CN112248017A

CN112248017A - Industrial robot capable of adjusting hand grips according to soft and hard degree of article

Info

Publication number: CN112248017A
Application number: CN202011303389.9A
Authority: CN
Inventors: 陈艺文
Original assignee: Guangzhou Qinfeng Technology Co ltd
Current assignee: Guangzhou Qinfeng Technology Co ltd
Priority date: 2020-11-19
Filing date: 2020-11-19
Publication date: 2021-01-22

Abstract

The invention relates to the technical field of industrial robots and discloses an industrial robot capable of adjusting a gripper according to the hardness and softness of an article. When stretching out through the pneumatic cylinder, because the pneumatic cylinder stretches out the end and is isolated magnetic material, avoided two centre gripping hands to be close to each other, live with article centre gripping when the pneumatic cylinder withdrawal centre gripping hand, inside the gasbag let in gas the cylinder after the centre gripping hand grabs article, the cylinder was released the bolt, inside the bolt mouth was entered into to the bolt, prevented that article from droing, reached the effect that ensures article and do not fall off behind centre gripping article.

Description

Industrial robot capable of adjusting hand grips according to soft and hard degree of article

Technical Field

The invention relates to the technical field of industrial robots, in particular to an industrial robot capable of adjusting a gripper according to the hardness and softness of an article.

Background

Industrial robots are multi-joint manipulators or high-degree-of-freedom machine devices widely used in the industrial field, have a certain degree of automation, and can realize various industrial processing and manufacturing functions depending on their own power energy and control capabilities. Industrial robots are widely used in various industrial fields such as electronics, logistics, and chemical industry.

The current industrial robot gives people a great help when grabbing objects and transporting objects, but still has the problem that the objects cannot be intelligently analyzed, the objects can be damaged excessively due to force exertion on soft objects, and the hard objects can slip off due to insufficient grabbing force, so that the problem that the hand grab can be adjusted according to the hardness degree of the objects is solved.

Disclosure of Invention

Technical problem to be solved

Aiming at the defects of the prior art, the invention provides the industrial robot capable of adjusting the hand grip according to the hardness and softness of an article, which has the advantages of intelligently analyzing the hardness and softness of the article to be gripped and correspondingly changing the gripping hand, and solves the problems that the industrial robot cannot intelligently analyze the article, the article can be excessively damaged by exerting force on the soft article, and the hard article can slip off due to insufficient gripping force.

(II) technical scheme

In order to realize the purpose of intelligently analyzing the hardness degree of the grabbed objects and correspondingly changing the clamping hand, the invention provides the following technical scheme: an industrial robot capable of adjusting a gripper according to the hardness and softness of an article comprises a cross beam, wherein a winch is movably mounted at the top of the cross beam, an elastic rope is slidably connected to the outer wall of the winch, a straight gear is fixedly mounted at the bottom of the elastic rope, an oil tank is fixedly mounted at the top of the cross beam, an oil inlet pipe is fixedly connected to the left side of the oil tank, a hydraulic cylinder is fixedly mounted at the bottom of the cross beam, a spring is fixedly mounted inside the hydraulic cylinder, a fixed disc is fixedly mounted inside the hydraulic cylinder, a through hole is formed in the right side of the fixed disc, an ejector rod is slidably connected inside the through hole, a pulley is movably mounted on the left side of the ejector rod, an oil outlet pipe is fixedly connected to the right side of the hydraulic cylinder, a one-way valve is movably mounted on the inner wall of the oil outlet pipe, the top movable mounting of movable rod has the cylindrical gear, the bottom movable mounting of crossbeam has the centre gripping hand, the inside fixed mounting of centre gripping hand has magnet, the bolt mouth has been seted up at the top of centre gripping hand, the bottom fixed mounting of crossbeam has the cylinder, the bottom fixed mounting of cylinder has the bolt, the left side fixedly connected with intake pipe of cylinder, the bottom fixed mounting of centre gripping hand has the press pad, the inside fixed mounting of press pad has the gasbag, the inside movable mounting of fixed disc has the carousel.

Preferably, the elastic rope is made of soft materials made of magnetic materials, and the sectional area of the elastic rope is larger than that of the clamping hand.

