CN112207852B - Integrated terminal hand claw of transfer robot - Google Patents
Integrated terminal hand claw of transfer robot Download PDFInfo
- Publication number
- CN112207852B CN112207852B CN202010983071.3A CN202010983071A CN112207852B CN 112207852 B CN112207852 B CN 112207852B CN 202010983071 A CN202010983071 A CN 202010983071A CN 112207852 B CN112207852 B CN 112207852B
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- gripper
- paw
- bidirectional screw
- spline shaft
- connecting frame
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automatic Assembly (AREA)
Abstract
The invention discloses an integrated tail end paw of a transfer robot, which comprises a lifting ring moving device, a paw posture adjusting platform and two pairs of paws. The lifting ring moving device realizes the adjustment of the position of a lifting point and ensures the stable lifting of the workpiece; the synchronous opening and closing of the two pairs of hand claws is realized through a spline shaft and a bevel gear transmission mechanism arranged on the hand claw posture adjusting platform; the two pairs of claws synchronously move in the opposite direction and the back direction through a bidirectional screw rod arranged on the claw posture adjusting platform; the height and axial positioning of the gripper clamping boss type shaft are realized by arranging the height positioning strip and the axial positioning strip; the height positioning and the distance positioning between the gripper and the side wall of the box body are realized when the gripper clamps the handle type box body by arranging the box body guide strip; the moving and automatic resetting of the gripper are realized by arranging a gripper reset spring; the grabbing and carrying of the boss type shaft and the handle type box body are realized by arranging the tail end clamp-gripper device. The integrated terminal paw of this device has dual functions and integrates the degree height.
Description
Technical Field
The invention belongs to the field of transfer robots, and particularly relates to an integrated tail end paw of a transfer robot.
Background
With the rapid development and the continuous improvement of the industrialization level of the aerospace technology, the types of parts in the aerospace device are more and more, the shapes are more and more complex, and higher requirements are provided for the assembly and the transportation of the parts. In the assembly and transportation process of an actual field, for the transportation of parts such as boss shafts and handle boxes in the aerospace device, the parts are generally transported to an assembly position manually. The manual intervention is easy to adjust and align, and has the advantages of manual adjustment, simple mode and convenient assembly, but the manual mode adopted in the assembly and transportation of an actual workshop not only is time-consuming, labor-consuming and incapable of ensuring the safety, but also some working condition positions can not be reached by transporters; if adopt current overhead traveling crane rope to hang the mode, because can't find accurate barycenter position, be difficult to guarantee that the work piece steadily lifts by crane the transport, very easily appear turning on one's side and cause the incident. In addition, in consideration of situations such as field working space and complexity, the integrated tail end claws with two different characteristics are not allowed to hoist and carry boss type shaft parts and handle type box parts respectively, so that the robot integrated tail end claw meeting the hoisting and carrying requirements of the two parts at the same time is urgently needed.
Disclosure of Invention
Aiming at the problems, the invention provides an integrated tail-end paw of a transfer robot, which can simultaneously transfer boss type shaft parts and handle type box parts, and ensures that the centroid of the integrated tail-end paw is collinear with the centroid of a workpiece when the robot is lifted by arranging a lifting ring moving device, thereby preventing the workpiece from deflecting and turning on one side during the transfer process; through setting up hand claw posture adjusting platform and two pairs of hand claws, realize snatching the synchronization of work piece, guarantee the safety and stability of handling in-process work piece.
The technical scheme of the invention is to provide an integrated terminal paw of a transfer robot, which comprises a lifting ring moving device, a paw posture adjusting platform and a paw, wherein the lifting ring moving device is arranged on the paw posture adjusting platform, and the paw is hinged with a paw connecting frame on the paw posture adjusting platform through a first paw connecting rod and a second paw connecting rod;
the lifting ring moving device comprises a lifting ring guide rail fixedly arranged on the paw posture adjusting platform, a lifting ring sliding block which can be slidably arranged on the lifting ring guide rail and a guide rail clamp, the lifting ring sliding block can move on the lifting ring guide rail by opening the guide rail clamp, and the lifting ring sliding block can be locked on the lifting ring guide rail by closing the guide rail clamp;
the paw posture adjusting platform comprises an upper platform, a spline shaft reducer, a spline shaft first synchronizing wheel, a spline shaft second synchronizing wheel, a spline shaft synchronous belt, a bidirectional screw rod second synchronizing wheel, a bidirectional screw rod synchronous belt, a bidirectional screw rod first synchronizing wheel, a bidirectional screw rod reducer, a bidirectional screw rod, a paw connecting frame sliding block, a paw connecting frame guide rail and a spline bevel gear; the bidirectional lead screw speed reducer is fixedly arranged on the upper platform, the bidirectional lead screw synchronous belt is respectively meshed with the bidirectional lead screw speed reducer output shaft, and is respectively meshed with the bidirectional lead screw first synchronous wheel and the bidirectional lead screw second synchronous wheel which are fixedly connected with each other; the paw connecting frame guide rails are respectively and fixedly arranged on the upper platform; the paw connecting frame sliding blocks are installed on each paw connecting frame guide rail in a pairwise sliding manner, and the paw connecting frame sliding blocks in pairwise group are respectively fixedly installed on the lower surfaces of the two sides of the paw connecting frame; the synchronous opposite or back movement of the paw connecting frames at the two sides on the paw connecting frame guide rail is realized through the bidirectional screw rod and the paw connecting frame sliding block; the spline bevel gears are slidably arranged on two sides of the spline shaft and can realize relative synchronous motion on the spline shaft along with the relative synchronous movement of the paw connecting frames on the two sides;
the gripper comprises a first tooth-missing gear, a second tooth-missing gear, a first gripper connecting rod, a second gripper connecting rod, a vertical screw nut, a connecting rod sliding block, a tail end clamp and a gripper; the first tooth-lacking gear is fixedly arranged on the first paw connecting rod, the second tooth-lacking gear is fixedly arranged on the second paw connecting rod, and the first tooth-lacking gear and the second tooth-lacking gear form tooth-lacking meshing transmission to realize synchronous opening and closing of the first paw connecting rod and the second paw connecting rod; the first paw connecting rod and the second paw connecting rod are combined into two pairs of paw connecting rods which are respectively and rotatably connected to the paw connecting frames; the vertical screw rod nuts are respectively and rotatably connected to the vertical screw rods in the paw connecting frames at two sides, so that the connecting rod sliding blocks at two sides synchronously and linearly slide along with the synchronous rotation of the two vertical screw rods; the tail end clamps comprise four tail end clamps, wherein each two tail end clamps are in one group, arc sections of the four tail end clamps are distributed oppositely, and the four tail end clamps are respectively and fixedly arranged on two pairs of paw connecting rods on two sides; the hand grips include four hand grips altogether, and two liang of hand grips of it are a set of and the pointed end of hand grip distributes in opposite directions, install respectively with sliding at the rear side of the circular arc section portion of end anchor clamps.
