CN111805565A

CN111805565A - Automatic material taking industrial robot

Info

Publication number: CN111805565A
Application number: CN202010619178.XA
Authority: CN
Inventors: 胡晓庆; 张涛; 王秋红; 曹雁萍; 王志强
Original assignee: Anhui Technical College of Mechanical and Electrical Engineering
Current assignee: Anhui Technical College of Mechanical and Electrical Engineering
Priority date: 2020-06-30
Filing date: 2020-06-30
Publication date: 2020-10-23
Anticipated expiration: 2040-06-30
Also published as: CN111805565B

Abstract

The invention relates to an automatic material taking industrial robot which comprises a mechanical arm and clamping jaws fixed at the front end of the mechanical arm, wherein each clamping jaw comprises a hydraulic cylinder, four clamping pieces and four cylinders, the four clamping pieces are arranged at the output end of the hydraulic cylinder in a surrounding and rotating mode, the four cylinders are arranged, the upper ends of the four cylinders are rotatably arranged on the outer wall of the hydraulic cylinder, and the lower ends of the four cylinders are rotatably connected to the clamping pieces. The four clamping pieces are driven to synchronously grasp by the stretching of the hydraulic cylinder; keep the pneumatic cylinder motionless, drive respective clamping piece through each cylinder and move to can deal with various anomalous objects, can also control two relative clamping pieces wherein arbitrary a set of simultaneously and realize inwards carrying out the centre gripping operation or outside expansion to the object and realize outwards carrying out the centre gripping to the object, or with one of them group outwards, another group inwards also can carry out the centre gripping to the object, and the application scope of clamping jaw has been increased to the centre gripping mode of multiple alternative.

Description

Automatic material taking industrial robot

Technical Field

The invention relates to the field of automatic robots, in particular to an automatic material taking industrial robot.

Background

The industrial robot is a multi-joint manipulator or multi-freedom-degree machine device oriented to the industrial field, can automatically execute work, is a machine which realizes various functions by self power and control capacity, can receive human commands, can run according to a pre-programmed program, and can also perform a compendium action according to a principle formulated by an artificial intelligence technology.

The existing automatic material taking robot generally adopts a three-jaw gripping or two-jaw gripping form, cannot be used universally and is inconvenient to use, meanwhile, the three-jaw gripping is good in specification due to synchronous operation, irregular objects are prone to the phenomenon that one jaw cannot contact the object, cannot be clamped, and are very dangerous.

Disclosure of Invention

The invention provides an automatic material taking industrial robot, aiming at meeting the requirement that the gripping state and the clamping state of the existing material taking robot cannot be converted.

The technical problem to be solved by the invention is realized by adopting the following technical scheme:

an automatic material taking industrial robot comprises a mechanical arm and a clamping jaw fixed at the front end of the mechanical arm, wherein the clamping jaw comprises a hydraulic cylinder, four clamping pieces and a cylinder, the four clamping pieces are arranged at the output end of the hydraulic cylinder in a surrounding rotating mode, the number of the cylinders is four, the upper end of each cylinder is arranged on the outer wall of the hydraulic cylinder in a rotating mode, the lower end of each cylinder is connected to the corresponding clamping piece in a rotating mode, and when the cylinder is fixed, the four clamping pieces are controlled by the hydraulic cylinder to move synchronously; when the hydraulic cylinders are fixed, the clamping pieces corresponding to the hydraulic cylinders are controlled to move through the air cylinders.

The hydraulic cylinder comprises an output rod, the output rod is located inside the hydraulic cylinder, and the clamping pieces are arranged around the periphery of the output rod.

The cylinder is fixed on the outer wall of the hydraulic cylinder through a fixing ring, and the output end of the cylinder is rotatably connected to the upper corner of the clamping piece through a connecting piece.

The outer wall fixedly connected with of cylinder links up the ring, link up the ring rotate connect in solid fixed ring's outer wall, link up the ring and the outside is provided with the motor, the motor drives link up the ring and rotate on solid fixed ring.

The side wall of the clamping piece in the closing direction is provided with inner clamping teeth, and the side wall of the clamping piece in the outward opening direction is provided with outer clamping teeth.

The mechanical arm comprises a base and an adjusting arm fixedly connected to the base, and the hydraulic cylinder is fixedly connected with the adjusting arm through a connecting portion.

The invention has the beneficial effects that:

according to the invention, the original three-jaw gripping mode is changed into a four-jaw gripping mode, and the four clamping pieces are equidistantly surrounded on the outer side of the hydraulic cylinder to form two groups of opposite clamps, so that the clamping state is kept, and the coexistence and switching of gripping and clamping are realized.

