CN112027650A - Flexible concave part grabbing mechanical arm, grabbing method, separating mechanism and separating method - Google Patents

Abstract

The invention provides a flexible concave part grabbing manipulator, a grabbing method, a separating mechanism and a separating method, wherein the flexible concave part grabbing manipulator comprises a supporting seat, a sliding rod which is slidably arranged in the supporting seat in a penetrating mode, a follow-up seat which is connected to the sliding rod, and at least three groups of claws which are hinged and arranged along the circumferential direction of the supporting seat, wherein the claws are hinged with the follow-up seat through a hinged plate hinged to the claws, the tail ends of the claws are sleeved with flexible sleeves, the sliding rod is used for drawing the claws to be inwardly closed or outwardly expanded, and a flexible concave part outer support structure is formed between the flexible sleeves when the claws are outwardly expanded; the separating mechanism comprises a flexible concave part grabbing manipulator, a stacking rack for placing the flexible concave part of the stack, and a flexible separating brush arranged at a discharge port of the stacking rack. The grabbing manipulator is ingenious in concept, scientific and reasonable in design and capable of achieving stable and reliable grabbing of the flexible concave part so as to meet actual production requirements.

Description

Flexible concave part grabbing mechanical arm, grabbing method, separating mechanism and separating method

Technical Field

The invention relates to the technical field of flexible concave part grabbing devices, in particular to a flexible concave part grabbing manipulator, a grabbing method, a separating mechanism and a separating method.

Background

Present flexible material object is in its production process, need carry out the snatching transfer of flexible material object between each process according to actual processing requirement to guarantee smooth and easy going on of whole production process, for example, a nutrition bowl for growing seedlings on a large scale, its thickness is thinner, when the producer produces, it packs together to be dozens of hundreds of covers usually, need separate the nutrition bowl of cover together one by one before the use, for the automatic dress soil that follow-up single nutrition bowl grows seedlings and lay the basis, but, when snatching the separation to it, often have following problem:

1. because the nutrition pot is made of flexible materials and is thin, the stable and reliable clamping of objects made of flexible materials is difficult to realize by an external clamping mode by adopting the existing mechanical arm (for example, the mechanical claw disclosed in Chinese patent with the application date of 2018.07.24, the publication number of CN108656147A and the invention name of 'an adaptive mechanical claw');

2. for the realization to the separation of snatching of stack nutritive cube (a plurality of nutritive cubes that the suit is in the same place promptly), still adopt sucking disc adsorption mode to carry out snatching of nutritive cube among the prior art, however, during the actual operation, to the more work occasion of dust, the sucking disc adsorbs and receives the interference easily, so can not guarantee to the reliable absorption of flexible material object, in addition, also easily inhale simultaneously a plurality of flexible material objects that pile up during the absorption, leads to the separation effect relatively poor, influences machining efficiency.

Therefore, in order to solve the problems in the prior art and meet the actual production requirements, I have conducted corresponding research and development.

Disclosure of Invention

The invention mainly aims to solve the problems in the prior art, and provides a flexible concave part grabbing manipulator, a grabbing method, a separating mechanism and a separating method which are ingenious in conception, scientific and reasonable in design and capable of realizing stable and reliable grabbing of a flexible concave part so as to meet actual production requirements.

In order to solve the technical problems, the invention adopts the technical scheme that: the flexible inward-concave part grabbing manipulator comprises a supporting seat, a sliding rod which is slidably arranged in the supporting seat in a penetrating mode, a follow-up seat which is connected to the sliding rod, and at least three groups of claws which are arranged along the circumferential direction of the supporting seat in a hinged mode, wherein the claws are hinged to the follow-up seat through a hinged plate hinged to the claws, flexible sleeves are sleeved at the tail ends of the claws, the sliding rod is used for dragging the claws to be inwardly closed or outwardly expanded, a flexible inward-concave part outward-supporting structure is formed between the flexible sleeves during outward expansion, an openable manipulator structure is formed by matching the supporting seat, the sliding rod, the follow-up seat, the at least three groups of claws and the hinged plate, and the flexible sleeves arranged at the tail ends of the claws are combined to form a stable and reliable outward-supporting type grabbing mode for the flexible inward-concave parts, so that the flexible inward-concave parts are grabbed by directly outward clamping of the existing manipulator and are difficult, and adopt the absorption mode to snatch, then be easy because of the problem that external environment is abominable to lead to reliably adsorbing.

Furthermore, the supporting seat and the follow-up seat are coaxially arranged, after at least three groups of the claws are completely inwards gathered, the outer diameter of the tail ends of the claws is smaller than that of the starting ends of the claws, and after at least three groups of the claws are completely inwards gathered, the state structure presented between the claws not only enables the manipulator to be suitable for grabbing flexible concave parts of various specifications, but also enables the size of the closed concave parts to be smaller, and the manipulator is convenient to store.

Furthermore, a first connecting lug is arranged on the supporting seat along the circumferential direction of the supporting seat, and a paw is hinged to the first connecting lug.

Furthermore, the tail end of the sliding rod is also connected with a central ejector rod.

Furthermore, a second connecting lug is arranged on the follow-up seat along the circumferential direction of the follow-up seat, and the second connecting lug is hinged with one end, far away from the paw, of the connecting plate.

Further, the flexible sleeve is a spring silica gel sleeve (rubber sleeve), a steel wire silica gel sleeve (rubber sleeve) or a flexible silica gel rod.

Furthermore, one end, far away from the slide bar, of the central ejector rod is provided with a hand grip dome plate, and through the matching structure of the central ejector rod and the hand grip dome plate, when the flexible concave part grabbing manipulator grabs, a rigid support is provided between the flexible concave part grabbing manipulator and the flexible concave part to be grabbed, so that the good external support grabbing of the flexible concave part by the hand claw is guaranteed.