Further, the gripper further comprises: the gripper comprises a gripper sliding block, a gripper guide rail fastener, a gripper limit clamp position and a gripper return spring; the upper surfaces of the grippers are fixedly arranged with each gripper sliding block respectively, and the square part at the rear end of each gripper is connected with the gripper return spring to realize position adjustment and automatic return of the grippers under the force of the spring when the grippers work; the hand grip sliding blocks are slidably arranged on each hand grip guide rail, and the upper end surfaces of the hand grip sliding blocks are fixedly arranged on each hand grip; the gripper guide rails are fixedly arranged on the lower surface of the rear side convex platform of the arc section part of each tail end clamp; the gripper guide rail fastener is reversely buckled at the front end of each gripper guide rail along the direction of the tip of the gripper, and is fixedly arranged on each tail end clamp, so that the connection strength of the gripper guide rails and the tail end clamps is enhanced; the gripper limit clamping positions are reversely buckled at the rear ends of the gripper guide rails along the direction of the square part at the rear ends of the grippers and are fixedly arranged on each tail end clamp, so that the limit position of the movement of the grippers on the gripper guide rails is limited.
Still further, the gripper further comprises: the four small connecting rods, one axial positioning strip, four box body guiding strips and two height positioning strips are arranged, the first ends of the small connecting rods are rotatably connected to the connecting rod sliding blocks, the second ends of the small connecting rods are rotatably connected to the paw connecting rods, and the four small connecting rods are rotatably connected to the connecting rod sliding blocks on two sides and the two pairs of paw connecting rods in a group in a pairwise manner; the axial positioning strip is fixedly arranged on the lower surface of the height positioning strip; the four box body guide strips are fixedly arranged at the extending ends at the two sides of the two height positioning strips in a group two by two; the two height positioning strips are fixedly arranged at the protruding ends of the left and right hand claw connecting frames, wherein the height positioning strip provided with the axial positioning strip is fixedly arranged at the protruding end of the left hand claw connecting frame.
Preferably, when the paw catches the boss type shaft, the lower surface of the height positioning strip is in contact with the upper surface of the boss on the shaft, so that the height positioning of the paw posture adjusting platform is realized; the axial positioning strip fixedly connected to the left height positioning strip is contacted with the side face of the boss on the shaft, so that the axial positioning of the tail end clamp is realized; when the paw grabs the handle type box body, the box body guide strips on the two sides are in contact with the upper surface and the side surface of the handle type box body, so that the height positioning of the paw posture adjusting platform, the height positioning of the hand grip relative to the box body handle and the distance positioning of the tip part of the hand grip relative to the side wall of the box body are realized; when the integrated terminal gripper lifts the box body, the gripper is in contact with a handle of the box body, the handle is stressed to turn, the gripper is stressed to move on the gripper guide rail, the handle turns over for 90 degrees, and the gripper moves to an extreme position, so that stable lifting and carrying of the box body are realized; after the integrated tail-end paw lifts the box body, the hand grip is separated from the handle of the box body, the handle is automatically turned over and reset due to gravity, the hand grip is automatically moved and reset due to the elasticity of the hand grip reset spring, and therefore the paw grips the boss type shaft and the handle type box body.
Preferably, the paw posture adjusting platform further comprises: the spline shaft bearing comprises a flat key bevel gear, a vertical lead screw fork bearing cover, a spline shaft bearing seat, a spline shaft bearing cover, a vertical lead screw and a vertical lead screw bearing cover, wherein the flat key bevel gear and the spline bevel gear form bevel gear transmission to realize synchronous rotation of the flat key bevel gears at two sides along with the rotation of the spline shaft; the flat key bevel gear is fixedly connected to the flat key keyway shaft end of the vertical screw rod, so that the flat key bevel gear and the vertical screw rod can synchronously rotate; the vertical screw shifting fork bearing cover is fixedly arranged on the paw connecting frame, and the upper shifting fork part of the vertical screw shifting fork bearing cover is rotationally connected with the groove part of the spline bevel gear, so that the spline bevel gears on two sides can relatively synchronously move on the spline shaft along with the relative synchronous movement of the paw connecting frames on the paw connecting frame guide rail; the vertical screw is fixedly connected with the vertical screw shifting fork bearing cover and the vertical screw bearing cover on the paw connecting frame through two bearing supports in the paw connecting frame; the integral key shaft bearing seat, the integral key shaft bearing gland and the integral key shaft bearing cover fixedly support the integral key shaft, the integral key shaft bearing gland and the integral key shaft bearing cover are fixedly installed on two sides of the integral key shaft bearing seat, and the integral key shaft bearing seat is fixedly installed on the upper platform.
