of the minimum load of the negative pressure fan.
There have been disclosed in detail certain embodiments of the invention with reference to the following description and drawings, and it is to be understood that the embodiments of the invention are not limited thereby, but are intended to cover within the spirit and scope of the appended claims, many changes, modifications, and equivalents.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural diagram of a robot mechanism according to the present invention;
FIG. 3 is a schematic view of the structure of the gripper of the present invention;
FIG. 4 is an enlarged view of the structure at A in FIG. 1 according to the present invention;
FIG. 5 is an enlarged view of the structure at B in FIG. 1 according to the present invention;
fig. 6 is an enlarged view of the structure at C in fig. 3 according to the present invention.
In the figure: the robot comprises a robot 1, a first mechanical arm 2, a second mechanical arm 3, a base plate 4, a lifting unit 5, a working plate 6, a pushing unit 7, a clamping hand 8, a first air hole 9, a second air hole 10, a suction cup 11, an external electromagnetic block 12, an attachment frame 13, an internal electromagnetic block 14, a spoiler 15, a motor 16, an adjusting unit 17, a telescopic piece 18, a negative pressure fan 19, an air hole 20, a through hole 21, a telescopic groove 22, an elastic element 23, a sealing gasket 24, a suction groove 25, an external cavity 26, an internal cavity 27, a first hinged seat 28 and a second hinged seat 29.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described in detail with reference to the accompanying drawings and examples. It should be understood, however, that the description herein of specific embodiments is only intended to illustrate the invention and not to limit the scope of the invention.
It should be noted that when an element is referred to as being "disposed on," or provided with "another element, it can be directly on the other element or intervening elements may also be present, when an element is referred to as being" connected, "or coupled to another element, it can be directly on the other element or intervening elements may be present, and" fixedly coupled "means that the element is fixedly coupled in many ways, which are not intended to be within the scope of the present disclosure, the terms" vertical, "" horizontal, "" left, "" right, "and the like are used herein for illustrative purposes only and are not intended to be a single embodiment.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, and the terms used herein in the specification are for the purpose of describing particular embodiments only and are not intended to limit the present invention, and the term "and/or" as used herein includes any and all combinations of one or more of the associated listed items;
referring to the attached drawings 1-6 in the specification, the invention provides a technical scheme: a five-axis transfer robot hand having multiple gripping states, comprising:
the robot 1 as a general support;
a first mechanical arm 2 and a second mechanical arm 3 which are used as the operation ends of the robot 1;
the pair of clamping hands 8 can move relatively and are used for clamping objects, the clamping hands 8 are arranged at the end parts of the second mechanical arm 3, the clamping hands 8 move relatively to clamp the objects between the two clamping hands 8 when the clamping hands are close to each other, and the clamping hands 8 move back to release the objects clamped between the two clamping hands 8;
can produce the negative pressure and be used for adsorbing the flow control unit of object, the flow control unit is located inside tong 8, and the both sides of tong 8 correspond the flow control unit and are equipped with first wind hole 9, the second wind hole 10 that can produce the negative pressure, and the flow control unit includes: the spoiler 15 can move inside the tong 8, the spoiler 15 can move to open or close the first air hole 9 and the second air hole 10, when the first air hole 9 and the second air hole 10 are opened, negative pressure is generated on two sides of the tong 8 and can adsorb and fix objects outside the tong, and when the first air hole 9 and the second air hole 10 are closed, the negative pressure on two sides of the tong 8 is closed and can loosen the objects adsorbed and fixed outside the tong.
In this embodiment, the clamping arms 8 have a first state and a second state, in the first state, the two clamping arms 8 move oppositely or back to back, and in the second state, the two clamping arms 8 synchronously and vertically lift.
It should be noted that a control mechanism for switching the clamping hands 8 between the first state and the second state is arranged at the end of the second mechanical arm 3, the control mechanism comprises a base plate 4 fixedly arranged at the end of the second mechanical arm 3 and a working plate 6 between two groups of clamping hands 8, a pushing unit 7 for pushing the two groups of clamping hands 8 to be relatively close to or far away from each other is arranged between the working plate 6 and the clamping hands 8, a lifting unit 5 for pushing the working plate 6 to vertically lift is arranged between the working plate 6 and the base plate 4, and when the working plate 6 vertically lifts, the clamping hands 8 synchronously lift;
in this embodiment, the lifting unit 5 and the pushing unit 7 can both use an electric push rod or an air cylinder, and can be selectively used according to actual requirements, which is a common technique in the prior art and is not described herein.