A grabbing method of the flexible concave part grabbing mechanical arm, wherein the grabbing method comprises the following steps,

s1, sliding the slide bar in the support seat to draw the paw inward;

s2, placing the flexible concave part grabbing manipulator in the concave area of the flexible concave part;

s3, sliding the sliding rod reversely, moving the paw to the direction close to the supporting seat and rotating around the hinged point between the paw and the supporting seat to expand outwards, so that the flexible sleeve is in curved surface contact with the flexible concave part and the side wall of the concave area is supported outwards, and grabbing of the flexible concave part is completed under the action of friction force between the flexible sleeve and the flexible concave part.

By adopting the grabbing method, reasonable multipoint spreading and arrangement of the concave area of the flexible concave part and stable and reliable external spreading under the assistance of friction force can be formed through combination innovation of the paw and the flexible sleeve, so that the flexible concave part is conveniently and efficiently grabbed.

Further, the method includes the step of pressing the handle dome plate on the center post against the bottom wall of the concave region of the flexible concave member, which is performed after the step S2.

The separating mechanism comprises the flexible concave part grabbing manipulator.

Further, separating mechanism still includes the stack rack that is used for placing the flexible indent piece of stack and sets up in the flexible separation brush of stack rack discharge gate department, flexible indent piece snatchs the manipulator and snatchs the flexible indent piece one by stack rack discharge gate department, and flexible separation brush then will be snatched all the other flexible indent piece brush of adhesion on the flexible indent piece lateral wall and leave, wait to separate the placing of the flexible indent piece of stack by the stack rack, and flexible separation brush then snatchs the manipulator at the flexible indent piece and get a piece in-process one by one, supplementary separation is snatched all the other stacked pieces of adhesion on the piece to guarantee that the flexible indent piece of stack separates going on smoothly of process one by one.

Further, the flexible concave part grabbing manipulator is close to or far away from the stacking rack through the driving of a clamping jaw adjusting module, and the clamping jaw adjusting module drives the flexible concave part grabbing manipulator to move so as to realize grabbing and transferring of the flexible concave part one by one in the stacking rack.

Further, flexible indent spare snatchs manipulator and stack rack and all sets up the multiunit side by side, and flexible indent spare snatchs manipulator and stack rack one-to-one, and the cooperation that the manipulator and stack rack were snatched to the flexible indent spare of multiunit for this separating mechanism snatchs the separation when can realizing the flexible indent spare of multiunit simultaneously, improves production efficiency.

Furthermore, clamping jaw joints are connected to the sliding rods of the flexible concave part grabbing manipulators, and the clamping jaw joints are connected in series through a connecting rod to form the flexible concave part grabbing manipulator in a row.

Furthermore, connecting rods in the flexible concave part grabbing manipulator in a row are connected to the output end of a clamping jaw opening and closing cylinder module, and the clamping jaw opening and closing cylinder module drives the flexible concave part grabbing manipulator in the row to synchronously move.

Further, become to be listed as flexible interior concave part snatchs the manipulator and sets up the multiseriate side by side, form the flexible interior concave part of row in row and snatch the manipulator, wherein each connecting rod all links up in the output of same clamping jaw cylinder module that opens and shuts, it snatchs the manipulator synchronization action to open and shut the cylinder module by same clamping jaw and drive the flexible interior concave part of row in row, snatch one by one when realizing flexible interior concave part of batch stack, the structural design that flexible interior concave part snatchs the manipulator of row in row, this separating mechanism's production efficiency has further been improved, make it can carry out the high-efficient separation operation of flexible interior concave part of batch stack.

Furthermore, a stack adjusting module is further arranged at the stack placing frame, and the to-be-grabbed piece in the flexible concave piece of the stack in the stack placing frame is adjusted to a grabbing station by the stack adjusting module.

Further, the stack rack includes the carriage and at least three groups of stands of laying on the carriage, and at least three groups around forming the flexible indent spare of stack and placing the district between the stand, and the interval between adjacent stand is less than the diameter of flexible indent spare, the cooperation of carriage and at least three groups of stands and the design of interval between adjacent stand have realized promptly well placing the flexible indent spare of stack to guarantee going on smoothly of follow-up stack separation process.

Further, the supporting frame is arranged to be a regular polygon supporting frame.

Furthermore, the supporting frame is set to be a square frame, a group of stand columns are respectively arranged at the middle point of each group of side frames of the square frame, four groups of stand columns surround each other to form a stacking flexible concave component placing area, and the square frame and the four groups of stand columns form a placing area structure, and the stacking flexible concave component is limited in the placing area by utilizing the square inscribed circle principle.

Furthermore, any two adjacent groups of the plurality of groups of stacking racks share one group of supporting frame frames and upright columns to form the stacking racks in rows.

Furthermore, the stacking rack is arranged on a bearing frame in a row, and the bearing frame is connected to the output end of the stacking adjustment module.

Further, be listed as the stack rack sets up the multiseriate side by side, wherein sharing a carriage frame and stand between arbitrary adjacent two is listed as, forms the row and is listed as the stack rack, and the layout mode of sharing a set of carriage frame and stand between arbitrary adjacent two sets of stack racks has saved the material when having guaranteed stack rack intensity, and whole weight is also lightest.

Furthermore, the stacking racks are arranged in rows on the same bearing frame, and the bearing frame is connected to the output end of the stacking adjustment module.