Preferably, the extending end of the hydraulic cylinder is made of a material with isolated magnetism, and when the extending end of the hydraulic cylinder extends out, the two magnets cannot attract each other.

Preferably, the magnets inside the two clamping hands are opposite in magnetism, and the magnets will attract each other.

Preferably, the pressing pads are made of elastic materials, and the surfaces of the two pressing pads, which face each other, are rough surfaces with large frictional resistance.

Preferably, the turntable is made of irregular materials, and the ejector rod can be ejected out along with the rotation of the turntable.

(III) advantageous effects

Compared with the prior art, the invention provides the industrial robot capable of adjusting the hand grips according to the hardness and softness of the articles, and the industrial robot has the following beneficial effects:

1. the industrial robot capable of adjusting the hand grip according to the hardness degree of an article leads oil in the oil tank into the hydraulic cylinder through the oil inlet pipe, thereby pushing the extrusion plate out, if the object is soft material, the extrusion plate will be compressed, if the object is hard material, the extrusion plate will not move downwards, when the extrusion plate stops, the ejector rod is pushed out by the rotation of the turntable, the one-way valve is pushed to rotate clockwise, thereby discharging the oil liquid in the hydraulic cylinder, retracting the hydraulic cylinder by the spring, driving the cylindrical gear to rotate by the movable rod when the article is soft material, thereby drive the spur gear with the help of gear engagement and move down to make the elasticity rope move down, adsorb the centre gripping hand with the help of magnet with the elasticity rope on, avoided the centre gripping hand to damage article, reached the effect that changes the centre gripping hand state according to the soft or hard degree of article.

2. This can adjust industrial robot of tongs according to article soft or hard degree, when stretching out through the pneumatic cylinder, because the pneumatic cylinder stretches out the end and is isolated magnetic material, avoided two centre gripping hands to be close to each other, after the pneumatic cylinder withdrawal, two centre gripping hands attract each other with the article centre gripping, after the centre gripping hand grasps article, the extrusion gasbag lets in inside the cylinder with gas, thereby make the cylinder release the bolt, make the bolt enter into inside the bolt mouth, make the centre gripping hand no longer take place the skew behind centre gripping article, thereby prevent that article from droing, the effect of guaranteeing article not to fall off after centre gripping article has been reached.

Drawings

FIG. 1 is a schematic view of a grasping apparatus;

FIG. 2 is a schematic structural view of the oil outlet pipe conduction control device;

FIG. 3 is an enlarged view of the check valve;

FIG. 4 is an enlarged view of the driving device;

fig. 5 is a schematic structural view of the hand-clamping fastening device.

In the figure: 1. a cross beam; 2. a winch; 3. an elastic cord; 4. a spur gear; 5. an oil tank; 6. an oil inlet pipe; 7. a hydraulic cylinder; 8. a spring; 9. fixing the disc; 10. a through hole; 11. a top rod; 12. a pulley; 13. an oil outlet pipe; 14. a one-way valve; 15. a pressing plate; 16. a movable rod; 17. a cylindrical gear; 18. clamping a hand; 19. a magnet; 20. a bolt port; 21. a cylinder; 22. a bolt; 23. an air inlet pipe; 24. a pressing pad; 25. an air bag; 26. a turntable.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. 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.