Specifically, the bottom of the clamping arm 8 is provided with a suction cup 11, a suction groove 25 is arranged in the suction cup 11, an external electromagnetic block 12 capable of generating magnetic suction force on an object between the two clamping plates 8 is arranged in the suction groove 25, and the clamping arm 8 is provided with a through hole 21 communicating the inside of the clamping arm 8 with the suction cup 11.
When the external electromagnetic block 12 is started, the objects below the clamping hands 8 can be adsorbed and fixed through magnetic attraction, the attraction is strong, and heavier objects can be adsorbed.
Furthermore, the inner wall of the clamping hand 8 at the end of the through hole 21 is also provided with a spoiler 15, a spoiler is choked, an elastic element 23 for pulling and holding the spoiler 15 to be attached to the inner wall of the clamping hand 8 is arranged between the spoiler 15 and the inner wall of the clamping hand 8, and when the spoiler 15 moves towards the inner side of the clamping hand 8, the first air hole 9, the second air hole 10 and the through hole 21 at the corresponding position of the spoiler 15 are opened and generate suction to the outside of the clamping hand 8.
Wherein, the one end that the spoiler 15 was kept away from to elastic element 23 sets up in flexible groove 22, the flexible groove 22 that corresponds the spoiler 15 department of sucking disc 11 position sets up in the inboard of spoiler 15, the flexible groove 22 that corresponds the spoiler 15 department of first wind hole 9, second wind hole 10 position sets up in the inner wall of tong 8, elastic element 23 is under natural state, spoiler 15 and the laminating of the inner wall of tong 8, when spoiler 15 moved towards the inboard of tong 8, elastic element 23 was tensile state.
The elastic member 23 may be a device having elastic deformability, such as a spring.
One side of the spoiler 15 is provided with a sealing gasket 24 for sealing the positions of the corresponding first air hole 9, the second air hole 10 and the through hole 21;
in this embodiment, when the spoiler 15 is attached to the openings of the through hole 21, the first wind hole 9 and the second wind hole 10, the sealing gasket 24 seals and fixes the openings of the through hole 21, the first wind hole 9 and the second wind hole 10, and when the spoiler 15 moves toward the inner side of the gripper 8, the first wind hole 9, the second wind hole 10 and the through hole 21 are opened and generate suction.
Further, the upper surface of the clamping arm 8 is provided with a negative pressure fan 19 which provides suction for the first air hole 9, the second air hole 10 and the sucker 11, and the first air hole 9, the second air hole 10 and the sucker 11 are all provided with multiple groups.
It should be noted that the working plate 6 is disposed at the upper end of the clamping hands 8, and the distance between the lower surface of the working plate 6 and the lower surface of the clamping hands 8 is enough for the two groups of clamping hands 8 to clamp an object therebetween.
Specifically, the pushing unit 7 can control two groups of clamping hands 8 to be relatively close to or far away from each other, so that objects can be clamped or outwards expanded and fixed, the first air holes 9 and the second air holes 10 on two sides of each clamping hand 8 can also adsorb and fix the objects, the suckers 11 at the bottoms of the clamping hands 8 can also adsorb and fix the objects, the clamping mechanism has multiple clamping states, and can be suitable for carrying multiple objects, and the lifting unit 5 can control the working plate 6, the clamping hands 8 and the objects clamped on the clamping hands 8 to vertically lift, so that the objects can be conveniently carried.
The flow control unit further comprises an attachment frame 13 which is positioned inside the clamping hand 8 and is in a concave shape, the attachment frame 13 divides the clamping hand 8 into an inner cavity 27 and an outer cavity 26 which are distributed inside and outside, and a plurality of groups of air holes 20 which are communicated with the outer cavity 26 and the inner cavity 27 are formed in the attachment frame 13.
When the negative pressure fan 19 is started, the generated negative pressure suction force is transmitted to the outer cavity 26 through the inner cavity 27 and the air holes 20 in sequence, and when the spoiler 15 moves towards one side of the clamping jaw 8, the negative pressure suction force is transmitted to the corresponding first air hole 9, the corresponding second air hole 10 and the corresponding through hole 21.