A flexible inner concave part stacking separation method according to the separation mechanism comprises the steps that in the process that a flexible inner concave part grabbing mechanical arm grabs the flexible inner concave part, after a paw expands outwards, a flexible sleeve generates an external supporting force on the grabbed flexible inner concave part, the side wall of an inner concave area expands outwards to deform, at the moment, when the flexible inner concave part grabbing mechanical arm drives the flexible inner concave part to move, the flexible inner concave part generates a separation trend automatically, and the flexible inner concave part stacking separation method expands outwards.

Further, before outward expansion separation, the bottom wall of the concave area of the flexible concave part is pressed by a hand grip dome plate in the flexible concave part grabbing mechanical arm, so that the side wall of the concave area of the flexible concave part is gathered close to the central ejector rod, the flexible concave part is gathered and deformed inwards, a separation trend is generated with the side wall of the next flexible concave part, and the flexible concave parts in the stack are gathered and separated and matched with the outward expansion separation to form primary separation among the flexible concave parts in the stack.

Furthermore, the flexible separating brush is arranged at the discharge port of the stacking and placing frame, and the intercepting brush is separated from other flexible concave parts adhered to the outer side wall of the grabbed flexible concave part, so that secondary separation among the flexible concave parts of the stack is realized.

Further, when the flexible concave parts are lifted upwards one by the flexible concave part grabbing manipulator for the flexible stacking flexible parts vertically placed in the stacking rack, the rest flexible concave parts adhered to the outer side walls of the lifted flexible concave parts are separated under the action of gravity, and gravity separation among the flexible concave parts of the stack is formed.

The multistage separation method for the flexible concave parts in the stack is matched, so that the flexible concave parts in the stack are grabbed and separated one by one in batches, the technical blank that the flexible concave parts in the stack are difficult to grab and separate one by one in the prior art is filled, the practicability is high, and the application prospect is wide.

A method for unstacking the flexible concave parts in the stack according to the separation mechanism, wherein the method for unstacking the flexible concave parts in the stack comprises the following steps:

step one, a flexible stacking concave piece placed on a stacking rack is adjusted to a grabbing station by a stacking adjusting module;

step two, the clamping jaw opening and closing cylinder module controls a paw in the flexible concave part grabbing manipulator to be inwardly closed, in the process, the clamping jaw adjusting module drives the flexible concave part grabbing manipulator to move towards a grabbing station until a grabbing hand dome plate on the central ejector rod is pressed against the bottom wall of the concave area of the flexible concave part, and the paw after being inwardly closed is placed in the concave area of the flexible concave part;

step three, the clamping jaw opening and closing cylinder module controls the paw of the flexible concave part grabbing manipulator to expand outwards to grab the flexible concave part;

fourthly, the clamping jaw adjusting module drives the flexible concave part grabbing manipulator to move in the direction away from the grabbing station, and the flexible separating brush brushes away the other flexible concave parts adhered to the outer side wall of the grabbed flexible concave part at the discharge port of the stacking and placing rack;

fifthly, the clamping jaw opening and closing cylinder module controls the flexible concave part grabbing manipulator to place the grabbed flexible concave parts on a storage jig of the flexible concave part, and unstacking and grabbing of a group of flexible concave parts in the flexible concave parts are completed;

and step six, repeating the step one to the step five, and realizing the one-by-one unstacking and grabbing of the flexible concave parts in the stacking flexible concave parts.

The invention has the advantages and positive effects that:

(1) by supporting seat, slide bar, follow-up seat, three at least hand claws of group and chain link plate cooperate and constitute open-close type manipulator structure to combine the flexible cover that the hand claw end set up, formed and snatched the mode to the reliable and stable formula of propping outward of flexible indent spare, in order to effectively solve flexible indent spare and adopt the direct outer clamp of current manipulator to snatch, because of its self texture is softer, so be difficult to reliably press from both sides outward, and adopt the adsorption mode to snatch, then easily because of the abominable absorbent problem that can not reliably lead to of external environment.

(2) Through the combination innovation of the paw and the flexible sleeve, the reasonable multipoint of the concave area of the flexible concave part is spread and laid, and the stable and reliable external support under the assistance of friction force is formed, so that the convenient and efficient grabbing of the flexible concave part is met.

(3) The layout mode of a group of supporting frame frames and the stand columns shared between any two adjacent groups of stacking racks is adopted, so that the strength of the stacking racks is guaranteed, materials are saved, and the whole weight is lightest.

(4) The multistage separation method for the flexible concave parts in the stack is matched, so that the flexible concave parts in the stack are grabbed and separated one by one in batches, the technical blank that the flexible concave parts in the stack are difficult to grab and separate one by one in the prior art is filled, the practicability is high, and the application prospect is wide.

Drawings

Fig. 1 is a schematic structural view of a flexible female part gripping robot in the present invention.

Fig. 2 is a schematic view of the structure of the separating mechanism of the present invention.

Fig. 3 is a schematic view of the structure of the flexible female part gripping robot when it is set in the separating mechanism.

Fig. 4 is a schematic structural view of the central ejector rod and the gripper dome plate in fig. 3 pressed against the bottom wall of the concave area of the flexible concave part (at this time, the gripper in the flexible concave part gripper robot is in an open state).

Fig. 5 is a schematic structural view of the stacking rack arranged in rows and columns (wherein the support frame is a square frame).

Fig. 6 is another structural diagram of the stacking rack arranged in rows and columns (wherein the supporting frame adopts a regular triangle frame).

Fig. 7 is a partially enlarged structural view of the flexible separating brush portion of fig. 2.

FIG. 8 is a block diagram illustrating the control relationship between the controller and the electrical components according to the present invention.

