CN111941384A - Anti-collision high-stability transfer robot - Google Patents
Anti-collision high-stability transfer robot Download PDFInfo
- Publication number
- CN111941384A CN111941384A CN202010837904.5A CN202010837904A CN111941384A CN 111941384 A CN111941384 A CN 111941384A CN 202010837904 A CN202010837904 A CN 202010837904A CN 111941384 A CN111941384 A CN 111941384A
- Authority
- CN
- China
- Prior art keywords
- collision
- suction
- ball
- self
- hardening
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
-
- 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
- B25J15/08—Gripping heads and other end effectors having finger members
Abstract
The invention discloses an anti-collision high-stability transfer robot, belonging to the field of robots, wherein an air transfer anti-collision bag and a self-expansion suction pad are arranged, when accidental collision occurs, the air transfer anti-collision bag is extruded under the action of external force, air in the air transfer anti-collision bag is transferred to enter an expansion layer to be supported, a gap between goods and the self-expansion suction pad is reduced, the gripping force of a manipulator to the goods is strengthened, the stability of the clamped goods is effectively improved, compared with the prior art, the occurrence probability of accidental falling of the goods is obviously reduced, simultaneously, the air transfer anti-collision bag can quickly become thick and hard to impact under the action of an accidental thickening force and further absorb a certain impact force, after the impact, the air transfer anti-collision bag loses the action of the impact force, the increased clamping force slowly disappears, and compared with the prior art, the clamping force is larger for a long time, effectively reduce the damage that causes the goods.
Description
Technical Field
The invention relates to the field of robots, in particular to an anti-collision high-stability transfer robot.
Background
With the increasing development of social economy, the industry is rapidly developed, industrial freight is an important component in the industry, industrial transportation is also called intra-plant transportation, which means transportation performed in the production process inside a plant enterprise and is an important component of the whole production activity of the industrial and mining enterprises, because the production raw materials, semi-finished products, products in process and products formed by the internal technology division of factories and mines are transported from one production place to another production place in an enterprise, and for the transportation of the off-site enterprise dedicated line of factory and mining production service, the industrial goods in the market are mostly carried by manpower or fork truck at present, the labor amount of the manual carrying is large, the production efficiency is low, the fork truck also needs the manual driving operation for carrying, the work efficiency is general, and therefore some industrial enterprises adopt the carrying robot to solve the problems.
The transfer robot can take place certain collision probability at the in-process of carrying goods, when bumping, causes the work piece to drop very easily, and damages to still influence work efficiency easily, the most commonly used solution among the prior art adds anti-skidding cushion in the gripper jaw usually, then during the transportation, increases the clamping-force, but this kind of mode, because long-time great clamping-force, causes the deformation of goods very easily, has certain destructiveness equally.
Disclosure of Invention
1. Technical problem to be solved
Aiming at the problems in the prior art, the invention aims to provide an anti-collision high-stability transfer robot, which is characterized in that through the arrangement of an air transfer anti-collision bag and a self-expansion suction pad, when accidental collision occurs, the air transfer anti-collision bag is extruded under the action of external force, air in the air transfer anti-collision bag is transferred to enter an expansion layer to be supported, so that the gap between goods and the self-expansion suction pad is reduced, the gripping power of a mechanical arm to the goods is enhanced, the stability of the clamped goods is effectively improved, compared with the prior art, the occurrence probability of accidental falling of the goods is obviously reduced, simultaneously, under the action of the suction force of a ball, the air transfer anti-collision bag can be quickly hardened and thickened to absorb certain impact force, after the collision, the impact force of the air transfer anti-collision bag is lost, the increased clamping force slowly disappears, and compared with the long-time larger clamping force of the prior art, effectively reduce the damage that causes the goods.
2. Technical scheme
In order to solve the above problems, the present invention adopts the following technical solutions.