The inner electromagnetic block 14 is provided with a plurality of groups corresponding to the plurality of groups of spoilers 15, when the inner electromagnetic block 14 at the corresponding position is started, the spoilers 15 corresponding to the positions of the inner electromagnetic block 14 are adsorbed to move towards the inner side of the clamping hand 8 and are finally attached to the outer side of the attachment frame 13, at the moment, the first air holes 9, the second air holes 10 or the through holes 21 at the corresponding positions are opened, so that negative pressure suction is transmitted to an article below the clamping mechanism through the first air holes 9, the second air holes 10 and the suction cups 11 at different positions, and only the first air holes 9, the second air holes 10 or the suction cups 11 clamped at the surface positions of the article by the clamping mechanism can be opened, so that sufficient negative pressure suction is generated on the article below the clamping mechanism under the condition of minimum load of the negative pressure fan 19;
the thickness of the external electromagnetic block 12 should be smaller than that of the suction cup 11, so that when the suction cup 11 adsorbs and fixes an external object of the clamping mechanism, the suction cup 11 has a sufficient deformation distance to enable the suction cup 11 to generate a sufficient suction force.
The inner part of the attachment frame 13 is provided with an inner electromagnetic block 14 which provides magnetic attraction force to the spoiler 15 and moves the spoiler 15 toward the inner side of the gripper 8.
The spoiler 15 may be made of a stainless steel plate or other plate that can be attracted by the inner magnet block 14.
It should be noted that a motor 16 is arranged above the first mechanical arm 2 and on one side of the second mechanical arm 3, the motor 16 is in transmission connection with the second mechanical arm 3, an adjusting unit 17 and a telescopic member 18 are arranged at the bottom of the motor 16, and the upper and lower parts of the adjusting unit 17 and the telescopic member 18 are respectively and movably hinged on a first hinge seat 28 at the bottom of the motor 16 and a second hinge seat 29 at the upper end of the first mechanical arm 2.
Specifically, the motor 16 can drive the second mechanical arm 3 to rotate around the axis of the length direction of the rotating shaft of the motor 16, when the adjusting unit 17 is started, the inclination angle of the motor 16 can be adjusted, the motor 16 is in transmission connection with the second mechanical arm 3, when the inclination angle of the motor 16 is changed, the inclination angle of the second mechanical arm 3 is synchronously changed, and the telescopic member 18 is a common telescopic rod and can be adapted to be telescopic and supported when the motor 16 inclines;
the adjusting unit 17 in the device can use an electric push rod or an air cylinder and the like.
The five-axis transfer robot mechanical arm with multiple clamping states provided by the embodiment has the following working process:
when the pushing unit 7 is started and shortened, the two groups of clamping hands 8 can move relatively close to each other, so that the articles between the two groups of clamping hands 8 are clamped and fixed;
when the pushing unit 7 is started and extended, the two groups of clamping hands 8 can move away relatively, so that the articles are tightly supported and fixed by the two groups of clamping hands 8;
when the lifting unit 5 is started and extended, the clamping hands 8 can move vertically downwards to complete the placing and clamping operation of the articles;
when the lifting unit 5 is started and shortened, the clamping hands 8 can move vertically upwards to finish the carrying of the articles;
the clamping hand 8 can also absorb and fix external articles through the sucking disc 11 at the bottom, the first air hole 9 and the second air hole 10 at the side surface, when the inner electromagnetic block 14 at the corresponding position is started, the spoiler 15 at the corresponding position is absorbed to the side surface of the attachment frame 13, and simultaneously the first air hole 9, the second air hole 10 and the through hole 21 at the corresponding position are opened, so that the first air hole 9, the second air hole 10 or the sucking disc 11 generates suction to absorb and fix the external articles;
when the external electromagnetic block 12 in the sucker 11 is started, the external object which can be adsorbed and fixed by the external electromagnetic block 12 can be adsorbed and fixed, and the magnetic adsorption capacity is strong, so that the heavy object can be adsorbed and fixed.