In the figure: the flexible concave part grabbing device comprises a flexible concave part grabbing manipulator 1, a supporting seat 11, a sliding rod 12, a follow-up seat 13, a paw 14, a link plate 15, a flexible sleeve 16, a central ejector rod 17, a grabbing hand dome plate 18, a clamping jaw joint 19, a stacking rack 2, a supporting frame 21, an upright column 22, a flexible separating brush 3, a clamping jaw adjusting module 4, a stacking adjusting module 5, a connecting rod 6, a clamping jaw opening and closing cylinder module 7, a connecting plate 71 and a bearing frame 8.

Detailed Description

For a better understanding of the present invention, reference is made to the following detailed description and accompanying drawings that illustrate the invention.

Example one

As shown in fig. 1, the flexible concave part grabbing manipulator 1 includes a supporting seat 11, a sliding rod 12 slidably inserted into the supporting seat 11, a following seat 13 connected to the sliding rod 12, and at least three sets of claws 14 hinged along the circumferential direction of the supporting seat 11, wherein the claws 14 are hinged to the following seat 13 by a link plate 15 hinged thereto, a flexible sleeve 16 is sleeved at the tail end of the claws 14, the sliding rod 12 is slid to pull the claws 14 to move inward or outward, and a flexible concave part external support structure is formed between the flexible sleeves 16 during outward expansion.

Wherein, flexible indent piece can be the concave surface object of flexible material such as nutritive cube, when snatching the concave surface object of aforementioned flexible material, can adopt flexible indent piece in this application to snatch manipulator 1, make its hand claw 14 strut in by the concave surface object's of flexible material inner cavity, at this moment, flexible cover 16 is pressed and is supported on the inside wall of the concave surface object of flexible material, form the trend of outwards expanding to its lateral wall, the realization is snatched its outer bracing, certainly, to the convex surface object of flexible material, the manipulator of snatching in this application also can be under the assistance of frictional force between the convex surface object of its flexible cover 16 and flexible material, adopt the outer formula of pressing from both sides to reliably snatch the convex surface object of flexible material.

Specifically, at least three groups of claws 14 are uniformly hinged along the circumferential direction of the supporting seat 11, and a four-bar linkage 6 structure is formed among the supporting seat 11, the claws 14, the link plate 15 and the follower seat 13, so that when the slide rod 12 slides in the supporting seat 11, the opening and closing actions of the flexible concave part grabbing manipulator 1 are realized; the terminal connected mode of hand claw 14 is located to the flexible cover 16 cover for this manipulator uses flexible cover 16 for a long time and is worn and torn the back, only carries out the change of flexible cover 16, and parts such as its hand claw 14 then can continue to use, thereby prolonged the life of this manipulator, the cost is reduced, simultaneously, also can match according to the material of the flexible material object of snatching, change corresponding flexible cover 16, further improved the application scope of this manipulator, the practicality is strong.

In addition, flexible indent spare in this application snatchs manipulator 1, adopt the combination innovation of manipulator and flexible cover 16, realized the convenient and reliable snatching of flexible material object (the convex surface object of flexible indent spare and flexible material), make no matter what kind of angle the flexible material object of waiting to snatch puts (vertical, the level or be certain angle and put), manipulator in this application can both realize snatching to this flexible material object, thereby effectively avoid adopting current adsorption mode, when the occasion environment is abominable (the dust is more etc.), be difficult to guarantee the reliable absorption to flexible material object, and adopt the inconvenient problem of snatching flexible material object of current manipulator.

Furthermore, the supporting seat 11 and the follow-up seat 13 are coaxially arranged, and after at least three groups of claws 14 are completely drawn inwards, the outer diameters of the tail ends of the claws 14 are smaller than the outer diameters of the starting ends of the claws 14.

Specifically, in order to realize that the outer diameters of the ends of at least three sets of the claws 14 are smaller than the outer diameters of the starts of the claws 14 after the claws are completely drawn together, the radial distance a from the hinge point of the claw 14 at the hinge point on the support seat 11 to the axis of the support seat 11 is greater than the radial distance b from the hinge point of the link plate 15 at the hinge point on the follower seat 13 to the axis of the follower seat 13, and the sum of the length of the link plate 15 and the radial distance b is greater than the radial distance a.

Furthermore, a first connecting lug is arranged on the supporting seat 11 along the circumferential direction of the supporting seat, a paw 14 is hinged on the first connecting lug, a second connecting lug is arranged on the follow-up seat 13 along the circumferential direction of the follow-up seat, and the second connecting lug is hinged with one end of the link plate 15, which is far away from the paw 14.

Specifically, the number and positions of the first engaging lug and the second engaging lug correspond to the claws 14 one by one.

Further, the flexible sleeve 16 is configured as a spring silicone sleeve (rubber sleeve), a wire silicone sleeve (rubber sleeve) or a flexible silicone rod.

Specifically, the flexible sleeve 16 can be sleeved at the tail end of the claw 14, the sleeve on the tail end of the claw 14 is provided with a length, the flexible sleeve 16 is in contact length with the flexible material object to be grabbed, the optimal sleeve length range is determined according to the friction coefficient of the material of the flexible sleeve 16 and the friction performance of the flexible material object to be grabbed, so that the grabbing effect is better, generally speaking, when the nutrition bowl is grabbed, the contact length value of the flexible sleeve 16 and the inner wall surface of the nutrition bowl is 2/3, namely, the height value of the nutrition bowl.

Example two

As shown in fig. 1, the difference from the first embodiment is that, furthermore, a central top bar 17 is connected to the end of the slide bar 12, and a hand grip dome 18 is disposed at an end of the central top bar 17 away from the slide bar 12.