Further, the appearance platform is transferred to hand claw still includes: the bidirectional screw comprises a left-handed screw nut, a right-handed screw nut, a bidirectional screw bearing cover, a bidirectional screw supporting seat and a bidirectional screw bearing cover, wherein the two sides of the bidirectional screw are respectively rotated in a left-handed direction and a right-handed direction, the left-handed screw nut is spirally connected to the left-handed section of the bidirectional screw, and the right-handed screw nut is spirally connected to the right-handed section of the bidirectional screw, so that the two screw nuts synchronously move in the opposite direction or move in the opposite direction along with the rotation of the bidirectional screw; the bidirectional screw bearing cover, the bidirectional screw supporting seat and the bidirectional screw bearing cover fixedly support the bidirectional screw, the bidirectional screw bearing cover and the bidirectional screw bearing cover are fixedly installed on two sides of the bidirectional screw supporting seat, and the bidirectional screw supporting seat is fixedly installed on the upper platform.
Preferably, the paw posture adjusting platform further comprises: the direct current driving device comprises a spline shaft motor, a spline shaft motor battery box, a bidirectional screw motor and a bidirectional screw motor battery box, wherein the spline shaft motor is fixedly connected with a spline shaft reducer, and the spline shaft motor battery box is fixedly arranged on a right-side paw connecting frame to realize direct current driving of the spline shaft motor; the bidirectional screw motor is fixedly connected with the bidirectional screw reducer, and the battery box of the bidirectional screw motor is fixedly installed on the left paw connecting frame, so that direct current driving of the bidirectional screw motor is realized.
Furthermore, a spline shaft motor and a bidirectional screw motor of the paw posture adjusting platform are driven by direct current or powered by a battery, so that the spline shaft and the bidirectional screw can rotate forwards and backwards conveniently; the spline shaft rotates to realize synchronous rotation of the vertical screw rods on the left-side paw connecting frame and the right-side paw connecting frame; the bidirectional screw rod rotates to realize synchronous opposite or back movement of the left hand claw connecting frame and the right hand claw connecting frame on the upper platform along the guide rail of the hand claw connecting frame.
Preferably, the bail moving device further includes: the lifting bolt is fixedly arranged on the upper end face of the lifting ring plate; the lower end surface of the lifting ring plate is fixedly installed with the lifting ring sliding block, the guide rail clamp and the auxiliary gasket; the lifting ring guide rail fasteners are reversely buckled on two sides of the lifting ring guide rail and fixedly installed on the upper platform of the paw posture adjusting platform, so that the connection strength of the lifting ring guide rail and the upper platform is enhanced.
Due to the adoption of the technical scheme, the invention has the following beneficial effects:
(1) the lifting ring moving device is arranged to ensure the position adjustment of the lifting point, so that the workpiece is prevented from deflecting and turning on one side during lifting.
(2) The two-way screw rod-screw rod nut device is arranged on the paw posture adjusting platform, so that the relative distance between the two pairs of paws can be synchronously adjusted according to requirements, and the symmetry of the integrally integrated tail-end paw is ensured.
(3) A spline shaft-bevel gear transmission-vertical screw-screw nut device is arranged on the paw posture adjusting platform, so that the two pairs of paws can be opened and closed synchronously, and the workpieces can be grabbed synchronously.
(4) Through setting up height location strip, axial positioning strip, box gib block, accurate location when realizing that integrated terminal hand claw presss from both sides and gets boss formula axle or handle formula box.
(5) The integrated tail end paw of the transfer robot has a highly integrated structural design, and the requirement that one set of integrated tail end paw can hoist two different parts is met.
Drawings
FIG. 1 is a schematic perspective view of an integrated end gripper of a transfer robot according to the present invention;
FIG. 2 is a schematic perspective view of an assembly of a lifting ring moving device integrated with a tail end gripper of a transfer robot according to the present invention;
fig. 3 and 4 are partial schematic views of three-dimensional structures of the assembly of the paw posture adjusting platform;
FIG. 5 is a perspective view of the spline shaft assembly of the present invention;
FIG. 6 is a partial schematic view of a bevel gear drive assembly perspective of the present invention;
FIG. 7 is a perspective view of the assembly of the bidirectional screw assembly of the present invention;
FIG. 8 is a perspective view of the left hand gripper assembly of the present invention;
FIG. 9 is a perspective view of the right hand gripper assembly of the present invention;
FIG. 10 is a partial perspective view of an incomplete gear assembly of the present invention;
FIG. 11 is a partial perspective view of the assembled gripper of the present invention;
FIG. 12 is a partial perspective view of a handle box component of the present invention;
FIG. 13 is a partial perspective view of a handle of the end gripper gripping container of the present invention;
FIG. 14 is a partial perspective view of a gripper-gripping handle-type case component of the present invention;
FIG. 15 is a partial perspective view of a boss-type shaft component according to the present invention; and
fig. 16 is a partial schematic view of a three-dimensional structure of a lug boss type shaft part grabbed by a paw.
Reference numerals: 1-a hoisting ring moving device; 2-a paw posture adjusting platform; 3-paw; 101-an eye bolt; 102-a shackle plate; 103-a flying ring slide block; 104-auxiliary pad; 105-rail clamp; 106-a bail rail; 107-eye rail fasteners; 201-upper platform; 202-vertical lead screw fork bearing cap; 203-flat key bevel gear; 204-a spline shaft; 205-spline bevel gear; 206-left-handed lead screw nut; 207-spline shaft bearing gland; 208-spline shaft bearing seats; 209-spline shaft bearing cap; 210-a splined shaft second synchronizing wheel; 211-spline shaft synchronous belt; 212-splined shaft first synchronizing wheel; 213-bidirectional lead screw second synchronizing wheel; 214-bidirectional lead screw synchronous belt; 215-bidirectional lead screw first synchronizing wheel; 216-bidirectional lead screw; 217-bidirectional screw bearing cap; 218-a bidirectional lead screw support seat; 219-bidirectional screw bearing caps; 220-right-handed screw nut; 221-paw connecting frame; 222-gripper link slider; 223-gripper connecting frame guide rails; 224-vertical lead screw; 225-vertical screw bearing cap; 226-spline shaft motor battery box; 227-spline shaft motor; 228-spline shaft reducer; 229-bidirectional lead screw reducer; 230-bidirectional screw motor; 231-bidirectional screw motor battery box; 301-a first missing tooth gear; 302-a second missing tooth gear; 303-a first gripper link; 304-vertical lead screw nut; 305-link slider; 306-a small link; 307-grip guide rail fasteners; 308-a gripper slider; 309-gripper guide rails; 310-limit clamping of the gripper; 311-grip return spring; 312-a gripper; 313-end clamp; 314-a second gripper link; 315-axial positioning bar; 316-box guide bar; 317-height positioning bars; 401-handle case; 402-a handle; 501-boss type axis; 502-boss; 503-shoulder;
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention. It is to be noted that, unless otherwise specified, technical or scientific terms used herein shall have the ordinary meaning as understood by those skilled in the art to which the invention pertains. Terms such as front, rear, left and right, etc., used in the present invention are merely exemplary in nature and are words of convenience for description.
