CN112549057A

CN112549057A - Novel mechanical arm flexible clamping jaw for sorting and recycling garbage

Info

Publication number: CN112549057A
Application number: CN202011534335.3A
Authority: CN
Inventors: 杨先海; 孙阳; 杨钦; 田吉花; 程祥; 贺磊; 王婷; 代瑞恒; 李永波
Original assignee: Shandong University of Technology
Current assignee: Shandong University of Technology
Priority date: 2020-12-23
Filing date: 2020-12-23
Publication date: 2021-03-26

Abstract

The invention relates to a novel mechanical arm flexible clamping jaw for sorting and recycling garbage, which comprises a clamping jaw support, a motor track, a clamping cylinder, a driving motor, a finger made of a negative Poisson ratio material and a rubber coating layer outside the finger, wherein a force sensor and a Hall sensor are adhered inside the rubber coating layer, a rolling bearing is arranged on an output shaft of the driving motor, the end part of the output shaft is connected with the finger made of the negative Poisson ratio material, the rolling bearing is arranged in the motor track, one end of the clamping cylinder is arranged on the clamping jaw support, and the other end of the clamping cylinder is connected with a shell of the driving motor. The invention has the advantages of simple structure, easy maintenance, high intelligent degree and the like.

Description

Novel mechanical arm flexible clamping jaw for sorting and recycling garbage

Technical Field

The invention relates to a novel mechanical arm flexible clamping jaw for sorting and recycling garbage, which is applied to intelligent classification and recycling of garbage.

Background

At present, the development concept of garbage classification and circular economy is widely advocated, the demand for an intelligent garbage classification and recycling production line is continuously improved, related equipment and products on the market are still in a starting stage at present, the product structure is complex, the intelligent degree is not high, and the use requirement cannot be well met. Therefore, a clamping jaw with a simple structure and a high intelligent degree is needed to improve the sorting quality of the garbage sorting and recycling production line.

Disclosure of Invention

In order to improve the production efficiency and the intelligent degree of a garbage sorting and recycling production line, the invention aims to provide a mechanical arm flexible clamping jaw for sorting and recycling garbage.

The purpose of the invention is realized by the following technical scheme:

the finger comprises a finger made of a negative Poisson ratio material, adopts an auxetic metamaterial, has a multi-ring spiral structure, can extend and expand radially when rotating axially, the rotating power of the finger comes from an output shaft of a driving motor, a rubber coating layer is sleeved outside the finger to provide a certain friction force, a force sensor and a Hall sensor are adhered inside the rubber coating layer, and the rubber coating layer faces the center direction of a clamping jaw support when being installed;

the Hall sensor is used for identifying the material of the recovered object so as to realize the separation of the metal and non-metal recovered objects, and provides reference for the clamping force of the clamping cylinder and the clamping force of the fingers of the negative Poisson ratio material;

one end of the clamping cylinder is connected with the clamping jaw support in a hinge mode, the other end of the clamping cylinder is connected with the driving motor shell in a bolt mode, and the hinged end of the clamping cylinder can rotate for a certain angle around the hinged point so as to balance the uneven clamping force;

the upper part of the driving motor shaft is provided with a rolling bearing which has the same width and height with the motor track, and the outer ring of the rolling bearing is coated with rubber so as to realize smaller movement resistance of the driving motor.

The invention has the advantages and positive effects that:

1. simple structure, the maintenance of being convenient for can adapt to abominable operational environment.

2. The adaptability is strong, and the clamping jaw has a larger movement stroke and can adapt to the recycled materials of most specifications.

3. The clamping jaw finger has flexibility, and can avoid the damage to the recovered objects and the clamping jaw due to overlarge clamping force.

4. The intelligent degree is high, has integrateed force sensor and hall sensor, can discern the material of object to according to the size of the rotation angle regulation clamp force of the stroke of object material through die clamping cylinder and finger.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a top view of the structure of the present invention;

FIG. 3 is a schematic view of the finger mounting of the rolling bearing and negative Poisson's ratio material on the output shaft of the motor of the present invention;

wherein: the device comprises a clamping jaw support 1, a motor track 2, a clamping cylinder 3, a driving motor 4, a finger made of a negative Poisson's ratio material 5, a rolling bearing 6, a rubber coating layer 7, a Hall sensor 8 and a force sensor 9.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

On the contrary, the invention is intended to cover alternatives, modifications, equivalents and alternatives which may be included within the spirit and scope of the invention as defined by the appended claims. Furthermore, in the following detailed description of the present invention, certain specific details are set forth in order to provide a better understanding of the present invention. It will be apparent to one skilled in the art that the present invention may be practiced without these specific details.