The hand grip dome plate 18 can also be directly arranged at the tail end of the sliding rod 12, at this time, the tail end of the sliding rod 12 should extend out of the plane where the tail end of the claw 14 is located after being inwardly closed or outwardly expanded, so that when the flexible concave part is grabbed, the hand grip dome plate 18 can be firstly pressed against the bottom wall of the concave area of the flexible concave part to be grabbed, and a rigid support location is provided for the grabbing operation of the claw 14.

EXAMPLE III

As shown in fig. 1, a grasping method of a flexible concave part grasping robot 1 according to the first and second embodiments, wherein the grasping method comprises:

s1, sliding the sliding rod 12 in the supporting seat 11 to draw the paw 14 inward;

s2, placing the flexible concave part grabbing manipulator 1 in a concave area of the flexible concave part;

s3, sliding the sliding rod 12 reversely, moving the paw 14 to the direction close to the supporting seat 11 and rotating around the hinge point between the paw and the supporting seat 11 to expand outward, making the flexible sleeve 16 and the flexible concave part to be in curved surface contact and supporting the side wall of the concave area outward, and finishing the grabbing of the flexible concave part under the action of friction force between the flexible sleeve and the flexible concave part.

Specifically, in the outward expanding process of the paw 14, the paw 14 has two actions, which not only generates a rotation trend around the hinged point of the supporting seat 11 to outwardly support the side wall of the concave region of the flexible concave member, but also generates a moving action along with the sliding rod 12, and the whole body of the flexible concave member is lifted by the side wall of the concave region of the flexible concave member, in addition, after the paw 14 opens the side wall of the concave region of the flexible concave member, the paw 14 is in curved surface contact with the flexible concave member due to the material of the paw and the material action of the flexible concave member (both are made of flexible materials, and when the paw 14 drives the flexible sleeve 16 to act, the paw can deform due to the extrusion action), so that the friction between the paw 14 and the flexible concave member is increased, and the reliable grabbing operation of the flexible concave member can be realized.

Further, the method comprises the step of pressing the grip dome plate 18 on the central post rod 17 against the bottom wall of the concave region of the flexible concave member, which is performed after the step of 2.

Example four

As shown in fig. 2, 3, 4 and 7, the separating mechanism includes a flexible female member gripping robot 1 according to the first embodiment and the second embodiment.

Further, separating mechanism still includes stack rack 2 that is used for placing the flexible indent piece of stack and sets up in the flexible separation brush 3 of stack rack 2 discharge gate department, and flexible indent piece snatchs manipulator 1 and snatchs flexible indent piece one by stack rack 2 discharge gate department, and flexible separation brush 3 will be snatched all the other flexible indent piece brushes of adhesion on the flexible indent piece lateral wall and leave.

Specifically, in order to realize that the brush of all the other flexible concave parts of adhesion on the flexible concave part lateral wall that is snatched leaves, do not influence the normal operation of snatching that the manipulator 1 was snatched to flexible concave part again, need to debug and guarantee the 3 brushes of flexible separation brush and remove the frictional force of gluing the annex, be less than the frictional force of snatching to the flexible concave part that is snatched, to the debugging of the 3 frictional force of flexible separation brush, the diameter specification of the flexible separation brush 3 of accessible adjustment, in the quantity that sets up of discharge gate department, its tip extends to the length in the discharge gate, and to considering such as the selection for use of its specific material and realize.

Further, the flexible concave part grabbing manipulator 1 is driven to be close to or far away from the stacking and placing frame 2 through a clamping jaw adjusting module 4.

Specifically, the clamping jaw adjusting module 4 can adopt the existing lifting cylinder structure (specifically can be one of pneumatic cylinder, hydraulic cylinder, electronic jar or hydro-cylinder), snatch the supporting seat 11 in the manipulator 1 by its flexible indent piece of piston rod output end fixed connection, or adopt current chain sprocket drive elevation structure, belt drive elevation structure, rack and pinion elevation structure, ball elevation structure etc. of adopting, of course, in order to further cooperate actual need, carry out the transfer of flexible indent piece in the space after separating, also can match the three-coordinate transfer mechanical structure of design, no longer extend here.

Further, a stack adjusting module 5 is further arranged at the position of the stack placing frame 2, and the to-be-grabbed piece in the flexible concave piece of the stack in the stack placing frame 2 is adjusted to a grabbing station by the stack adjusting module 5.

Specifically, the stack adjustment module 5 may adopt a lifting cylinder structure (specifically, one of a pneumatic cylinder, a hydraulic cylinder, an electric cylinder, or an oil cylinder) of the prior art, or adopt an existing chain and sprocket transmission lifting structure, a belt transmission lifting structure, a rack and pinion lifting structure, a ball screw lifting structure, or the like.

EXAMPLE five

As shown in fig. 2, fig. 3, fig. 4 and fig. 7, the difference from the fourth embodiment is that, further, a plurality of groups of flexible concave part grabbing manipulators 1 and stacking racks 2 are arranged in parallel, and the flexible concave part grabbing manipulators 1 and the stacking racks 2 correspond to each other one by one.

Specifically, the supporting seat 11 in the manipulator 1 is grabbed to the multiunit flexible indent piece, all is fixed in on a mounting panel, and the other parts that the flexible indent piece snatched in the manipulator 1 slide and wear to locate on the mounting panel, and the mounting panel is fixed in the output of clamping jaw adjustment module 4.

Furthermore, the slide rods 12 of the multiple groups of flexible concave part grabbing manipulators 1 are connected with the clamping jaw connectors 19, and the multiple groups of clamping jaw connectors 19 are connected in series through a connecting rod 6 to form the flexible concave part grabbing manipulators 1 in a row.