It should be understood that the present invention is not limited to the particular embodiments described herein, but is intended to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. A five-axis transfer robot hand having a plurality of gripping states, comprising:
a robot as a general support;
the robot comprises a first mechanical arm and a second mechanical arm which are used as robot operating ends;
the pair of clamping hands can move relatively and are used for clamping objects, the clamping hands are arranged at the end parts of the second mechanical arm, the clamping hands move relatively to clamp the objects between the two clamping hands when the clamping hands are close to each other, and the clamping hands move back to be away from each other to release the objects clamped between the two clamping hands;
can produce the negative pressure and be used for adsorbing the flow control unit of object, the flow control unit is located inside the tong, and the both sides of tong correspond the flow control unit and are equipped with first wind hole, the second wind hole that can produce the negative pressure, and the flow control unit includes: the spoiler can move inside the tong, the spoiler enables the first air hole and the second air hole to be opened or closed through movement, when the first air hole and the second air hole are opened, negative pressure is generated on two sides of the tong and adsorbs and fixes objects outside the tong, and when the first air hole and the second air hole are closed, the negative pressure on two sides of the tong is closed and loosens the objects adsorbed and fixed outside the tong.
2. The five-axis transfer robot hand having a plurality of gripping states of claim 1, wherein: the clamping hands have a first state and a second state, when in the first state, the two clamping hands move oppositely or back to back, and when in the second state, the two clamping hands synchronously and vertically lift.
3. The five-axis transfer robot hand having a plurality of gripping states according to claim 2, wherein: the tip of second arm is equipped with the control mechanism who supplies the tong to switch between first state and second state, control mechanism is including the fixed base plate that sets up at second arm tip, the working plate between two sets of tong, be equipped with the confession between working plate and the tong and pass the unit that two sets of tong are close to relatively or keep away from, be equipped with the lift unit that supplies to pass the working plate vertical lift between working plate and the base plate, during the working plate vertical lift, the tong is synchronous to go up and down.
4. The five-axis transfer robot hand having a plurality of gripping states according to claim 3, wherein: the bottom of the gripper is provided with a sucker, a suction groove is formed in the sucker, an external electromagnetic block capable of generating magnetic suction force on an object between the two clamping plates is arranged in the suction groove, and a through hole for communicating the inside of the gripper with the sucker is formed in the gripper.
5. The five-axis transfer robot hand having a plurality of gripping states according to claim 4, wherein: the inner wall of the clamping hand at the end part of the through hole is also provided with a spoiler, the spoiler is arranged between the inner wall of the clamping hand and an elastic element for pulling and holding the spoiler and the inner wall of the clamping hand to be attached, and when the spoiler moves towards the inner side of the clamping hand, the first air hole, the second air hole and the through hole at the corresponding position of the spoiler are opened and suction is generated outside the clamping hand.
6. The five-axis transfer robot hand having a plurality of gripping states according to claim 5, wherein: and a sealing gasket used for sealing the positions of the corresponding first air hole, the second air hole and the through hole is arranged on one side of the spoiler.
7. The five-axis transfer robot hand having a plurality of gripping states of claim 6, wherein: the upper surface of tong is equipped with the negative-pressure air fan who provides suction for first wind hole, second wind hole, sucking disc, first wind hole, second wind hole, sucking disc all are equipped with the multiunit.
8. The five-axis transfer robot hand having a plurality of gripping states of claim 7, wherein: the flow control unit further comprises an attachment frame which is positioned in the interior of the gripper and is shaped like a Chinese character 'ao', the attachment frame separates the gripper into an inner cavity and an outer cavity which are distributed inside and outside, and a plurality of groups of air holes which are communicated with the outer cavity and the inner cavity are formed in the attachment frame.
9. The five-axis transfer robot hand having a plurality of gripping states of claim 8, wherein: the inner part of the attachment frame is provided with an inner electromagnetic block which provides magnetic attraction for the spoiler and enables the spoiler to move towards the inner side of the clamping hand.
10. The five-axis transfer robot hand having a plurality of gripping states of claim 9, wherein: the motor is arranged above the first mechanical arm and on one side of the second mechanical arm, the motor is in transmission connection with the second mechanical arm, the bottom of the motor is provided with an adjusting unit and a telescopic piece, and the upper part and the lower part of the adjusting unit and the telescopic piece are movably hinged to a first hinged seat at the bottom of the motor and a second hinged seat at the upper end of the first mechanical arm respectively.
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| CN202010555473.3A CN111791245A (en) | 2020-06-17 | 2020-06-17 | Five-axis transfer robot manipulator with multiple clamping states |
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| CN202010555473.3A CN111791245A (en) | 2020-06-17 | 2020-06-17 | Five-axis transfer robot manipulator with multiple clamping states |
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