An anti-collision high-stability transfer robot comprises a base, wherein an mechanical arm is mounted at the upper end of the base, a mechanical arm is mounted at the end part of the mechanical arm, the mechanical arm comprises a connecting rod connected with the end part of the mechanical arm and a grabbing claw connected to the lower end of the connecting rod, the outer end of the connecting rod is wrapped with an air transfer anti-collision bag, a self-expansion suction pad is attached to the inner wall of the grabbing claw, the air transfer anti-collision bag is communicated with the self-expansion suction pad, air is filled in the air transfer anti-collision bag, the self-expansion suction pad comprises an expansion layer and a suction layer, the expansion layer is located on one side close to the inner wall of the grabbing claw, the suction layer is fixedly connected to the outer surface of the expansion layer, an inner support flexible net is fixedly connected to the interior of the expansion layer, the expansion layer is communicated with the, through the arrangement of the air transfer anti-collision bag and the self-expansion suction pad, on one hand, the air transfer anti-collision bag can play a good role in shock absorption and impact prevention for the manipulator, when accidental impact occurs, the air transfer anti-collision bag is extruded under the action of external force, air in the air transfer anti-collision bag is transferred to enter the expansion layer, so that the expansion layer is supported, a gap between the goods and the self-expansion suction pad is effectively reduced, the grabbing force of the manipulator to the goods is enhanced when the manipulator is impacted, the stability of the goods clamped by the manipulator when the manipulator is vibrated is effectively improved, the probability of accidental falling of the goods is obviously reduced compared with the prior art, meanwhile, the manipulator is matched with the action of the suction ball, and can be quickly hardened when the manipulator is impacted by accidental force, so that certain impact force is absorbed, compared with complete soft clamping, the stability of clamping the goods is higher when the manipulator is impacted by violent force, is not easy to fall off.
Furthermore, the air is filled in the air transfer anti-collision bag in a saturated manner, the filling degree is not more than percent, so that the air transfer anti-collision bag is always kept in a bulging state, the surface of the air transfer anti-collision bag can have certain bearing performance, and when accidental collision occurs, the air transfer anti-collision bag can play a certain damping role, so that the stability of the manipulator when the manipulator is vibrated is effectively improved, and the accidental falling of goods grabbed by the manipulator is reduced.
Further, inflation layer and suction layer are hollow structure, and the two is elastic material and makes, the goods that can effectively protect to snatch on the one hand is difficult for being damaged because of grabbing power, on the other hand, make it can take place deformation, when taking place unexpected striking, the air transfer prevents that to hit the bag and receive exogenic action by the extrusion, its inside air takes place to shift, enter into the inflation in situ, thereby make the inflation layer propped up, thereby effectively reduce the goods and fill up the space from inflation suction, make the manipulator when receiving the striking, its grabbing power to the goods becomes strong, show improvement stability, reduce the unexpected condition that drops of goods.
Furthermore, it is a plurality of suction ball is upper and lower phase distribution, and suction ball contacts rather than the withstand voltage chamber that is close to, and two suction balls of upper and lower phase distribution contact each other for self-expanding suction pad when the atress, the extrusion force can take place each other for a plurality of suction balls, and then makes the centre gripping effect better.
Further, step, suction ball inner wall fixedly connected with a plurality of from hardening hemisphere, it is a plurality of from hardening hemisphere respectively with between suction ball and the contact point between suction ball and the withstand voltage intracavity wall correspond to each other, the support inner core has been placed to suction ball inside, it is a plurality of the summit of from hardening hemisphere all contacts with supporting inner core, when the inflation layer was propped, the suction ball was extruded, made the power between it and the goods bigger, because the effect of self hardening hemisphere this moment, on the self hardening hemisphere and the support inner core in a plurality of force points can be transmitted to suction ball, the interaction between self hardening hemisphere and the support inner core for it is more stable when the suction ball atress, thereby better to the clamping effect of goods.
Further, self-hardening hemisphere is inside to be filled with non-Newtonian fluid, makes the self-hardening hemisphere when the atress, can harden the thickening rapidly, can absorb certain impact, and the back that hardens simultaneously compares in soft centre gripping, when receiving violent striking, the stability of centre gripping goods is higher, is difficult for dropping, support the inner core and make for hard material, make it have certain bearing capacity to can provide certain supporting role to the self-hardening hemisphere, when effectively guaranteeing the self-hardening hemisphere atress, can take place the change of hardness fast.
Furthermore, the suction ball is internally filled with a plurality of stones, the stones enable the inside of the suction ball not to be full and not to deform greatly, so that the situation that the goods are clamped can be kept to be round relatively is effectively guaranteed, the stones are different in particle size and are selected from the downstream of a river, the surfaces of the stones are smooth and round, and the inner wall of the suction ball, the self-hardening hemisphere and the outer surface of the supporting inner core are not easily affected.
