CN111791256B

CN111791256B - Automatic change manipulator and automatic grasping system

Info

Publication number: CN111791256B
Application number: CN202010828987.1A
Authority: CN
Inventors: 张运杰
Original assignee: Guangdong Nanfang Vocational College; Jiangmen Xizhi Technology Co ltd
Current assignee: GUANGDONG NANFANG VOCATIONAL College; Jiangmen Xizhi Technology Co.,Ltd.
Priority date: 2020-08-18
Filing date: 2020-08-18
Publication date: 2021-09-28
Anticipated expiration: 2040-08-18
Also published as: CN111791256A; CN113664861A

Abstract

The invention discloses an automatic manipulator and an automatic grabbing system, wherein the automatic manipulator comprises two half bodies which are hinged with each other, namely a first half body and a second half body; the two half bodies can be switched between a relative opening state and a relative closing state; also includes a holding unit; in a relatively closed state, the holding unit acts on the first wall part and the third wall part and enables the first wall part and the third wall part to be relatively parallel; in the relatively open state, the holding unit acts on the second wall portion and the fourth wall portion so as to be relatively parallel to each other. In the invention, the holding part of the automatic manipulator can realize the switching of the relative state of the two half bodies by acting on different wall parts of the two half bodies; the automatic grabbing system can enable the two half bodies to be opened at a position far away from the jig and closed at a position close to the jig so as to realize grabbing of a workpiece to be grabbed by arranging the guide groove and the elastic barrier, redundant execution elements are not needed, the cost can be saved, and the grabbing efficiency is improved.

Description

Automatic change manipulator and automatic grasping system

Technical Field

The invention relates to the field of automatic machinery, in particular to an automatic manipulator and an automatic grabbing system.

Background

Robots are commonly used in automated manufacturing lines and are typically mounted at the end of an industrial robot to perform the grabbing operation. The existing manipulator generally needs to use actuating elements such as a cylinder or a motor to drive opening and closing, so that the cost is high, a gas pipe or an electric wire needs to be wired, and the wiring may not be performed in a complex system.

Disclosure of Invention

The purpose of the invention is as follows: in order to overcome the defects in the prior art, the invention provides the automatic manipulator and the automatic grabbing system which are low in cost and do not need an execution element to drive the opening and closing.

The technical scheme is as follows: in order to achieve the purpose, the automatic manipulator comprises two half bodies which are hinged with each other, wherein the two half bodies are respectively a first half body and a second half body; the two half bodies can be switched between a relative opening state and a relative closing state; the first half body is provided with a first functional wall, the first functional wall comprises a first wall part and a second wall part, and a first included angle between the two wall parts is an obtuse angle; the second half body is provided with a second functional wall, the second functional wall comprises a third wall part and a fourth wall part, and a second included angle between the two wall parts is an obtuse angle; the first included angle is equal to the second included angle;

also includes a holding unit; in the relatively closed state, the holding unit acts on the first wall portion and the third wall portion so as to be relatively parallel to each other; in the relatively open state, the holding unit acts on the second wall portion and the fourth wall portion so as to be relatively parallel to each other.

Furthermore, the holding unit comprises a holding frame, two round rollers which are arranged in parallel relatively and are used for acting on two functional walls are mounted on the holding frame, and a traction part is further mounted on the holding frame.

Furthermore, a first blocking edge and a second blocking edge are respectively arranged at two ends of the first functional wall; and a third blocking edge and a fourth blocking edge are respectively arranged at two ends of the second function wall.

Furthermore, a first groove and a second groove are respectively arranged at the junctions of the two ends of the first functional wall and the first blocking edge and the second blocking edge; a third groove and a fourth groove are respectively formed at the junctions of the two ends of the first functional wall and the third blocking edge and the fourth blocking edge; the two round rollers are respectively arranged on the retainer through two sliding seats; the holding unit further comprises an elastic element which gives the two sliding seats a tendency to move relatively close.