Referring to fig. 1-5, an industrial robot capable of adjusting a gripper according to the hardness and softness of an object comprises a cross beam 1, a winch 2 is movably mounted at the top of the cross beam 1, an elastic rope 3 is slidably connected to the outer wall of the winch 2, the elastic rope 3 is made of a soft material made of a magnetic material, the sectional area of the elastic rope 3 is larger than that of a clamping hand 18, a straight gear 4 is fixedly mounted at the bottom of the elastic rope 3, an oil tank 5 is fixedly mounted at the top of the cross beam 1, an oil inlet pipe 6 is fixedly connected to the left side of the oil tank 5, a hydraulic cylinder 7 is fixedly mounted at the bottom of the cross beam 1, the extending end of the hydraulic cylinder 7 is made of a magnetic isolation material, when the extending end of the hydraulic cylinder 7 extends, two magnets 19 cannot attract each other, a spring 8 is fixedly mounted inside the hydraulic cylinder 7, a fixed disc 9 is, the inside sliding connection of through-hole 10 has ejector pin 11, the left side movable mounting of ejector pin 11 has pulley 12, the right side fixed connection of pneumatic cylinder 7 has oil pipe 13, the inner wall movable mounting of oil pipe 13 has check valve 14, the bottom fixed mounting of pneumatic cylinder 7 has stripper plate 15, the front movable mounting of stripper plate 15 has movable rod 16, the top movable mounting of movable rod 16 has cylindrical gear 17, the bottom movable mounting of crossbeam 1 has centre gripping hand 18, the inside fixed mounting of centre gripping hand 18 has magnet 19, the inside magnet 19 of two centre gripping hands 18 is opposite magnetism, both will attract each other, the bolt mouth 20 has been seted up at the top of centre gripping hand 18, the bottom fixed mounting of crossbeam 1 has cylinder 21, the bottom fixed mounting of cylinder 21 has bolt 22, the left side fixed connection of cylinder 21 has intake pipe 23, the bottom fixed mounting of centre gripping hand 18 has press pad 24, press pad 24 is the elasticity material, the opposite surfaces of the two pressing pads 24 are rough surfaces with large friction resistance, the air bag 25 is fixedly arranged in the pressing pads 24, the rotary disc 26 is movably arranged in the fixed disc 9, the rotary disc 26 is made of irregular materials, and the push rod 11 can be ejected out along with the rotation of the rotary disc 26.

The working principle is that the oil in the oil tank 5 is introduced into the hydraulic cylinder 7 through the oil inlet pipe 6, so that the extrusion plate 15 is pushed out, if an article is soft material, the extrusion plate 15 is compressed by the extrusion plate 15, if the article is hard material, the extrusion plate 15 cannot move downwards, after the extrusion plate 15 stops, the push rod 11 is pushed out by means of the rotation of the rotary disc 26, the check valve 14 is pushed to rotate clockwise, so that the oil outlet pipe 13 is conducted, so that the oil in the hydraulic cylinder 7 is discharged, the extending end of the hydraulic cylinder 7 is retracted by means of the spring 8, when the article is soft material, the extrusion plate 15 moves downwards, so that the movable rod 16 is driven to move downwards, the cylindrical gear 17 is driven by means of the movable rod 16 to rotate anticlockwise, so that the straight gear 4 is driven to move downwards by means of gear engagement, so that the elastic rope 3 moves downwards, the elastic rope 3 is adsorbed to the outer wall of the clamping hand 18 by means of the magnet, thereby the soft elastic rope 3 is covered on the clamping hand 18, the article is prevented from being damaged when the clamping hand 18 clamps the article, the state of the clamping hand 18 is adjusted according to the hardness degree of the article, the article is ensured not to be damaged, when the extrusion plate 15 is extended out by the hydraulic cylinder 7, because the extending end of the hydraulic cylinder 7 is made of a material for isolating magnetism, the magnetism between the magnets 19 inside the two clamping hands 18 is isolated, the two clamping hands 18 are prevented from being close to each other, when the hydraulic cylinder 7 retracts, the two clamping hands 18 attract each other to clamp the article, when the clamping hands 18 grasp the article, the air bag 25 is squeezed to lead the air into the air cylinder 21, thereby causing the cylinder 21 to push the plug 22 out, causing the plug 22 to enter the interior of the plug aperture 20, so that the holding hand 18 is not displaced after holding the article, thereby preventing the article from falling off.