Further, the inside radiation that is equipped with of self-hardening hemisphere props the ball, the radiation props the ball and includes the hard pole of support of multiple spot hardening ball and a plurality of fixed connection in multiple spot hardening ball outer end, and is a plurality of support hard pole one end that the hard pole kept away from the multiple spot hardening ball respectively with support inner core inner wall and suction ball inner wall fixed connection, prop the setting of ball through the radiation, when contact point atress on the suction ball, after the self-hardening hemisphere atress, the radiation props the ball and can with atress homodisperse to the self-hardening hemisphere on, certain component effect has, effective protection self-hardening hemisphere is difficult for being damaged because of local atress is too big on the one hand, on the other hand can effectively guarantee the self-hardening hemisphere when having shock attenuation cushioning effect, has certain intensity.
Furthermore, the multipoint hardening ball is of an elastic hollow structure, the interior of the multipoint hardening ball is filled with non-Newtonian fluid, and when the multipoint hardening ball is stressed, the plurality of supporting hard rods simultaneously act on the multipoint hardening ball, so that the multipoint hardening on the surface of the multipoint hardening ball is thickened, and the damping and buffering effects can be achieved.
3. Advantageous effects
Compared with the prior art, the invention has the advantages that:
(1) this scheme is through the setting of air transfer anticollision bag and self-expansion suction pad, when the unexpected striking takes place, the air transfer anticollision bag receives exogenic action and is extruded, its inside air takes place to shift, enter into the inflation in situ, make it propped, reduce space between goods and the self-expansion suction pad, make the manipulator to the power of grabbing of goods strengthen, effectively improve the stability by the centre gripping goods, compare in prior art, show the emergence probability that reduces the unexpected circumstances that drops of goods, the effect of cooperation suction ball simultaneously, when receiving unexpected striking, can become hard the thickening rapidly, and then absorb certain striking, after the striking, the air transfer anticollision bag loses the effect of striking, the clamping-force of increase slowly disappears, compare in the long-time great clamping-force of prior art, effectively reduce the damage that causes the goods.
(2) The air is filled for the saturation in the air transfer anti-collision bag, and the filling degree is no more than%, makes the air transfer anti-collision bag remain the state of bulging all the time, can make the air transfer anti-collision bag surface have certain bearing capacity, and when the accident collision takes place, the air transfer anti-collision bag can play certain cushioning effect, and then effectively improves the stability when the manipulator receives vibrations, and the condition that the goods that the reduction manipulator snatched accidentally dropped takes place.
(3) Inflation layer and suction layer are hollow structure, and the two is elastic material and makes, the goods that can effectively protect to snatch on the one hand is difficult for being damaged because of grabbing power, on the other hand, make it can take place deformation, when the unexpected striking takes place, the air transfer is prevented hitting the bag and is received the exogenic action and is extrudeed, its inside air takes place to shift, enter into the inflation in situ, thereby make inflation layer propped up, thereby effectively reduce the goods and fill up the space from inflation suction, make the manipulator when receiving the striking, its power of grabbing to the goods becomes strong, show improvement stability, reduce the unexpected condition that drops of goods.
(4) A plurality of suction balls are the upper and lower intercrossing and distribute, and the suction ball contacts rather than the withstand voltage chamber that is close to, and two suction balls of upper and lower intercrossing distribution contact each other for self-expanding suction pad when the atress, the extrusion force can take place each other for a plurality of suction balls, and then makes the centre gripping effect better.
(5) Step, a plurality of self hardening hemispheres of suction ball inner wall fixedly connected with, a plurality of self hardening hemispheres correspond with the contact point between suction ball and the suction ball and between suction ball and the withstand voltage intracavity wall each other respectively, the support inner core has been placed to suction ball inside, the summit of a plurality of self hardening hemispheres all contacts with supporting the inner core, when the inflation layer is propped, the suction ball is extrudeed, make the power between its and the goods bigger, this moment because the effect of self hardening hemisphere, the power of a plurality of stress points can be transmitted to the self hardening hemisphere in the suction ball and support on the inner core, self hardening hemisphere and support inner core are mutual to be acted on, make the suction ball during the atress more stable, thereby the clamping effect to the goods is better.
(6) The inside packing of auto-hardening hemisphere has non-Newtonian fluid, make the auto-hardening hemisphere when the atress, can harden the thickening rapidly, can absorb certain impact, the back of hardening simultaneously, compare in soft centre gripping, when receiving violent striking, the stability of centre gripping goods is higher, be difficult for dropping, it makes for hard material to support the inner core, make it have certain bearing capacity, thereby can provide certain supporting role to the auto-hardening hemisphere, when effectively guaranteeing the auto-hardening hemisphere atress, the change of hardness can take place fast.