The technical scheme of the invention is further specifically described by the following embodiments and the accompanying drawings.
As shown in fig. 1 to 16, the integrated terminal gripper of the transfer robot of the present invention includes a lifting ring moving device 1, a gripper pose adjusting platform 2 and a gripper 3, wherein the lifting ring moving device 1 is fixedly mounted on an upper platform 201 of the gripper pose adjusting platform 2, the gripper 3 is used as an integrated gripper, and the first gripper connecting rod 303 and the second gripper connecting rod 314 are rotatably connected with a gripper connecting frame 221 on the gripper pose adjusting platform 2, so as to realize the gripping and the carrying of a boss type shaft 501 along the transverse direction and the gripping and the carrying of a handle type box 401 along the longitudinal direction.
Specifically, as shown in fig. 2, the lifting ring moving device includes a lifting ring bolt 101, a lifting ring plate 102, two lifting ring sliders 103, an auxiliary gasket 104, a guide rail clamp 105, a lifting ring guide rail 106, and two lifting ring guide rail fasteners 107, and the lifting ring moving device 1 realizes the moving adjustment of the lifting point position when lifting different workpieces such as boss type shaft parts or handle type box parts. The eye bolt 101 is fixedly arranged on the upper end surface of the lifting ring plate 102; the lower end surface of the lifting ring plate 102 is fixedly provided with two lifting ring sliding blocks 103, an auxiliary gasket 104 and a guide rail clamp 105; the lifting ring guide rail 106 is fixedly arranged on the upper platform 201; the two lifting ring guide rail fasteners 107 are reversely buckled on the lifting ring guide rail 106 and are fixedly arranged on the upper platform 201, so that the connection strength of the lifting ring guide rail 106 and the upper platform 201 is enhanced; the two eye sliders 103 and the guide rail clamp 105 are mounted on the eye guide rail 106 in a sliding manner, so that the eye slider 103 can be moved on the eye guide rail 106 when the guide rail clamp 105 is opened, and the eye slider 103 can be locked on the eye guide rail 106 when the guide rail clamp 105 is closed.
As shown in fig. 3-7, the paw gesture-adjusting platform 2 comprises an upper platform 201, two vertical lead screw fork bearing covers 202, two flat key bevel gears 203, a spline shaft 204, two spline bevel gears 205, a left-handed lead screw nut 206, two spline shaft bearing covers 207, two spline shaft bearing seats 208, two spline shaft bearing covers 209, a spline shaft second synchronizing wheel 210, a spline shaft synchronous belt 211, a spline shaft first synchronizing wheel 212, a bidirectional lead screw second synchronizing wheel 213, a bidirectional lead screw synchronous belt 214, a bidirectional lead screw first synchronizing wheel 215, a bidirectional lead screw 216, two bidirectional lead screw bearing covers 217, two bidirectional lead screw supporting seats 218, two bidirectional lead screw bearing covers 219, a right-handed lead screw nut 220, two paw connecting frames 221, eight paw connecting frame sliders 222, four paw connecting frame guide rails 223, a paw connecting frame guide rail 223, a left-handed lead screw nut 205, a left-handed lead screw nut, a bidirectional lead screw 216, a bidirectional lead screw bearing cover, two bidirectional lead screw bearing covers, two bidirectional lead screw bearings 217, two bidirectional lead screw supporting seats 218, two paw connecting frames, a left-handed lead screw nut, a left-handed lead screw nut, a left-handed lead screw, two vertical screws 224, two vertical screw bearing caps 225, a spline shaft motor battery box 226, a spline shaft motor 227, a spline shaft reducer 228, a two-way screw reducer 229, a two-way screw motor 230, and a two-way screw motor battery box 231.