The invention grips and clamps and switches: keeping the cylinder still, and driving the four clamping pieces to perform synchronous gripping operation through the expansion of the hydraulic cylinder; keep the pneumatic cylinder motionless, drive respective clamping piece through each cylinder and move, thereby can deal with various anomalous objects, can also control two relative clamping pieces wherein arbitrary and realize inwards carrying out the centre gripping operation or outwards expanding the realization and outwards carrying out the centre gripping to the object, or with one set of wherein outwards, another group inwards also can carry out the centre gripping to the object, the application scope of multiple alternative centre gripping mode has been increased the clamping jaw, the convenience of use has been improved, the practicality has been promoted.

Drawings

The invention is further illustrated with reference to the following figures and examples.

FIG. 1 is an overall perspective view of the present invention;

FIG. 2 is a first perspective view of a jaw of the present invention;

FIG. 3 is a second perspective view of the jaws of the present invention;

fig. 4 is a schematic view of the connection structure of the cylinder and the clip of the present invention.

In the figure: 1. a mechanical arm; 11. a base; 12. an adjusting arm; 2. a clamping jaw; 21. a connecting portion; 22. a hydraulic cylinder; 23. an output rod; 24. a clip; 241. inner clamping teeth; 242. outer clamping teeth; 25. a fixing ring; 26. an adaptor ring; 27. a motor; 28. a cylinder; 29. and (7) connecting the sheets.

Detailed Description

In order to make those skilled in the art better understand the technical solution of the present invention, the present invention will be described more clearly and more completely with reference to the drawings in the following embodiments, and it is understood that the described embodiments are only a part of the present invention, rather than all of the present invention, and based on the embodiments, other embodiments obtained by those skilled in the art without inventive exercise are within the protection scope of the present invention.

As shown in fig. 1-4, an automatic material taking industrial robot comprises a mechanical arm 1 and a clamping jaw 2 fixed at the front end of the mechanical arm 1, wherein the clamping jaw 2 comprises a hydraulic cylinder 22, clamping pieces 24 and a cylinder 28, the clamping pieces 24 are provided with four output ends which are arranged on the hydraulic cylinder 22 in a surrounding and rotating manner, the four cylinder 28 are also provided, the upper ends of the four output ends are arranged on the outer wall of the hydraulic cylinder 22 in a rotating manner, the lower ends of the four output ends are connected to the clamping pieces 24 in a rotating manner, and when the cylinder 28 is fixed, the four clamping pieces 24 are; when the hydraulic cylinders 22 are stationary, the respective jaws 24 are controlled to move by respective cylinders 28.

The hydraulic cylinder 22 includes an output rod 23, the output rod 23 being located inside the hydraulic cylinder 22, the output rod 23 being peripherally surrounded by clips 24. The hydraulic cylinder 22 drives the clamping pieces 24 fixedly connected with the output rod 23 to stretch and rotate through stretching of the output rod 23, so that synchronous control over the clamping pieces 24 is achieved, and regular objects are gripped.

The cylinder 28 is fixed on the outer wall of the hydraulic cylinder 22 through a fixing ring 25, and the output end of the cylinder 28 is rotatably connected to the upper corner of the clip 24 through a connecting piece 29. The expansion and contraction of the cylinder 28 drives one end of the connecting sheet 29 rotating with the cylinder to rotate, so that the other end of the connecting sheet 29 drives the clamping sheet 24 fixedly connected with the connecting sheet to rotate, and the autonomous movement is realized.

The outer wall of the cylinder 28 is fixedly connected with an engaging ring 26, the engaging ring 26 is rotatably connected with the outer wall of the fixed ring 25, the engaging ring 26 and the outer side are provided with a motor 27, and the motor 27 drives the engaging ring 26 to rotate on the fixed ring 25. The motor 27 is fixed on the fixed ring 25, the connecting ring 26 is driven to rotate through the output shaft, the connecting ring 26 fixes the air cylinder 28, and then the air cylinder 28 rotates, so that the control on the rotation of the air cylinder 28 is realized, and the problem that when the output rod 23 of the hydraulic cylinder 22 drives the clamping piece 24 to perform synchronous motion, the air cylinder 28 is also driven by the connecting piece 29 to rotate, the purpose of fulcrum rotation cannot be provided, and the synchronous motion fails is solved.

The clip 24 has inner clip teeth 241 on the side wall in the closing direction and outer clip teeth 242 on the side wall in the expanding direction. When the clamping piece 24 is folded towards the middle, namely, when the clamping piece 24 clamps an object from the outside, the clamping piece 24 supports the bottom through the inner clamping teeth 241, the falling of the goods is avoided, when the clamping piece 24 is expanded outwards, namely, when the clamping piece 24 clamps a hollow or shell-shaped object from the inside, the bottom is supported through the outer clamping, and the dropping of the goods is avoided.