(7) The suction ball is filled with a plurality of stones, and the stones make the suction ball inside be unlikely to full, are difficult for taking place great deformation to effectively guarantee when carrying out the centre gripping to the goods, can keep relatively mellow circular, a plurality of stones particle diameter are different, and the stones are selected from river low reaches, make the smooth mellow and mellow in stone surface, are difficult for causing the influence to suction ball inner wall, self-hardening hemisphere and support inner core surface.
(8) The inside radiation that is equipped with of self-hardening hemisphere props the ball, the radiation props the ball and includes the hard pole of support of multiple spot hardening ball and a plurality of fixed connection in the multiple spot hardening ball outer end, the hard pole of one end that multiple spot hardening ball was kept away from to a plurality of support hard poles respectively with support inner core inner wall and suction ball inner wall fixed connection, prop the setting of ball through the radiation, when contact point atress on the suction ball, after the self-hardening hemisphere atress, the radiation props the ball and can with atress homodisperse to the self-hardening hemisphere on, certain component effect has, effective protection self-hardening hemisphere is difficult for being damaged because of local atress is too big on the one hand, on the other hand can effectively guarantee the self-hardening hemisphere when having shock attenuation cushioning effect.
(9) The multiple spot sclerosis ball is elasticity hollow structure, and multiple spot sclerosis ball inside is filled with non-Newtonian fluid equally, and during the atress, on the multiple spot sclerosis ball under the hard pole simultaneous action of a plurality of supports for the multiple spot sclerosis ball surface multiple spot sclerosis thickening can play the effect of shock attenuation buffering.
Drawings
FIG. 1 is a schematic front view of the present invention;
FIG. 2 is a front view of the gripper jaw of the present invention;
FIG. 3 is a schematic structural view of a cross section A in FIG. 2;
FIG. 4 is a schematic view of the structure of the suction ball of the present invention;
FIG. 5 is a schematic structural view of a self-expanding absorbent layer of the present invention;
fig. 6 is a schematic structural view of a suction ball in embodiment 2 of the present invention.
The reference numbers in the figures illustrate:
the device comprises a base 1, a mechanical arm 2, a mechanical arm 3, a connecting rod 31, a grabbing claw 32, an air transfer anti-collision bag 4, a self-expansion suction pad 5, an expansion layer 51, a suction layer 52, an internal support flexible net 6, a suction ball 7, a self-hardening hemisphere 81, a support inner core 82, a multipoint hardening ball 91 and a support hard rod 92.
Detailed Description
The drawings in the embodiments of the invention will be combined; the technical scheme in the embodiment of the invention is clearly and completely described; obviously; the described embodiments are only some of the embodiments of the invention; but not all embodiments, are based on the embodiments of the invention; all other embodiments obtained by a person skilled in the art without making any inventive step; all fall within the scope of protection of the present invention.
In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "top/bottom", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "sleeved/connected," "connected," and the like are to be construed broadly, e.g., "connected," which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Example 1:
referring to fig. 1-2, an anti-collision high-stability transfer robot comprises a base 1, a mechanical arm 2 is mounted at the upper end of the base 1, a mechanical hand 3 is mounted at the end of the mechanical arm 2, the mechanical hand 3 comprises a connecting rod 31 connected with the end of the mechanical arm 2 and a grabbing claw 32 connected to the lower end of the connecting rod 31, an air transfer anti-collision bag 4 is wrapped at the outer end of the connecting rod 31, a self-expansion suction pad 5 is attached to the inner wall of the grabbing claw 32, the air transfer anti-collision bag 4 is communicated with the self-expansion suction pad 5, air is filled in the air transfer anti-collision bag 4, the air is filled in the air transfer anti-collision bag 4 in a saturated manner, the filling degree is not more than 150%, the air transfer anti-collision bag 4 is always kept in a bulging state, the surface of the air transfer anti-collision bag 4 has a certain bearing capacity, and when an, and then effectively improve the stability when manipulator 3 receives vibrations, reduce the unexpected condition emergence that drops of goods that manipulator 3 snatched.