The upper platform 201 is symmetrical in structural shape, and the upper surface of the protruding end of the upper platform 201 is fixedly installed with the lifting ring guide rail 106 and the lifting ring guide rail fastener 107; a spline shaft reducer 228 is fixedly mounted on the upper platform 201 and is fixedly connected with a spline shaft motor 227; the spline shaft motor battery box 226 is fixedly arranged on the right-side paw connecting frame 221, and provides power for the spline shaft motor 227 through electric wire connection; the spline shaft first synchronizing wheel 212 is fixedly connected with an output shaft of the spline shaft reducer 228, the spline shaft synchronous belt 211 is respectively meshed with the spline shaft first synchronizing wheel 212 and the spline shaft second synchronizing wheel 210, the spline shaft second synchronizing wheel 210 is fixedly connected with the spline shaft 204, and the rotation of the spline shaft 204 is realized by driving the spline shaft motor 227 to rotate and through the transmission of the spline shaft reducer 228, the spline shaft first synchronizing wheel 212, the spline shaft synchronous belt 211 and the spline shaft second synchronizing wheel 210; the spline shaft 204 is fixedly supported and arranged on the upper platform 201 through two spline shaft bearing seats 208, two spline shaft bearing pressing covers 207 and two spline shaft bearing covers 209, spline shaft ends on two sides of the spline shaft are respectively and fixedly connected with a spline bevel gear 205, the spline bevel gear 205 and the flat key bevel gear 203 form bevel gear transmission, and the two flat key bevel gears 203 rotate synchronously along with the spline shaft 204; a bidirectional screw reducer 229 is fixedly mounted on the upper platform 201 and is fixedly connected with the bidirectional screw motor 230; the bidirectional screw motor battery box 231 is fixedly arranged on the left paw connecting frame 221 and provides power for the bidirectional screw motor 230 through wire connection; the bidirectional screw first synchronizing wheel 215 is fixedly connected with an output shaft of a bidirectional screw reducer 229, the bidirectional screw synchronous belt 214 is respectively meshed with the bidirectional screw first synchronizing wheel 215 and the bidirectional screw second synchronizing wheel 213, the bidirectional screw second synchronizing wheel 213 is fixedly connected with the bidirectional screw 216, and the bidirectional screw 216 is driven to rotate by driving the bidirectional screw motor 230 and is driven to rotate by the bidirectional screw reducer 229, the bidirectional screw first synchronizing wheel 215, the bidirectional screw synchronous belt 214 and the bidirectional screw second synchronizing wheel 213; the bidirectional screw 216 is fixedly supported and mounted on the upper platform 201 through two bidirectional screw bearing seats 218, two bidirectional screw bearing caps 219 and two bidirectional screw bearing caps 217, a left-handed section which is handed to the left and a right-handed section which is handed to the right are respectively arranged on two sides of the bidirectional screw 216, the left-handed section is in threaded connection with the left-handed screw nut 206, and the right-handed section is in threaded connection with the right-handed screw nut 220, so that the two screw nuts synchronously move in the opposite direction or in the opposite direction along with the rotation of the bidirectional screw 216; four paw connecting frame guide rails 223 are respectively and fixedly arranged on the upper platform 201 and are symmetrically distributed; the eight paw connecting frame sliding blocks 222 are slidably mounted on the four paw connecting frame guide rails 223 in pairs, and the paw connecting frame sliding blocks 222 in pairs are fixedly mounted on the lower surfaces of the two sides of the two paw connecting frames 221 respectively; the two paw connecting frames 221 are respectively arranged at two sides of the upper platform 201, the left-handed screw nut 206 positioned at the left side is fixedly arranged on the paw connecting frame 221 at the left side, the right-handed screw nut 220 positioned at the right side is fixedly arranged on the paw connecting frame 221 at the right side, and the paw connecting frames 221 at two sides synchronously move in the opposite direction or in the opposite direction on the paw connecting frame guide rail 223 through the rotation of the bidirectional screw 216 and the paw connecting frame sliding block 222; the two vertical screws 224 are respectively supported by two bearings in the paw connecting frames and fixedly mounted on the paw connecting frames 221 at two sides with the vertical screw shifting fork bearing block 202 and the vertical screw bearing block 225, and the key groove shaft ends of the flat keys at the upper ends of the two vertical screws are fixedly connected with the flat key bevel gears 203 through the flat keys, so that the flat key bevel gears 203 and the vertical screws 224 synchronously rotate; the two vertical lead screw shifting fork bearing covers 202 are respectively and fixedly installed on the two side paw connecting frames 221, the shifting fork parts of the upper ends of the two vertical lead screw shifting fork bearing covers are rotationally connected with the groove parts of the spline bevel gears 205, and the spline bevel gears 205 on the two sides can move relatively and synchronously on the spline shafts 204 along with the relative and synchronous movement of the two side paw connecting frames 221 on the paw connecting frame guide rails 223 on the upper platform 201.
Further, the spline shaft motor battery box 226 drives the spline shaft motor 227 to rotate through direct current, so that the vertical screw rods 224 on the left and right claw connecting frames 221 rotate synchronously; the bidirectional screw motor battery box 231 drives the bidirectional screw motor 230 to rotate so as to realize synchronous opposite or back movement of the left and right hand claw connecting frames 221 on the upper platform 201 along the hand claw connecting frame guide rails 223.