Further, the traction portion includes a roller rotatably mounted with respect to the cage.

An automatic grabbing system comprises the automatic manipulator, a mechanical arm, a guide groove and a jig for positioning a grabbed workpiece, wherein the automatic manipulator is arranged at the tail end of the mechanical arm; the two ends of the guide groove are respectively provided with an elastic barrier which is used for acting on the traction part.

Further, the elastic barrier comprises a blocking block and a spring; the stop block is provided with a part which can extend into the guide groove, and the spring is arranged between the stop block and the guide groove and makes the stop block have the tendency of feeding movement towards the inside of the guide groove.

Has the advantages that: in the automatic manipulator and the automatic grabbing system, the automatic manipulator comprises two half bodies and a holding part, and the holding part can realize the switching of the relative state of the two half bodies through acting on different wall parts of the two half bodies; the automatic grabbing system can enable the two half bodies to be opened at a position far away from the jig and closed at a position close to the jig so as to realize grabbing of a workpiece to be grabbed by arranging the guide groove and the elastic barrier, redundant execution elements are not needed, the cost can be saved, grabbing efficiency is improved, and the trouble of wiring or pipe walking in a complex system is avoided.

Drawings

FIG. 1 is a first state diagram of an automated manipulator;

FIG. 2 is a second state diagram of the automated manipulator;

FIG. 3 is a first state diagram of the automated grasping system;

FIG. 4 is a structural view of portion A of FIG. 3;

FIG. 5 is a second state diagram of the automated grasping system;

FIG. 6 is a block diagram of an automated robot of the preferred embodiment;

FIG. 7 is a block diagram of the synchronization mechanism;

fig. 8 is an exploded view of the synchronizing mechanism.

In the figure: 1-a first half-body; 11-a first wall portion; 12-a second wall portion; 13-a first blocking edge; 14-a second ledge; 15-a first trench; 16-a second trench; 2-a second half; 21-a third wall portion; 22-a fourth wall portion; 23-a third ledge; 24-a fourth ledge; 25-a third trench; 26-a fourth trench; 3-a holding unit; 31-a cage; 32-round rollers; 33-a traction portion; 331-a roller; 34-a resilient element; 4-a guide groove; 5-elastic pass; 51-a barrier; 52-a spring; 6, a mechanical arm; 7-a jig; 8-a synchronization mechanism; 81-mechanism seat body; 82-a synchronizing gear; 821-a sub gear portion; 83-a transition gear; 84-synchronous rack.

Detailed Description

The present invention will be further described with reference to the accompanying drawings.

The automated manipulator shown in fig. 1 comprises two half bodies hinged to each other, namely a first half body 1 and a second half body 2; the two half bodies can be switched between a relative opening state and a relative closing state; the first half body 1 is provided with a first functional wall, the first functional wall comprises a first wall part 11 and a second wall part 12, and a first included angle between the two wall parts is an obtuse angle; the second half body 2 is provided with a second functional wall including a third wall portion 21 and a fourth wall portion 22, and a second included angle between the two wall portions is an obtuse angle; the first included angle is equal to the second included angle; further comprising a holding unit 3; in the relatively closed state, as shown in fig. 1, the holding unit 3 acts on the first wall portion 11 and the third wall portion 21 so as to be relatively parallel to each other; in the relatively open state, as shown in fig. 2, the holding unit 3 acts on the second wall portion 12 and the fourth wall portion 22 so as to be relatively parallel to each other.

Through the structure, the opening and closing states of the two half bodies can be controlled only by controlling the holding unit 3 to enable the holding unit 3 to act on different parts of the first functional wall and the second functional wall.

Specifically, the holding unit 3 includes a holding frame 31, two circular rollers 32 which are arranged in parallel and act on two functional walls are mounted on the holding frame 31, and a traction part 33 is further mounted on the holding frame 31. The traction portion 33 includes a roller 331 rotatably mounted with respect to the holder 31.