Referring to fig. 3, the self-expanding suction pad 5 includes an expanding layer 51 located at one side close to the inner wall of the gripping claw 32 and a suction layer 52 fixedly connected to the outer surface of the expanding layer 51, an inner supporting flexible net 6 is fixedly connected to the inside of the expanding layer 51, the expanding layer 51 is communicated with the air transfer anti-collision bag 4, a pressure-resistant cavity is drilled inside the suction layer 52, a plurality of suction balls 7 are uniformly distributed and filled inside the pressure-resistant cavity, the suction balls 7 are distributed vertically and alternately, the suction balls 7 are in contact with the pressure-resistant cavity close thereto, and two suction balls 7 distributed vertically and alternately are in contact with each other, so that when the self-expanding suction pad 5 is stressed, the plurality of suction balls 7 can generate extrusion force with each other, and the gripping effect is better, the expanding layer 51 and the suction layer 52 are both of a hollow structure and both made of an elastic material, on one hand, the gripped goods can be effectively protected from being damaged due to the gripping force, on the other hand, the deformation can be generated, please refer to fig. 5, when accidental impact occurs, the air transfer anti-collision bag 4 is squeezed under the action of external force, the air in the air transfer anti-collision bag is transferred and enters the expansion layer 51, so that the expansion layer 51 is supported, the gap between the goods and the self-expansion suction pad 5 is effectively reduced, the gripping force of the manipulator 3 on the goods is enhanced when the manipulator is impacted, the stability is obviously improved, and the accidental falling of the goods is reduced, after the impact occurs, the air transfer anti-collision bag 4 loses the action of the impact force, the air returns to the air transfer anti-collision bag 4, the increased gripping force slowly disappears, compared with the long-time larger gripping force in the prior art, the damage on the goods is effectively reduced, after the impact occurs, the air returns to the air transfer anti-collision bag 4 under the action of the impact force, and the increased gripping force slowly disappears, compare in the long-time great clamping-force of prior art, effectively reduce the damage that causes the goods.
Referring to fig. 4, a plurality of self-hardening hemispheres 81 are fixedly connected to the inner wall of the suction ball 7, the plurality of self-hardening hemispheres 81 respectively correspond to contact points between the suction ball 7 and between the suction ball 7 and the inner wall of the pressure-resistant chamber, a support inner core 82 is disposed inside the suction ball 7, apexes of the plurality of self-hardening hemispheres 81 are all in contact with the support inner core 82, when the expansion layer 51 is supported, the suction ball 7 is squeezed, so that the force between the suction ball and the goods is larger, at this time, due to the effect of the self-hardening hemispheres 81, the force of the plurality of force-bearing points can be transmitted to the self-hardening hemispheres 81 and the support inner core 82 in the suction ball 7, and the self-hardening hemispheres 81 and the support inner core 82 interact with each other, so that the suction ball 7 is more stable when being stressed, thereby the clamping effect for the goods is better, the self-hardening hemispheres 81 is, can be quickly hardened and thickened, can absorb certain impact force, and compared with a soft clamp after being hardened, when the goods are impacted violently, the stability for clamping the goods is higher, the goods are not easy to fall off, the supporting inner core 82 is made of hard material, so that the supporting inner core has certain bearing capacity, thereby providing a certain supporting function for the self-hardening hemisphere 81, effectively ensuring that when the self-hardening hemisphere 81 is stressed, the hardness can be changed quickly, a plurality of stones are filled in the suction ball 7, the stones prevent the suction ball 7 from being full and not easy to deform greatly, thereby effectively ensuring that when clamping goods, the clamp can keep a relatively round shape, the particle sizes of a plurality of stones are different, and the stones are selected from the downstream of the river, so that the surfaces of the stones are smooth and are not easy to influence the inner wall of the suction ball 7, the outer surfaces of the self-hardening hemisphere 81 and the supporting inner core 82.
Example 2:
the self-hardening hemisphere 81 is internally provided with a radiation supporting ball, the radiation supporting ball comprises a multi-point hardening ball 91 and a plurality of supporting hard rods 92 fixedly connected with the outer end of the multi-point hardening ball 91, one ends of the supporting hard rods 92 far away from the multi-point hardening ball 91 are respectively and fixedly connected with the inner wall of the supporting inner core 82 and the inner wall of the suction ball 7, through the arrangement of the radiation supporting ball, when a contact point on the suction ball 7 is stressed, the radiation supporting ball can uniformly disperse the stress on the self-hardening hemisphere 81 after the stress is applied to the self-hardening hemisphere 81, and has a certain component effect, on one hand, the self-hardening hemisphere 81 is effectively protected from being damaged due to overlarge local stress, on the other hand, the self-hardening hemisphere 81 can be effectively ensured to have a certain strength while having a damping and buffering effect, the multi-point hardening ball 91 is of an elastic hollow structure, and the interior of the multi-point hardening, the multiple support hard rods 92 act on the multipoint hardening ball 91 at the same time, so that the multipoint hardening on the surface of the multipoint hardening ball 91 becomes thick, and the shock absorption and buffering effects can be achieved.