As shown in fig. 8 to 11, the gripper 3 includes two first toothless gears 301, two second toothless gears 302, two first gripper links 303, two vertical lead screw nuts 304, two link sliders 305, four small links 306, four gripper guide rail fasteners 307, four gripper sliders 308, four gripper guide rails 309, four gripper limit locking positions 310, four gripper return springs 311, four grippers 312, four end clamps 313, two second gripper links 314, an axial positioning bar 315, four box guide bars 316, and two height positioning bars 317; the first tooth-missing gear 301 is fixedly arranged on the first paw connecting rod 303, the second tooth-missing gear 302 is fixedly arranged on the second paw connecting rod 314, and the first tooth-missing gear 301 and the second tooth-missing gear 302 form tooth-missing gear meshing transmission to realize synchronous opening and closing of the first paw connecting rod 303 and the second paw connecting rod 314; the two first paw connecting rods 303 and the two second paw connecting rods 314 are combined into two pairs of paw connecting rods which are respectively and rotatably connected to the paw connecting frames 221 at the left side and the right side; the two vertical lead screw nuts 304 are respectively and rotatably connected to the vertical lead screws 224 in the paw connecting frames at the two sides and fixedly arranged on the connecting rod sliding blocks 305, so that the connecting rod sliding blocks 305 at the two sides synchronously and linearly slide along with the synchronous rotation of the two vertical lead screws 224; the first end of the small connecting rod 306 is rotatably connected to the connecting rod sliding block 305, the second end of the small connecting rod 306 is rotatably connected to the paw connecting rod, and every two of the four small connecting rods 306 are rotatably connected to the two side connecting rod sliding blocks 305 and the two pairs of paw connecting rods; the four tail end clamps 313 are grouped in pairs, are distributed in opposite directions at the arc sections and are respectively and fixedly arranged on two pairs of paw connecting rods at two sides; the four grippers 312 are grouped in pairs, the tips of the four grippers are distributed oppositely, the upper surfaces of the four grippers are fixedly installed with the four gripper sliding blocks 308 respectively, and the square parts at the rear ends of the four grippers are connected with four gripper return springs 311, so that the position adjustment and the automatic return of the grippers 312 under the spring force during working are realized; the four gripper sliding blocks 308 are respectively slidably mounted on the four gripper guide rails 309, and the upper end surfaces thereof are fixedly mounted on the four grippers 312; the four gripper guide rails 309 are fixedly arranged on the lower surfaces of the rear convex platforms of the arc sections of the four end clamps 313; the four gripper rail fasteners 307 are reversely buckled at the front ends of the four gripper rails 309 along the gripper tip direction, and are fixedly arranged on the four end clamps 313 to enhance the connection strength of the gripper rails 309 and the end clamps 313; the four grip limit detents 310 are reversely buckled at the rear ends of the four grip rails 309 along the grip rear end square part direction, are fixedly installed on the four end clamps 313 to limit the limit position of the grip 312 moving on the grip rails 309, and the protruding ends of the four grip limit detents are fixedly connected with the grip return spring 311. An axial positioning bar 315 is welded on the lower surface of a height positioning bar 317; the four box body guide bars 316 are fixedly arranged at the extending ends at the two sides of the two height positioning bars 317 two by two in a group; the height positioning bar 317 is fixedly installed at the protruding ends of the left and right paw connecting frames 221, wherein the height positioning bar 317 to which the axial positioning bar 315 has been welded is fixedly installed at the protruding end of the left paw connecting frame 221.
As shown in fig. 12-14, the handle-type box 401 of the transfer robot integrated with the end gripper for carrying is an asymmetric and irregular structural component, and four turnable handles 402 are symmetrically distributed on the handle-type box; in the process of carrying the handle type box 401, when the paw 3 grabs the handle type box 401, the box guide strips 316 on the two sides are contacted with the upper surface and the side surface of the handle type box 401, so that the height positioning of the paw posture adjusting platform 2, the height positioning of the paw 312 relative to the box handle 402 and the distance positioning of the tip part of the paw 312 relative to the side wall of the handle type box 401 are realized; when the integrated tail-end gripper lifts the handle type box body 401, the gripper 312 is in contact with a box body handle 402, the handle 402 is stressed to turn over, the gripper 312 is stressed to move on the gripper guide rail 309, the handle 402 turns over for 90 degrees, and the gripper 312 moves to the limit position, so that the handle type box body 401 is stably lifted and carried; after the integrated terminal gripper carrying handle type box 401 is completed, the gripper 312 is separated from the handle 402, the handle 402 is automatically turned over and reset due to gravity, and the gripper 312 is automatically moved and reset due to the elastic force of the gripper reset spring 311.
As shown in fig. 15-16, the boss type shaft 501 of the transfer robot integrated with the end gripper for transfer is a structure having a plurality of stages of bosses 502 and shoulders 503 on the shaft, and the center of mass of the shaft is located at the symmetrical position of the two shoulders 503; in the process of carrying the boss type shaft 501, when the claw 3 grabs the boss type shaft 501, the lower surface of the height positioning bar 317 is in contact with the upper surface of the boss 502 on the shaft, so that the height positioning of the claw posture adjusting platform 2 is realized; an axial positioning strip 315 welded on the left height positioning strip 317 is in contact with the side surface of the boss 502 on the shaft, and the groove part of the tail end clamp 313 is as wide as the shaft shoulder 503, so that the axial positioning of the hand claw posture adjusting platform 2 is realized; the arc section parts of the end clamps 313 clamp the boss type shaft 501 on the outer surfaces of the left side and the right side of the shaft shoulder 503 respectively, so that the boss type shaft 501 can be safely and stably lifted and carried.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (9)
1. An integrated terminal paw of a transfer robot comprises a lifting ring moving device, a paw posture adjusting platform and a paw, and is characterized in that the lifting ring moving device is installed on the paw posture adjusting platform, and the paw is hinged with a paw connecting frame on the paw posture adjusting platform through a first paw connecting rod and a second paw connecting rod;
the lifting ring moving device comprises a lifting ring guide rail fixedly arranged on the paw posture adjusting platform, a lifting ring sliding block which can be slidably arranged on the lifting ring guide rail and a guide rail clamp, the lifting ring sliding block can move on the lifting ring guide rail by opening the guide rail clamp, and the lifting ring sliding block can be locked on the lifting ring guide rail by closing the guide rail clamp;