A first blocking edge 13 and a second blocking edge 14 are respectively arranged at two ends of the first functional wall, the first blocking edge 13 is adjacent to the first wall part 11, and the second blocking edge 14 is adjacent to the second wall part 12; the two ends of the second functional wall are respectively provided with a third retaining edge 23 and a fourth retaining edge 24, the third retaining edge 23 is adjacent to the third wall part 21, and the fourth retaining edge 24 is adjacent to the fourth wall part 22. A first groove 15 and a second groove 16 are respectively arranged at the junctions of the two ends of the first functional wall and the first blocking edge 13 and the second blocking edge 14; a third groove 25 and a fourth groove 26 are respectively arranged at the junctions of the two ends of the second functional wall and the third blocking edge 23 and the fourth blocking edge 24; the two round rollers 32 are respectively installed on the retainer 31 through two sliding seats; the holding unit 3 further comprises an elastic element 34, said elastic element 34 giving the two sliding seats a tendency to move relatively close.

An automatic grabbing system is shown in fig. 3, and comprises the automatic grabbing system, which comprises the automatic manipulator, a mechanical arm 6, a guide groove 4 and a jig 7 for positioning a grabbed workpiece, wherein the automatic manipulator is arranged at the tail end of the mechanical arm 6; both ends of the guide groove 4 are provided with elastic gates 5 for acting on the traction portion 33, respectively. The robot arm 6 is a multi-axis robot arm.

Further, as shown in fig. 4, the elastic barrier 5 includes a stop block 51 and a spring 52; the stop block 51 has a portion that can extend into the guide slot 4, and the spring 52 is interposed between the stop block 51 and the guide slot 4 and tends to advance the stop block 51 towards the inside of the guide slot 4. In this embodiment, the stop 51 has a V-shaped end that can enter and exit the channel 4.

Based on the automatic grabbing system, the invention further provides an automatic grabbing method of the automatic grabbing system based on the automatic manipulator, the automatic grabbing system further comprises a controller capable of controlling the operation of the mechanical arm 6, in an initial state, the two half bodies are in a relatively closed state, the two round rollers 32 of the holding unit 3 are respectively placed in the first groove 15 and the third groove 25, and thus the two round rollers 32 of the holding unit 3 act on the first wall part 11 and the third wall part 21 to enable the two half bodies to be kept in the relatively closed state; when a grabbing task needs to be executed, the automatic grabbing method comprises the following steps (all the steps are controlled and executed by the controller):

step 1: controlling the robot arm 6 to operate so that the traction part 33 of the holding unit 3 of the automated robot is opposite to one end of the guide groove 4;

step 2: controlling the mechanical arm 6 to operate so that the holding unit 3 enters the guide groove 4 from the first end of the guide groove 4 and moves along the guide groove 4; as the holding unit 3 moves along the guide groove 4, the traction portion 33 of the holding unit 3 first encounters the V-shaped end of the stop 51 of the elastic barrier 5, which is close to the first end, as shown in fig. 1; the resistance of the stop block 51 stops the movement of the cage 31, while the two halves continue to move following the movement of the arm 6, so that the two rollers 32 come out of the first and third grooves 15 and 25 (at which point the elastic element 34 is compressed), and as the two halves move in the forward direction, one of the rollers 32 reaches the interface between the first and

second wall portions

11 and 12 of the first half 1, the other roller 32 reaches the interface between the third and

fourth wall portions

21 and 22 of the second half 2, starting from this relative position, as the two halves continue to move in the forward direction, the two rollers 32 respectively contact the second and