Compared with the embodiment 1, the anti-collision semi-sphere 81 has the advantages that the anti-collision semi-sphere 81 has better buffering effect when being impacted accidentally, so that the anti-collision effect is more obvious, better prevention effect is realized on accidental falling of goods, and the anti-collision semi-sphere 81 is suitable for goods with higher anti-shock requirements.
Through the arrangement of the air transfer anti-collision bag 4 and the self-expansion suction pad 5, on one hand, the air transfer anti-collision bag 4 can play a good role in shock absorption and impact prevention for the manipulator 3, when accidental impact occurs, the air transfer anti-collision bag 4 is extruded under the action of external force, the air in the air transfer anti-collision bag 4 is transferred to enter the expansion layer 51, so that the expansion layer 51 is supported, the gap between the goods and the self-expansion suction pad 5 is effectively reduced, the grabbing force of the manipulator 3 to the goods is strengthened when the manipulator is impacted, the stability of the goods clamped by the manipulator 3 under the vibration is effectively improved, compared with the prior art, the probability of accidental dropping of the goods is obviously reduced, and simultaneously, the manipulator can be quickly hardened and thickened under the action of the suction ball 7 to absorb certain impact force, and after the impact, the action of the air transfer anti-collision bag 4 is lost, the air returns to the gas and shifts in crashproof bag 4, and the clamping-force that increases this moment slowly disappears, compares in the long-time great clamping-force of prior art, effectively reduces the damage that causes the goods.
The above; but are merely preferred embodiments of the invention; the scope of the invention is not limited thereto; any person skilled in the art is within the technical scope of the present disclosure; the technical scheme and the improved concept of the invention are equally replaced or changed; are intended to be covered by the scope of the present invention.
Claims (9)
1. The utility model provides an anticollision type high stability transfer robot, includes base (1), arm (2) are installed to base (1) upper end, manipulator (3) are installed to arm (2) tip, manipulator (3) include with arm (2) end connection connecting rod (31) and connect and snatch claw (32) at connecting rod (31) lower extreme, its characterized in that: the outer end of the connecting rod (31) is wrapped with an air transfer anti-collision bag (4), the inner wall of the grabbing claw (32) is attached with a self-expansion suction pad (5), the air transfer anti-collision bag (4) is communicated with the self-expansion suction pad (5), the air transfer anti-collision bag (4) is filled with air, the self-expansion suction pad (5) comprises an expansion layer (51) close to one side of the inner wall of the grabbing claw (32) and a suction layer (52) fixedly connected to the outer surface of the expansion layer (51), an inner support flexible net (6) is fixedly connected to the inside of the expansion layer (51), the expansion layer (51) is communicated with the air transfer anti-collision bag (4), a pressure-resistant cavity is formed in the inside of the suction layer (52), and a plurality of suction balls (7) which are uniformly distributed are filled in the pressure-resistant cavity.
2. The collision-prevention type high-stability transfer robot according to claim 1, characterized in that: the air in the air transfer anti-collision bag (4) is filled in a saturated manner, and the filling degree is not more than 150%.
3. The collision-prevention type high-stability transfer robot according to claim 2, characterized in that: the expansion layer (51) and the suction layer (52) are both of hollow structures and both are made of elastic materials.
4. The collision-prevention type high-stability transfer robot according to claim 1, characterized in that: the plurality of the suction balls (7) are distributed from top to bottom, the suction balls (7) are contacted with the pressure-resistant cavity close to the suction balls, and two suction balls (7) distributed from top to bottom are contacted with each other.
5. The collision-prevention type high-stability transfer robot according to claim 1, characterized in that: step, suction ball (7) inner wall fixedly connected with is a plurality of from sclerosis hemisphere (81), and is a plurality of from sclerosis hemisphere (81) respectively with between suction ball (7) and the contact point between suction ball (7) and the withstand voltage intracavity wall correspond each other, support inner core (82) have been placed to suction ball (7) inside, and are a plurality of the summit of self sclerosis hemisphere (81) all contacts with support inner core (82).