the paw posture adjusting platform comprises an upper platform, a spline shaft reducer, a spline shaft first synchronizing wheel, a spline shaft second synchronizing wheel, a spline shaft synchronous belt, a bidirectional screw rod second synchronizing wheel, a bidirectional screw rod synchronous belt, a bidirectional screw rod first synchronizing wheel, a bidirectional screw rod reducer, a bidirectional screw rod, a paw connecting frame sliding block, a paw connecting frame guide rail and a spline bevel gear; the spline shaft speed reducer is fixedly arranged on the upper platform, the spline shaft first synchronous wheel is fixedly connected with an output shaft of the spline shaft speed reducer, the spline shaft synchronous belt is respectively meshed and connected with the spline shaft first synchronous wheel and the spline shaft second synchronous wheel, and the spline shaft second synchronous wheel is fixedly connected with a spline shaft; the bidirectional screw speed reducer is fixedly arranged on the upper platform, the bidirectional screw first synchronous wheel is fixedly connected with an output shaft of the bidirectional screw speed reducer, the bidirectional screw synchronous belt is respectively meshed and connected with the bidirectional screw first synchronous wheel and the bidirectional screw second synchronous wheel, and the bidirectional screw second synchronous wheel is fixedly connected with the bidirectional screw; the paw connecting frame guide rails are respectively and fixedly arranged on the upper platform; the paw connecting frame comprises paw connecting frame sliding blocks, paw connecting frame guide rails and paw connecting frame sliding blocks, wherein the paw connecting frame sliding blocks are arranged in a group in pairs, each group of paw connecting frame sliding blocks is slidably arranged on each paw connecting frame guide rail, and each group of paw connecting frame sliding blocks is fixedly arranged on the lower surfaces of two sides of the paw connecting frame; the synchronous opposite or back movement of the paw connecting frames at the two sides on the paw connecting frame guide rail is realized through the bidirectional screw rod and the paw connecting frame sliding block; the spline bevel gears are slidably arranged on two sides of the spline shaft and can realize relative synchronous motion on the spline shaft along with the relative synchronous movement of the paw connecting frames on the two sides;
the gripper comprises a first tooth-missing gear, a second tooth-missing gear, a first gripper connecting rod, a second gripper connecting rod, a vertical screw nut, a connecting rod sliding block, a tail end clamp and a gripper; the first tooth-lacking gear is fixedly arranged on the first paw connecting rod, the second tooth-lacking gear is fixedly arranged on the second paw connecting rod, and the first tooth-lacking gear and the second tooth-lacking gear form tooth-lacking meshing transmission to realize synchronous opening and closing of the first paw connecting rod and the second paw connecting rod; the first paw connecting rod and the second paw connecting rod are combined into two pairs of paw connecting rods which are respectively and rotatably connected to the paw connecting frames; the vertical screw rod nuts are respectively and rotatably connected to the vertical screw rods in the paw connecting frames at two sides, so that the connecting rod sliding blocks at two sides synchronously and linearly slide along with the synchronous rotation of the two vertical screw rods; the tail end clamps comprise four tail end clamps, wherein each tail end clamp is pairwise arranged in a group, and the arc sections of each tail end clamp are distributed oppositely and are respectively and fixedly arranged on two pairs of paw connecting rods on two sides; the number of the grippers is four, every two grippers are in one group, the tip parts of each group of grippers are distributed oppositely, and the grippers are respectively installed on the rear side of the arc section part of each tail end clamp in a sliding mode.
2. The transfer robot integrated end gripper of claim 1, further comprising: the gripper comprises a gripper sliding block, a gripper guide rail fastener, a gripper limit clamp position and a gripper return spring; the upper surfaces of the grippers are fixedly arranged with each gripper sliding block respectively, and the square part at the rear end of each gripper is connected with the gripper return spring to realize position adjustment and automatic return of the grippers under the force of the spring when the grippers work; the hand grip sliding blocks are slidably arranged on each hand grip guide rail, and the upper end surfaces of the hand grip sliding blocks are fixedly arranged on each hand grip; the gripper guide rails are fixedly arranged on the lower surface of the rear side convex platform of the arc section part of each tail end clamp; the gripper guide rail fastener is reversely buckled at the front end of each gripper guide rail along the direction of the tip of the gripper, and is fixedly arranged on each tail end clamp, so that the connection strength of the gripper guide rails and the tail end clamps is enhanced; the gripper limit clamping positions are reversely buckled at the rear ends of the gripper guide rails along the direction of the square part at the rear ends of the grippers and are fixedly arranged on each tail end clamp, so that the limit position of the movement of the grippers on the gripper guide rails is limited.
3. The transfer robot integrated end gripper of claim 1 or 2, wherein the gripper further comprises: the four small connecting rods, one axial positioning strip, four box body guiding strips and two height positioning strips are arranged, the first ends of the small connecting rods are rotatably connected to the connecting rod sliding blocks, the second ends of the small connecting rods are rotatably connected to the paw connecting rods, the four small connecting rods are in a group in pairs, and each group is rotatably connected between the connecting rod sliding blocks on two sides and the paw connecting rods; the axial positioning strip is fixedly arranged on the lower surface of the height positioning strip; the four box body guide strips are grouped in pairs, and each group of the four box body guide strips is fixedly arranged at the extending ends of the height positioning strips at the two sides; the two height positioning strips are respectively and fixedly arranged at the protruding ends of the left and right hand claw connecting frames, wherein the height positioning strip provided with the axial positioning strip is fixedly arranged at the protruding end of the left hand claw connecting frame.
4. The transfer robot integrated end gripper of claim 3, wherein when the gripper grabs the boss-type shaft, the lower surface of the height positioning bar contacts the upper surface of the boss on the shaft to achieve height positioning of the gripper pose adjustment platform; the axial positioning strip fixedly connected to the left height positioning strip is contacted with the side face of the boss on the shaft, so that the axial positioning of the tail end clamp is realized; when the paw grabs the handle type box body, the box body guide strips on the two sides are in contact with the upper surface and the side surface of the handle type box body, so that the height positioning of the paw posture adjusting platform, the height positioning of the hand grip relative to the box body handle and the distance positioning of the tip part of the hand grip relative to the side wall of the box body are realized; when the integrated terminal gripper lifts the box body, the gripper is in contact with a handle of the box body, the handle is stressed to turn, the gripper is stressed to move on the gripper guide rail, the handle turns over for 90 degrees, and the gripper moves to an extreme position, so that stable lifting and carrying of the box body are realized; after the integrated tail-end paw lifts the box body, the hand grip is separated from the handle of the box body, the handle is automatically turned over and reset due to gravity, the hand grip is automatically moved and reset due to the elasticity of the hand grip reset spring, and therefore the paw grips the boss type shaft and the handle type box body.