fourth wall portions

12 and 22, parallel to each other, so that the two halves open relatively; as the two halves continue to move in the forward direction, the two round rollers 32 enter the second groove 16 and the fourth groove 26, respectively, and contact the second ledge 14 and the fourth ledge 24; as the two half bodies continue to move forwards, the second blocking edge 14 and the fourth blocking edge 24 exert force on the two round rollers 32, so that the pressure of the traction part 33 on the elastic checkpoint 5 is increased, and thus, the traction part 33 can press the V-shaped end of the pressure resistance block 51 to enable the V-shaped end to leave the guide groove 4, the traction part 33 can continue to move across the elastic checkpoint 5 until the second blocking edge 14 and the fourth blocking edge 24 carry the holding unit 3 to move, so that the traction part 33 can further cross the blocking block 51 at the second end of the guide groove 4, and the mechanical arm 6 is controlled to stop moving; at this time, the two half bodies in the relatively opened state are positioned on the two sides of the workpiece to be grabbed on the jig 7, as shown in fig. 2;

and step 3: the robot arm 6 is controlled to operate so that the automated robot moves in the reverse direction, during which, firstly, the traction part 33 comes into contact with the stop 51 at the second end of the guide groove 4, due to the resistance of the stop 51, the movement of the cage 31 stops, while the two halves continue to move following the movement of the robotized arm 6, in this way, the two rollers 32 come out of the second groove 16 and the fourth groove 26, in which the elastic element 34 is compressed, and with the two halves moving in opposite directions, one of the rollers 32 reaches the boundary between the first wall 11 and the second wall 12 of the first half body 1, the other roller 32 reaches the boundary between the third wall 21 and the fourth wall 22 of the second half body 2, and from this relative position, as the two half bodies continue to move in opposite directions, the two rollers 32 come into contact with the first wall 11 and the third wall 21 respectively, the two half bodies are mutually parallel, and the two half bodies are oppositely closed to clamp a workpiece to be grabbed on the jig 7; as the two half bodies continue to move in opposite directions, the two round rollers 32 enter the first groove 15 and the third groove 25 respectively and contact the first blocking edge 13 and the third blocking edge 23; as the two halves continue to move in opposite directions, the first blocking edge 13 and the third blocking edge 23 exert forces on the two circular rollers 32, so that the pressure of the traction part 33 on the elastic checkpoint 5 is increased, and thus, the traction part 33 can press the V-shaped end of the blocking block 51 at the second end, so that the V-shaped end leaves the guide slot 4, and the traction part 33 can continue to move across the elastic checkpoint 5 until the first blocking edge 13 and the third blocking edge 23 carry the holding unit 3 to move, so that the traction part 33 again crosses the blocking block 51 at the first end of the guide slot 4 and is separated from the guide slot 4.

By means of the grabbing method, the two half bodies can be switched to a relatively open state at the first end of the guide groove 4 when moving forward by means of the guide groove 4 and the elastic barrier 5, the state is maintained to move until the two half bodies are positioned at two ends of a workpiece to be grabbed on the jig 7, and the two half bodies can be closed immediately and maintained until the two half bodies leave the guide groove 4 when moving reversely, so that the two half bodies can be opened at a position far away from the jig 7 and closed at a position close to the jig 7 to grab the workpiece to be grabbed, redundant executing elements are not needed, cost can be saved, and grabbing efficiency is improved.

In a preferred embodiment, since the first half body 1 and the second half body 2 are both mounted on the claw seat, in order to make the opening and closing angles of the two half bodies with respect to the claw seat consistent, as shown in fig. 6, a synchronization mechanism 8 is disposed between the two half bodies and the claw seat, as shown in fig. 7 and 8, the synchronization mechanism 8 includes a mechanism seat 81 fixed with respect to the claw seat, two synchronization gears 82 are mounted on the mechanism seat 81, and the two synchronization gears 82 are respectively disposed on two sides of the mechanism seat 81; each synchronizing gear 82 is provided with a secondary gear part 821, two transition gears 83 which are respectively meshed with the two secondary gear parts 821 are installed on the mechanism base body 81, a containing cavity for containing the two transition gears 83 is arranged on the mechanism base body 81, and the two transition gears 83 are rotatably installed relative to the mechanism base body 81; the two transition gears 83 are engaged with each other at portions inside the mechanism base 81, and the two transition gears 83 have protruding portions protruding from both sides of the mechanism base 81, respectively, and the protruding portions of the two transition gears are engaged with the sub gear portions 821 of the two synchronization mechanisms 8, respectively; the first half body 1 and the second half body 2 are both hinged with synchronous racks 84, and the two synchronous racks 84 are respectively meshed with the two transition gears 83. The structure is compact, the volume is small, and the two coaxially arranged synchronous gears 82 can rotate in the opposite directions at a constant speed, so that the first half body 1 and the second half body 2 can rotate synchronously relative to the claw seat body.