6. The collision-prevention type high-stability transfer robot according to claim 5, characterized in that: the self-hardening hemisphere (81) is filled with non-Newtonian fluid, and the supporting inner core (82) is made of hard materials.
7. The collision-prevention type high-stability transfer robot according to claim 5, characterized in that: the suction ball (7) is filled with a plurality of stones, the sizes of the stones are different, and the stones are selected from the downstream of the river.
8. The collision-prevention type high-stability transfer robot according to claim 5, characterized in that: the inside radiation that is equipped with of self-hardening hemisphere (81) props the ball, the radiation props the ball and includes multiple spot hardening ball (91) and support hard pole (92) of a plurality of fixed connection in multiple spot hardening ball (91) outer end, and is a plurality of support hard pole (92) keep away from the one end of multiple spot hardening ball (91) respectively with support inner core (82) inner wall and suction ball (7) inner wall fixed connection.
9. The collision-avoidance type high-stability transfer robot according to claim 8, characterized in that: the multipoint hardened ball (91) is of an elastic hollow structure, and the interior of the multipoint hardened ball (91) is also filled with non-Newtonian fluid.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010837904.5A CN111941384A (en) | 2020-08-19 | 2020-08-19 | Anti-collision high-stability transfer robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010837904.5A CN111941384A (en) | 2020-08-19 | 2020-08-19 | Anti-collision high-stability transfer robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111941384A true CN111941384A (en) | 2020-11-17 |
Family
ID=73358501
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010837904.5A Withdrawn CN111941384A (en) | 2020-08-19 | 2020-08-19 | Anti-collision high-stability transfer robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111941384A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113134847A (en) * | 2021-01-21 | 2021-07-20 | 朱少强 | Differential oil-supplementing type self-lubricating carrying robot |
| CN114762913A (en) * | 2022-05-27 | 2022-07-19 | 惠珍珍 | Laser turning machine tool |
Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1543673A (en) * | 2001-08-20 | 2004-11-03 | ��ʽ���簲����� | Robot hand |
| DE202012006421U1 (en) * | 2012-07-04 | 2013-10-07 | Kuhn-Stoff Gmbh & Co. Kg | System for gripping objects |
| CN108481358A (en) * | 2018-03-30 | 2018-09-04 | 宁波德深机械设备有限公司 | Industrial carrying machine people |
| CN108527409A (en) * | 2018-04-02 | 2018-09-14 | 北京科技大学 | A kind of pneumatic software manipulator and its application method of adaptive gripped object shape |
| CN108609130A (en) * | 2018-05-30 | 2018-10-02 | 马鞍山海明船舶配件有限公司 | A kind of park yacht bow collision prevention device based on non-newtonian fluid |
| CN109048982A (en) * | 2018-10-25 | 2018-12-21 | 赵洪清 | A kind of software self-locking manipulator localization method |
| CN209582980U (en) * | 2019-01-29 | 2019-11-05 | 郑州科技学院 | A kind of transfer robot |
| CN110576454A (en) * | 2019-10-16 | 2019-12-17 | 河南工程学院 | pressure-adjustable clamping robot |
| CN110625641A (en) * | 2019-10-08 | 2019-12-31 | 何泽梁 | Pneumatic control equipment of flexible hand claw of multi-sensing robot |
| CN209954684U (en) * | 2019-05-23 | 2020-01-17 | 安徽赛耐尔机械制造有限公司 | Pneumatic clamping jaw for polycrystalline silicon production line |
| CN210339526U (en) * | 2019-07-09 | 2020-04-17 | 李可明 | Novel industrial robot anticollision tongs |
| CN111168703A (en) * | 2020-01-10 | 2020-05-19 | 葛润生 | Manipulator is got with many specifications clamp to auto repair |
| CN111390944A (en) * | 2020-03-13 | 2020-07-10 | 柳州越博机器人技术有限公司 | Expansion type double-claw clamping mechanical arm |
| CN111469140A (en) * | 2020-04-23 | 2020-07-31 | 深圳市壹闻科技有限公司 | A security protection robot for patrol has crashproof function |
| CN211164045U (en) * | 2019-07-04 | 2020-08-04 | 十堰安川自动化设备有限公司 | Transfer robot for industrial production |
-
2020
- 2020-08-19 CN CN202010837904.5A patent/CN111941384A/en not_active Withdrawn