Further, a connecting rod 6 in the in-line flexible concave part grabbing manipulator 1 is connected to the output end of a clamping jaw opening and closing cylinder module 7, and the clamping jaw opening and closing cylinder module 7 drives the in-line flexible concave part grabbing manipulator 1 to synchronously move.

Furthermore, a plurality of groups of stacking racks 2 arranged in parallel form a row of stacking racks, the row of stacking racks are arranged on a bearing frame 8, and the bearing frame 8 is connected to the output end of the stacking adjustment module 5.

EXAMPLE six

As shown in fig. 2, fig. 3, fig. 4 and fig. 7, the difference from the fifth embodiment is that, furthermore, the flexible concave part grabbing manipulators 1 in a row are arranged in multiple rows side by side to form the flexible concave part grabbing manipulators 1 in a row, wherein each connecting rod 6 is connected to the output end of the same clamping jaw opening and closing cylinder module 7, and the same clamping jaw opening and closing cylinder module 7 drives the flexible concave part grabbing manipulators 1 in a row to synchronously act, so that the flexible concave parts are grabbed one by one while being stacked in batches.

Specifically, the clamping jaw joint 19 adopts a fisheye joint, a universal joint or other structures with universal functions (or capable of realizing angle adjustment functions) to adjust the vertical position of the same-row flexible concave part grabbing manipulator 1, so that the connecting rod 6 can conveniently connect the same-row flexible concave part grabbing manipulator 1 in series; the connecting rod 6 can be an optical axis, the clamping jaw opening and closing cylinder module 7 is arranged on the mounting plate, the clamping jaw opening and closing cylinder module 7 can be arranged to comprise a telescopic cylinder and a connecting plate 71 connected with the output end of the telescopic cylinder, the connecting plate 71 is clamped on the connecting rod 6, so that the connecting rod 6 moves along with the telescopic cylinder when the telescopic cylinder extends, the connecting rod 6 drives a plurality of groups of flexible concave part grabbing manipulators 1 to synchronously open and close to grab the flexible concave parts in the plurality of groups of stacked flexible concave parts one by one, wherein the connecting plate 71 can adopt a mounting plate with F-shaped adjusting blocks or other structures capable of realizing horizontal and vertical adjustment, so that the horizontal mounting gap between the adjacent connecting rods 6 is adjusted through the horizontal groove of the F-shaped adjusting blocks on the mounting plate, and the vertical mounting position between the adjacent connecting rods 6 is adjusted through the vertical groove holes of the F-shaped adjusting blocks on the mounting plate, the gripper joint 19, the connecting rod 6 and the connecting plate 71 are matched, so that the gripper grabbing manipulator 1 can be opened and closed simultaneously, the synchronism of the gripper grabbing manipulator 1 during working is ensured, and the processing cost is reduced.

Furthermore, the flexible concave part grabbing manipulators 1 are correspondingly arranged in rows and columns, and the stacking racks are arranged in multiple rows side by side to form the stacking racks in rows and columns.

Further, the stacking racks are arranged in rows on the same bearing frame 8, and the bearing frame 8 is connected to the output end of the stacking adjustment module 5.

In addition, as shown in fig. 8, in order to further improve the automation degree of the separating mechanism, a controller may be further provided, the controller is electrically connected to the clamping jaw adjusting module 4, the stacking adjusting module 5 and the clamping jaw opening and closing cylinder module 7, and the specific electrical connection mode, control principle and electrical connection structure between the controller and the aforementioned components are the prior art, and therefore, detailed descriptions thereof are omitted.

Above-mentioned structural design that flexible indent spare in row and in line snatched manipulator 1 and in line stack rack can realize snatching one by one when the flexible indent spare of multirow multiseriate stack to according to the actual production demand, satisfy the high-efficient separation of flexible indent spare of stack in batches.

EXAMPLE seven

As shown in fig. 5 and fig. 6, the difference from the fourth to sixth embodiments is that, further, the stack placing frame 2 includes a supporting frame 21, and at least three sets of columns 22 arranged on the supporting frame 21, at least three sets of columns 22 surround to form a stack flexible concave member placing area, and the distance between adjacent columns 22 is smaller than the diameter of the flexible concave member.

Specifically, the stacking and placing frame 2 adopting the structure is suitable for the flexible concave part in a conical, round table or columnar structure.

Further, the support frame 21 is provided as a regular polygon support frame 21.

Specifically, the supporting frame 21 may have a regular triangle, square, regular pentagon, or regular hexagon structure.

Further, the supporting frame 21 is a square frame, a group of upright posts 22 are respectively arranged at the middle point of each group of side frames of the square frame, and the four groups of upright posts 22 surround to form a stacking flexible concave part placing area.

Further, any two adjacent groups of the plurality of groups of stacking racks 2 share one group of the frame of the supporting frame 21 and the upright post 22, so as to form a row of stacking racks.

Further, the stacking rack in rows is provided with a plurality of rows side by side, wherein any two adjacent rows share one row of the frame of the supporting frame 21 and the upright post 22, so that the stacking rack in rows is formed.

Particularly, the carriage 21 among the preferred multiunit stack rack 2 is square frame, the frame of this shape is when a set of frame and stand 22 of sharing between adjacent two sets of, can make the flexible interior concave part of stack in the row stack rack arrange in a row collineatly and lay, make things convenient for flexible interior concave part manipulator to press from both sides it, and the frame of other shapes, when forming row stack rack, adjacent flexible interior concave part of stack is not collineatly, need corresponding overall arrangement to arrange in a row flexible interior concave part manipulator position, and the corresponding series structure of cooperation design, perhaps pass through sensor assembly and three coordinates transfer mechanical structure's cooperation, guarantee its synchronization action, the structure is complicated, and the cost is higher.