In the automatic manipulator and the automatic grabbing system, the automatic manipulator comprises two half bodies and a holding part, and the holding part can realize the switching of the relative state of the two half bodies through acting on different wall parts of the two half bodies; the automatic grabbing system can enable the two half bodies to be opened at a position far away from the jig and closed at a position close to the jig so as to realize grabbing of a workpiece to be grabbed by arranging the guide groove and the elastic barrier, redundant execution elements are not needed, the cost can be saved, grabbing efficiency is improved, and the trouble of wiring or pipe walking in a complex system is avoided.

The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.

Claims

1. An automatic manipulator is characterized by comprising two half bodies which are hinged with each other and respectively comprise a first half body (1) and a second half body (2); the two half bodies can be switched between a relative opening state and a relative closing state; the first half body (1) is provided with a first functional wall, the first functional wall comprises a first wall part (11) and a second wall part (12), and a first included angle between the two wall parts is an obtuse angle; the second half body (2) is provided with a second functional wall, the second functional wall comprises a third wall part (21) and a fourth wall part (22), and a second included angle between the two wall parts is an obtuse angle; the first included angle is equal to the second included angle;

further comprising a holding unit (3); in the relatively closed state, the holding unit (3) acts on the first wall portion (11) and the third wall portion (21) so as to be relatively parallel to each other; in the relatively open state, the holding unit (3) acts on the second wall portion (12) and the fourth wall portion (22) and makes them relatively parallel;

the holding unit (3) comprises a holding frame (31), two round rollers (32) which are arranged in parallel relatively and are used for acting on two functional walls are mounted on the holding frame (31), and a traction part (33) is further mounted on the holding frame (31).

2. The automated manipulator according to claim 1, wherein a first blocking edge (13) and a second blocking edge (14) are respectively arranged at two ends of the first functional wall; and a third blocking edge (23) and a fourth blocking edge (24) are respectively arranged at two ends of the second functional wall.

3. The automated manipulator according to claim 2, wherein a first groove (15) and a second groove (16) are respectively arranged at the junctions of the two ends of the first functional wall and the first blocking edge (13) and the second blocking edge (14); a third groove (25) and a fourth groove (26) are respectively arranged at the junction of the two ends of the second functional wall and the third blocking edge (23) and the fourth blocking edge (24); the two round rollers (32) are respectively arranged on the retainer (31) through two sliding seats (34); the holding unit (3) further comprises an elastic element (34), the elastic element (34) enabling the two sliding seats (34) to have a tendency to move relatively close to each other.

4. The automated manipulator according to claim 1, characterized in that the traction portion (33) comprises a roller (331) mounted in rotation with respect to the holder (31).

5. An automated gripping system, characterized in that it comprises an automated manipulator according to claim 1, further comprising a robot arm (6), a guide slot (4) and a tool (7) for positioning the gripped workpiece, said automated manipulator being mounted at the end of said robot arm (6); the two ends of the guide groove (4) are respectively provided with an elastic gate (5) which acts on the traction part (33).

6. The automated grasping system according to claim 5, wherein the elastic level (5) comprises a stop (51) and a spring (52); the stop block (51) has a part which can extend into the guide groove (4), the spring (52) is arranged between the stop block (51) and the guide groove (4), and the stop block (51) has the tendency of feeding movement towards the inside of the guide groove (4).