5. The integrated terminal gripper of a transfer robot of claim 1, wherein the gripper pose adjustment platform further comprises: the spline shaft bearing comprises a flat key bevel gear, a vertical lead screw fork bearing cover, a spline shaft bearing seat, a spline shaft bearing cover, a vertical lead screw and a vertical lead screw bearing cover, wherein the flat key bevel gear and the spline bevel gear form bevel gear transmission to realize synchronous rotation of the flat key bevel gears at two sides along with the rotation of the spline shaft; the flat key bevel gear is fixedly connected to the flat key keyway shaft end of the vertical screw rod, so that the flat key bevel gear and the vertical screw rod can synchronously rotate; the vertical screw shifting fork bearing cover is fixedly arranged on the paw connecting frame, and the upper shifting fork part of the vertical screw shifting fork bearing cover is rotationally connected with the groove part of the spline bevel gear, so that the spline bevel gears on two sides can relatively synchronously move on the spline shaft along with the relative synchronous movement of the paw connecting frames on the paw connecting frame guide rail; the vertical screw is fixedly connected with the vertical screw shifting fork bearing cover and the vertical screw bearing cover on the paw connecting frame through two bearing supports in the paw connecting frame; the integral key shaft bearing seat, the integral key shaft bearing gland and the integral key shaft bearing cover fixedly support the integral key shaft, the integral key shaft bearing gland and the integral key shaft bearing cover are fixedly installed on two sides of the integral key shaft bearing seat, and the integral key shaft bearing seat is fixedly installed on the upper platform.
6. The transfer robot integrated end gripper of claim 1 or 5, wherein the gripper pose adjustment platform further comprises: the bidirectional screw comprises a left-handed screw nut, a right-handed screw nut, a bidirectional screw bearing cover, a bidirectional screw supporting seat and a bidirectional screw bearing cover, wherein the two sides of the bidirectional screw are respectively rotated in a left-handed direction and a right-handed direction, the left-handed screw nut is spirally connected to the left-handed section of the bidirectional screw, and the right-handed screw nut is spirally connected to the right-handed section of the bidirectional screw, so that the two screw nuts synchronously move in the opposite direction or move in the opposite direction along with the rotation of the bidirectional screw; the bidirectional screw bearing cover, the bidirectional screw supporting seat and the bidirectional screw bearing cover fixedly support the bidirectional screw, the bidirectional screw bearing cover and the bidirectional screw bearing cover are fixedly installed on two sides of the bidirectional screw supporting seat, and the bidirectional screw supporting seat is fixedly installed on the upper platform.
7. The integrated terminal gripper of claim 6, wherein the gripper pose adjustment platform further comprises: the direct current driving device comprises a spline shaft motor, a spline shaft motor battery box, a bidirectional screw motor and a bidirectional screw motor battery box, wherein the spline shaft motor is fixedly connected with a spline shaft reducer, and the spline shaft motor battery box is fixedly arranged on a right-side paw connecting frame to realize direct current driving of the spline shaft motor; the bidirectional screw motor is fixedly connected with the bidirectional screw reducer, and the battery box of the bidirectional screw motor is fixedly installed on the left paw connecting frame, so that direct current driving of the bidirectional screw motor is realized.
8. The integrated end gripper of the transfer robot as claimed in claim 7, wherein the spline shaft motor and the bidirectional lead screw motor of the gripper pose adjusting platform are driven by direct current or powered by a battery, so that the spline shaft and the bidirectional lead screw can rotate forward and backward; the spline shaft rotates to realize synchronous rotation of the vertical screw rods on the left-side paw connecting frame and the right-side paw connecting frame; the bidirectional screw rod rotates to realize synchronous opposite or back movement of the left hand claw connecting frame and the right hand claw connecting frame on the upper platform along the guide rail of the hand claw connecting frame.
9. The integrated transfer robot end gripper of claim 1, wherein the bail moving device further comprises: the lifting bolt is fixedly arranged on the upper end face of the lifting ring plate; the lower end surface of the lifting ring plate is fixedly installed with the lifting ring sliding block, the guide rail clamp and the auxiliary gasket; the lifting ring guide rail fasteners are reversely buckled on two sides of the lifting ring guide rail and fixedly installed on the upper platform of the paw posture adjusting platform, so that the connection strength of the lifting ring guide rail and the upper platform is enhanced.
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| CN202010983071.3A CN112207852B (en) | 2020-09-17 | 2020-09-17 | Integrated terminal hand claw of transfer robot |
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| CN202010983071.3A CN112207852B (en) | 2020-09-17 | 2020-09-17 | Integrated terminal hand claw of transfer robot |
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| CN112207852B true CN112207852B (en) | 2021-08-31 |
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| CN113619965B (en) * | 2021-07-20 | 2023-04-04 | 青岛科技大学 | Automatic book taking and returning structure and using method thereof |
| CN114888786A (en) * | 2022-07-13 | 2022-08-12 | 江苏派屹锋智能科技有限公司 | Mechanical positioning absolute coordinate axis industrial mechanical hand |
| CN116834054B (en) * | 2023-09-01 | 2023-12-26 | 连云港市宏泰机械制造有限公司 | Multi-station flexible self-adaptive robot claw and application method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4765668A (en) * | 1986-02-13 | 1988-08-23 | The United States Of America As Represented By The Secretary Of Commerce | Robot end effector |
| JP5408186B2 (en) * | 2011-05-12 | 2014-02-05 | 株式会社安川電機 | Hand and robot |
| CN104787573A (en) * | 2015-01-30 | 2015-07-22 | 哈尔滨智龙自动化设备有限公司 | Self-adaption robot gripper |
| CN106002970B (en) * | 2016-06-16 | 2019-01-04 | 美的集团武汉制冷设备有限公司 | Intelligence transhipment fixture |
| CN109129537A (en) * | 2017-06-28 | 2019-01-04 | 上海昱庄机械科技有限公司 | Handling gripper manipulator |
| CN108297120A (en) * | 2018-02-06 | 2018-07-20 | 苏州功业肆点零智能科技有限公司 | A kind of intelligent robot handgrip fixture |
| CN109158815A (en) * | 2018-10-18 | 2019-01-08 | 徐媛滨 | A kind of square pipe welded gear clamper |
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