The mechanical arm 1 comprises a base 11 and an adjusting arm 12 fixedly connected to the base 11, and a hydraulic cylinder 22 is fixedly connected with the adjusting arm 12 through a connecting part 21. The distance of each adjusting arm 12 is controlled to be changed by controlling the rotation of the motor 27 on the adjusting arm 12, and meanwhile, the motor 27 arranged in the base 11 drives the adjusting arm 12 to rotate, so that the position of the material clamped by the clamping jaws 2 is changed.

When in grasping: keeping the motor 27 and the air cylinder 28 still, by starting the hydraulic cylinder 22, the output rod 23 of the hydraulic cylinder 22 extends out, so that the four clamping pieces 24 are pushed to expand outwards by taking the fixed corner of the connecting piece 29 as an axis, then the clamping pieces move downwards under the action of the adjusting arm 12 to cover the object, then the output rod 23 of the hydraulic cylinder 22 is controlled to contract, and the output rod 23 contracts to drive the four clamping pieces 24 to fold inwards to realize the grasping of the object.

During clamping: keep pneumatic cylinder 22 motionless, rotate through motor 27 and drive cylinder 28 and rotate, cooperation cylinder 28 is flexible to carry out pivoted control to connection piece 29, connection piece 29 then carries out synchronous control to its fixed connection's clamping piece 24, make each clamping piece 24 can carry out different operations, in order to deal with anomalous object, if the centre gripping, one of them clamping piece 24 has not contacted the object yet, remaining three clamping pieces 24 and to having carried out the centre gripping to the object, this can control this clamping piece 24 and continue the antedisplacement, until contacting this object, cooperate other three clamping pieces 24 to carry out the centre gripping to the object, the condition of the thing is fallen easily to the clamp unrealistic has been avoided.

Further: any one of the two sets of clamping pieces 24 which are oppositely arranged is controlled to be folded, the object is clamped from the outside, or any one set of clamping pieces is controlled to be expanded, the object is squeezed and clamped from the inside, or one set of clamping pieces is expanded, the other set of clamping pieces is contracted, the object can be clamped, the clamping effect is better, the object can be clamped in a selectable centering mode, and the object under various conditions can be handled.

The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. The utility model provides an automatic change and get material industrial robot, includes arm (1) and fixes clamping jaw (2) of arm (1) front end, its characterized in that: the clamping jaw (2) comprises a hydraulic cylinder (22), clamping pieces (24) and an air cylinder (28), the clamping pieces (24) are provided with four output ends which are arranged on the hydraulic cylinder (22) in a surrounding and rotating mode, the air cylinders (28) are also provided with four output ends, the upper ends of the four output ends are arranged on the outer wall of the hydraulic cylinder (22) in a rotating mode, the lower ends of the four output ends are connected to the clamping pieces (24) in a rotating mode, and when the air cylinder (28) is fixed, the four clamping pieces (24) are controlled to move synchronously through the hydraulic cylinder (22); when the hydraulic cylinder (22) is fixed, the clamping pieces (24) corresponding to the hydraulic cylinder (22) are controlled to move through the air cylinders (28).

2. An automated material extracting industrial robot according to claim 1, wherein: the hydraulic cylinder (22) comprises an output rod (23), the output rod (23) is located inside the hydraulic cylinder (22), and the clamping pieces (24) are arranged on the periphery of the output rod (23) in a surrounding mode.

3. An automated reclaiming industrial robot as claimed in claim 2, wherein: the air cylinder (28) is fixed on the outer wall of the hydraulic cylinder (22) through a fixing ring (25), and the output end of the air cylinder (28) is rotatably connected to the upper corner of the clamping piece (24) through a connecting piece (29).

4. An automated reclaiming industrial robot as claimed in claim 3, wherein: the outer wall fixedly connected with of cylinder (28) links up ring (26), link up ring (26) rotate connect in the outer wall of solid fixed ring (25), link up ring (26) and outside are provided with motor (27), motor (27) drive link up ring (26) is in solid fixed ring (25) go up the rotation.

5. An automated material extracting industrial robot according to claim 1, wherein: the side wall of the clamping piece (24) towards the closing direction is provided with inner clamping teeth (241), and the side wall towards the outward opening direction is provided with outer clamping teeth (242).

6. An automated material extracting industrial robot according to claim 1, wherein: arm (1) include base (11) and fixed connection be in regulating arm (12) on base (11), pneumatic cylinder (22) through connecting portion (21) with regulating arm (12) fixed connection.