Example eight

As shown in fig. 2 to 8, a method for separating a flexible internal concave part of a stack according to a separation mechanism in the fourth to seventh embodiments is that, in a process that a flexible internal concave part grabbing manipulator 1 grabs a flexible internal concave part, after a claw 14 expands outwards, a flexible sleeve 16 generates an external supporting force on the grabbed flexible internal concave part, and the side wall of the internal concave area deforms outwards, so that when the flexible internal concave part grabbing manipulator 1 carries the flexible internal concave part to move, the flexible internal concave part automatically generates a separation tendency, and the flexible internal concave parts are stacked and separated outwards.

Further, before outward expansion separation, as the gripper dome plate 18 in the flexible concave part grabbing manipulator 1 presses against the bottom wall of the concave area of the flexible concave part, the side wall of the concave area is gathered to be close to the central ejector rod 17, the flexible concave part is gathered and deformed inwards, a separation trend is generated with the side wall of the next flexible concave part, and the flexible concave parts are gathered and separated in the stacking process and matched with the outward expansion separation process to form primary separation among the flexible concave parts in the stacking process.

Specifically, the pressing of the central ejector rod 17 and the gripper dome plate 18 against the bottom wall of the concave region of the flexible concave part not only can generate a pressure on the flexible concave parts of the stacks when the flexible concave part grabbing manipulator 1 grabs, so as to press the stacked flexible concave parts, so that each stack of flexible concave parts in the stacking rack can be grabbed on the same plane (i.e. leveling of the flexible concave parts of the stacks in rows before grabbing is performed), thereby ensuring good grabbing of the flexible concave parts in rows, avoiding the situation that some flexible concave part grabbing manipulators 1 do not reach the flexible concave parts to be grabbed, and some flexible concave part grabbing manipulators 1 are already positioned in the flexible concave parts, realizing smooth grabbing work, and simultaneously, the pressing of the central ejector rod 17 and the gripper dome plate 18 against the bottom wall of the concave region of the flexible concave parts, and in addition, after the former flexible concave part is pressed, a gap is generated between the former flexible concave part and the latter flexible concave part due to the inward gathering trend, so that the flexible concave parts are easy to be separated.

Further, flexible separation brush 3 is in stack rack 2 discharge gate department, and the interception brush is from being snatched other flexible indent pieces of adhesion on the flexible indent piece lateral wall, realizes the second grade separation between the flexible indent piece of stack.

Further, for the flexible stacking pieces vertically placed in the stacking rack 2, when the flexible concave pieces are lifted upwards one by the flexible concave piece grabbing manipulator 1, the rest flexible concave pieces adhered to the outer side wall of the lifted flexible concave pieces are separated under the action of gravity, and gravity separation among the flexible concave pieces of the stacking is formed.

The multistage separation method for the flexible concave parts in the stack is matched, so that the flexible concave parts in the stack are grabbed and separated one by one in batches, the technical blank that the flexible concave parts in the stack are difficult to grab and separate one by one in the prior art is filled, the practicability is high, and the application prospect is wide.

Example nine

2-8, a method for unstacking the flexible concave parts of the stack according to the separation mechanism in the fourth embodiment to the seventh embodiment, wherein the method for unstacking the flexible concave parts of the stack comprises the following steps:

step one, a flexible stacking concave piece placed on a stacking rack 2 is adjusted to a grabbing station by a stacking adjusting module 5;

step two, the clamping jaw opening and closing cylinder module 7 controls the claws 14 in the flexible concave part grabbing manipulator 1 to close inwards, in the process, the clamping jaw adjusting module 4 drives the flexible concave part grabbing manipulator 1 to move towards a grabbing station until the grabbing dome plate 18 on the central ejector rod 17 presses against the bottom wall of the concave region of the flexible concave part, and the claws 14 which close inwards are arranged in the concave region of the flexible concave part;

step three, the clamping jaw opening and closing cylinder module 7 controls the claws 14 of the flexible concave part grabbing manipulator 1 to expand outwards to grab the flexible concave part;

fourthly, the clamping jaw adjusting module 4 drives the flexible concave part grabbing manipulator 1 to move towards the direction far away from the grabbing station, and the flexible separating brush 3 brushes away the other flexible concave parts adhered to the outer side wall of the grabbed flexible concave part at the discharge port of the stacking and placing rack 2;

fifthly, the clamping jaw opening and closing cylinder module 7 controls the flexible concave part grabbing manipulator 1 to place the grabbed flexible concave parts on a storage jig of the flexible concave part, and unstacking and grabbing of a group of flexible concave parts in the flexible concave parts are completed;

and step six, repeating the step one to the step five, and realizing the one-by-one unstacking and grabbing of the flexible concave parts in the stacking flexible concave parts.

Specifically, the storage jig is a holding device for placing the grabbed flexible concave part, and is specifically combined with the structural design of the flexible concave part.

Now adopt above-mentioned separating mechanism to snatch the separation to stacking nutritive cube for the example, its process of breaking a jam is as follows:

1. placing a plurality of groups of stacked nutrition bowls between the upright posts 22 on the multi-row and multi-column supporting frame 21 in sequence;

2. starting the stacking adjustment module 5 to work, so that each stacking nutrition pot is adjusted to a grabbing station;

3. starting the clamping jaw opening and closing cylinder module 7 and the clamping jaw adjusting module 4 to work, controlling the sliding rod 12 to slide in the supporting seat 11 by the clamping jaw opening and closing cylinder module 7, and enabling the claws 14 to be mutually inwardly closed, wherein in the process, the clamping jaw adjusting module simultaneously drives the whole flexible concave piece grabbing manipulator 1 to move towards a grabbing station until the claw dome plate 18 is pressed against the inner bottom wall of the stacking nutrition pot, and the inwardly closed claws 14 are positioned in the inner cavity of the stacking nutrition pot;