Patent Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1543673A (en) * | 2001-08-20 | 2004-11-03 | ��ʽ���簲����� | Robot hand |
| DE202012006421U1 (en) * | 2012-07-04 | 2013-10-07 | Kuhn-Stoff Gmbh & Co. Kg | System for gripping objects |
| CN108481358A (en) * | 2018-03-30 | 2018-09-04 | 宁波德深机械设备有限公司 | Industrial carrying machine people |
| CN108527409A (en) * | 2018-04-02 | 2018-09-14 | 北京科技大学 | A kind of pneumatic software manipulator and its application method of adaptive gripped object shape |
| CN108609130A (en) * | 2018-05-30 | 2018-10-02 | 马鞍山海明船舶配件有限公司 | A kind of park yacht bow collision prevention device based on non-newtonian fluid |
| CN109048982A (en) * | 2018-10-25 | 2018-12-21 | 赵洪清 | A kind of software self-locking manipulator localization method |
| CN209582980U (en) * | 2019-01-29 | 2019-11-05 | 郑州科技学院 | A kind of transfer robot |
| CN209954684U (en) * | 2019-05-23 | 2020-01-17 | 安徽赛耐尔机械制造有限公司 | Pneumatic clamping jaw for polycrystalline silicon production line |
| CN211164045U (en) * | 2019-07-04 | 2020-08-04 | 十堰安川自动化设备有限公司 | Transfer robot for industrial production |
| CN210339526U (en) * | 2019-07-09 | 2020-04-17 | 李可明 | Novel industrial robot anticollision tongs |
| CN110625641A (en) * | 2019-10-08 | 2019-12-31 | 何泽梁 | Pneumatic control equipment of flexible hand claw of multi-sensing robot |
| CN110576454A (en) * | 2019-10-16 | 2019-12-17 | 河南工程学院 | pressure-adjustable clamping robot |
| CN111168703A (en) * | 2020-01-10 | 2020-05-19 | 葛润生 | Manipulator is got with many specifications clamp to auto repair |
| CN111390944A (en) * | 2020-03-13 | 2020-07-10 | 柳州越博机器人技术有限公司 | Expansion type double-claw clamping mechanical arm |
| CN111469140A (en) * | 2020-04-23 | 2020-07-31 | 深圳市壹闻科技有限公司 | A security protection robot for patrol has crashproof function |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113134847A (en) * | 2021-01-21 | 2021-07-20 | 朱少强 | Differential oil-supplementing type self-lubricating carrying robot |
| CN114762913A (en) * | 2022-05-27 | 2022-07-19 | 惠珍珍 | Laser turning machine tool |
| CN114762913B (en) * | 2022-05-27 | 2023-12-08 | 深圳市光族激光科技有限公司 | Laser turning machine tool |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111941384A (en) | Anti-collision high-stability transfer robot | |
| CN112173434B (en) | Self-adaptive transport case for logistics storage based on engineering manufacturing | |
| CN102787678A (en) | Shear wall structure with energy-consuming horizontal seam | |
| CN102410012B (en) | Combined damping system and device for inclination measuring cartridge of wireless drilling inclinometer | |
| CN109911769B (en) | Crane anti-swing device | |
| CN214608862U (en) | Buffer device and pressure vessel | |
| CN213905495U (en) | Lithium cell with anticollision function | |
| CN204664286U (en) | A kind of industrial row vehicle shock-absorbing device | |
| CN211193842U (en) | Round steel placing rack | |
| CN210712581U (en) | Pylon turns construction and uses cable saddle device | |
| CN220662212U (en) | Novel rear transverse thrust rod mounting bracket structure of new energy automobile | |
| CN202728974U (en) | Pre-storing hopper with buffer device | |
| CN202186605U (en) | Positioning support | |
| CN207060761U (en) | Concrete prefabricated element transport protection device | |
| CN211548836U (en) | Assembly platform for construction of constructional engineering | |
| CN220669149U (en) | Hydrogen storage container | |
| CN217023318U (en) | Carrying tool | |
| CN217260080U (en) | Vibration isolation assembly for ensuring stability of electric cart | |
| CN216229337U (en) | Portable bumper shock absorber rack | |
| CN214139706U (en) | High-strength regenerated packaging box | |
| CN207330275U (en) | A kind of construction security protection lifting device | |
| CN215948176U (en) | Civil engineering small-sized pile | |
| CN210899966U (en) | Data system maintains device | |
| CN216805422U (en) | Flat car with explosion-proof storage battery | |
| CN210063176U (en) | Prevent safe commodity circulation car that goods dropped |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20201117 |