In summary, according to the industrial robot capable of adjusting the gripper according to the hardness and softness of the object, the oil in the oil tank 5 is introduced into the hydraulic cylinder 7 through the oil inlet pipe 6, so as to push out the extrusion plate 15, if the object is soft material, the object is compressed, if the object is hard material, the extrusion plate 15 cannot move downwards, after the extrusion plate 15 stops, the rotary disc 26 rotates to push out the ejector rod 11, the check valve 14 pushes the clockwise rotation, so as to discharge the oil in the hydraulic cylinder 7, the spring 8 retracts the hydraulic cylinder 7, when the object is soft material, the movable rod 16 drives the cylindrical gear 17 to rotate, so as to drive the spur gear 4 to move downwards through gear engagement, so as to enable the elastic rope 3 to move downwards, the elastic rope 3 is adsorbed to the clamping hand 18 through the magnet 19, so as to avoid the clamping hand 18 from damaging the object, the effect of changing the state of the clamping hand 18 according to the hardness of the article is achieved.

And, this can adjust industrial robot of tongs according to article soft or hard degree, when stretching out through pneumatic cylinder 7, because pneumatic cylinder 7 stretches out the end and is isolated magnetic material, avoided two centre gripping hands 18 to be close to each other, after pneumatic cylinder 7 withdrawal, two centre gripping hands 18 attract each other and grasp article, after centre gripping hand 18 grasps article, extrusion gasbag 25 lets in gas inside cylinder 21, thereby make cylinder 21 release bolt 22, make bolt 22 enter into inside bolt mouth 20, make centre gripping hand 18 no longer take place the skew behind the centre gripping article, thereby prevent that article from droing, reached the effect that ensures article not to fall off behind the centre gripping article.

Having shown and described embodiments of the present invention, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and alterations can be made in the embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a can adjust industrial robot of tongs according to article soft or hard degree, includes crossbeam (1), its characterized in that: the top movable mounting of crossbeam (1) has hoist engine (2), the outer wall sliding connection of hoist engine (2) has elasticity rope (3), the bottom fixed mounting of elasticity rope (3) has spur gear (4), the top fixed mounting of crossbeam (1) has oil tank (5), the left side fixedly connected with of oil tank (5) advances oil pipe (6), the bottom fixed mounting of crossbeam (1) has pneumatic cylinder (7), the inside fixed mounting of pneumatic cylinder (7) has spring (8), the inside fixed mounting of pneumatic cylinder (7) has fixed disc (9), through-hole (10) have been seted up on the right side of fixed disc (9), the inside sliding connection of through-hole (10) has ejector pin (11), the left side movable mounting of ejector pin (11) has pulley (12), the right side fixedly connected with of pneumatic cylinder (7) goes out oil pipe (13), the inner wall movable mounting of oil outlet pipe (13) has check valve (14), the bottom fixed mounting of pneumatic cylinder (7) has stripper plate (15), the front movable mounting of stripper plate (15) has movable rod (16), the top movable mounting of movable rod (16) has cylindrical gear (17), the bottom movable mounting of crossbeam (1) has centre gripping hand (18), the inside fixed mounting of centre gripping hand (18) has magnet (19), bolt mouth (20) have been seted up at the top of centre gripping hand (18), the bottom fixed mounting of crossbeam (1) has cylinder (21), the bottom fixed mounting of cylinder (21) has bolt (22), the left side fixedly connected with intake pipe (23) of cylinder (21), the bottom fixed mounting of centre gripping hand (18) has press pad (24), the inside fixed mounting of press pad (24) has gasbag (25), a rotary table (26) is movably arranged in the fixed disc (9).

2. An industrial robot for adjusting a gripper according to the hardness of an article according to claim 1, wherein: the elastic rope (3) is made of soft materials made of magnetic materials, and the sectional area of the elastic rope (3) is larger than that of the clamping hand (18).

3. An industrial robot for adjusting a gripper according to the hardness of an article according to claim 1, wherein: the extending end of the hydraulic cylinder (7) is made of a material for isolating magnetism.

4. An industrial robot for adjusting a gripper according to the hardness of an article according to claim 1, wherein: the magnets (19) inside the two clamping hands (18) are opposite in magnetism, and the magnets and the clamping hands are mutually attracted.

5. An industrial robot for adjusting a gripper according to the hardness of an article according to claim 1, wherein: the pressing pads (24) are made of elastic materials, and the opposite surfaces of the two pressing pads (24) are rough surfaces with large friction resistance.

6. An industrial robot for adjusting a gripper according to the hardness of an article according to claim 1, wherein: the turntable (26) is made of irregular materials.