4. then the clamping jaw opening and closing cylinder module 7 is controlled to drive the sliding rod 12 to reversely slide in the supporting seat 11, so that the claw 14 is expanded outwards, the flexible sleeve 16 outwards props the side wall of the nutrition pot, and the nutrition pot is grabbed;

5. then, the clamping jaw adjusting module 4 controls the flexible concave part grabbing manipulator 1 to drive the grabbed nutrition pot to be far away from the grabbing station, and in the process, the flexible separation brush 3 can intercept and brush the rest nutrition pots adhered to the outer wall of the nutrition pot;

6. when the clamping jaw adjusting module 4 in the step 5 moves the flexible concave part grabbing manipulator 1 to a nutrition pot storage jig, the clamping jaw opening and closing cylinder module 7 drives the sliding rod 12 to slide in the supporting seat 11, the claws 14 are controlled to be closed inwards, and the nutrition pots are placed on the storage jig to complete grabbing and separating of the single group of nutrition pots;

7. and (5) repeating the steps 2 to 6, and realizing the operation of grabbing and separating a plurality of groups of stacked nutrition bowls one by one.

The embodiments of the present invention have been described in detail, but the description is only for the preferred embodiments of the present invention and should not be construed as limiting the scope of the present invention. All equivalent changes and modifications made within the scope of the present invention should be covered by the present patent.

Claims (10)

1. Flexible indent spare snatchs manipulator, its characterized in that: the flexible inner concave part grabbing manipulator (1) comprises a supporting seat (11), a sliding rod (12) which is slidably arranged in the supporting seat (11) in a penetrating mode, a follow-up seat (13) connected to the sliding rod (12) and at least three groups of claws (14) which are arranged along the supporting seat (11) in a circumferential hinged mode, the claws (14) are hinged to the follow-up seat (13) through a hinged plate (15) hinged to the claws (12), flexible sleeves (16) are sleeved at the tail ends of the claws (14), the sliding rod (12) is pulled to be inwardly gathered or outwardly expanded between the claws (14), and when the claws (14) are outwardly expanded, flexible inner concave part outer supporting structures are formed between the flexible sleeves (16).

2. The flexible female part grabbing robot of claim 1, wherein: the tail end of the sliding rod (12) is also connected with a central ejector rod (17).

3. The flexible female part grabbing robot of claim 2, wherein: and one end of the central ejector rod (17) far away from the sliding rod (12) is provided with a hand grip dome plate (18).

4. A gripping method of a flexible female part gripping robot according to any one of claims 1 to 3, characterized in that: the grabbing method comprises the following steps of,

s1, sliding the sliding rod (12) in the supporting seat (11) to draw the paw (14) inwards;

s2, placing the flexible concave part grabbing manipulator (1) in the concave area of the flexible concave part;

s3, sliding the sliding rod (12) reversely, moving the paw (14) to the direction close to the supporting seat (11) and rotating around the hinge point between the paw and the supporting seat (11) to expand outwards, so that the flexible sleeve (16) is in curved surface contact with the flexible concave part and supports the side wall of the concave area outwards, and grabbing of the flexible concave part is completed under the action of friction force between the flexible sleeve and the flexible concave part.

5. The grasping method according to claim 4, characterized in that: further comprising the step of pressing the finger grip dome plate (18) on the central stem (17) against the bottom wall of the concave region of the flexible concave member, after step S2.

6. Separating mechanism, its characterized in that: the separation mechanism comprises a flexible female part gripping robot (1) according to any of claims 1-3.

7. The separation mechanism of claim 6, wherein: the separating mechanism further comprises a stacking rack (2) used for placing flexible concave parts of the stack and a flexible separating brush (3) arranged at a discharge port of the stacking rack (2), the flexible concave parts grab the manipulator (1) and grab the flexible concave parts one by one from the discharge port of the stacking rack (2), and the flexible separating brush (3) brushes the other flexible concave parts which are grabbed and adhered to the outer side wall of the flexible concave part.

8. A method of separating a stack of flexible female parts according to the separating mechanism of any one of claims 6 to 7, characterized in that: the separation method of the stacked flexible concave parts comprises the steps that in the process that the flexible concave part grabbing mechanical arm (1) grabs the flexible concave parts, after the claw (14) expands outwards, the flexible sleeve (16) generates an external supporting force on the grabbed flexible concave parts, the side walls of the concave areas expand outwards to deform, at the moment, when the flexible concave part grabbing mechanical arm (1) drives the flexible concave parts to move, the latter flexible concave parts automatically generate a separation trend, and the flexible concave parts are stacked and expanded outwards.

9. A method of separating a stacked flexible female part as recited in claim 8, further comprising: before outward expansion and separation, the bottom wall of the concave area of the flexible concave piece is pressed by a hand grip dome plate (18) in the flexible concave piece grabbing mechanical arm (1), so that the side wall of the concave area of the flexible concave piece is gathered close to a central ejector rod (17), the flexible concave piece is gathered and deformed inwards, a separation trend is generated between the flexible concave piece and the side wall of the next flexible concave piece, and the flexible concave pieces are gathered and separated in a stacking mode and matched with outward expansion and separation to form primary separation between the flexible concave pieces in the stacking mode.

10. A method of separating a stacked flexible female part as claimed in claim 8 or 9, wherein: the flexible separation brush (3) is arranged at a discharge port of the stacking and placing rack (2), and the interception brush is separated from other flexible concave parts adhered to the outer side wall of the grabbed flexible concave part, so that secondary separation among the flexible concave parts of the stack is realized.

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