The clamping jaw support 1 is in a regular triangle shape, each corner is provided with a groove, and the clamping jaw support is used for mounting motor tracks 2 with different lengths so as to adapt to recovered objects with different sizes, and meanwhile, three groups of clamping cylinders 3 can be replaced at any time so as to provide different clamping forces and movement strokes.

The fingers 5 made of the negative Poisson ratio material extend and expand radially when rotating axially, have certain axial rigidity, can generate larger contact area with a grabbed object, provide certain clamping force without bending, and generate certain deformation when the clamping force is too large, so that the recycled object and the clamping jaw are not damaged.

The rubber coating layer 7 is soft, elastic and high in friction coefficient, is tightly attached to the finger 5 made of the negative Poisson's ratio material, is stably connected, allows the finger and the object to rotate simultaneously, and provides enough friction force between the finger and the object during grabbing.

According to the invention, the rolling bearing 6 is arranged on the output shaft of the driving motor 4, the rolling bearing 6 is arranged in the motor guide rail 2 and plays a role in stabilizing the movement of the driving motor 4, and the rolling bearing 6 and the motor guide rail 2 slide relatively, so that the driving motor 4 can move flexibly and the friction force is reduced.

The force sensor 9 and the Hall sensor 8 are arranged in the rubber coating layer 7, the Hall sensor 8 can detect the material of the recovered object, the clamping force can be correspondingly changed according to the material of the recovered object, the recovered object can be preliminarily classified according to the material, the force sensor 9 can detect the clamping force in real time and feed back the clamping force in real time, and the clamping force of the clamping jaw on each recovered object is ensured to be moderate.

The working process of the invention is as follows: the mechanical arm provided with the flexible clamping jaw moves above an object to be recovered, the clamping cylinder 3 moves to enable the fingers 5 made of the material with the negative Poisson ratio to be expanded to the maximum, when the clamping jaw reaches a grabbing position, the clamping cylinder 3 retracts to provide a certain clamping force to enable the rubber cladding layer 7 to be attached to the recovered object tightly, the Hall sensor 8 arranged in the rubber cladding layer 7 detects the material of the recovered object, the clamping force is automatically distributed, then the driving motor 4 rotates to enable the fingers 5 made of the material with the negative Poisson ratio to axially rotate and extend and radially expand to enable the fingers to be attached to the external profile of the recovered object tightly, after the force sensor 9 detects that the pre-distributed clamping force is reached, the driving motor 4 stops moving, finally the mechanical arm places the mechanical arm at a corresponding position according to the material type of the recovered object.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, but not to limit it: while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may be modified, or some or all of the technical features may be equivalently replaced: and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. The utility model provides a novel flexible clamping jaw of arm for rubbish letter sorting is retrieved which characterized in that: including gripper bracket (1), motor track (2), die clamping cylinder (3), driving motor (4), finger (5) of negative poisson's ratio material, antifriction bearing (6), rubber coating (7), hall sensor (8), force sensor (9), wherein gripper cylinder (3) one end is installed on gripper bracket (1) with the hinge form to can rotate around the pin joint, the other end links to each other with the shell of driving motor (4), is equipped with antifriction bearing (6) on the output shaft of driving motor (4), antifriction bearing (6) outer lane parcel rubber is installed in motor track (2) to with the inboard two wall sliding contact of motor track (2), the output shaft tip of driving motor (4) is equipped with finger (5) of negative poisson's ratio material.

2. The new robotic arm flexible jaw for sorting and recycling of refuse according to claim 1, characterized in that: the fingers (5) of the negative Poisson ratio material are made of an auxetic mechanical metamaterial and have a multi-turn spiral structure, and can be extended and radially expanded when axially rotated; the outer portion of the lower end of the finger (5) made of the negative Poisson ratio material is sleeved with a rubber coating layer (7), and a force sensor (9) and a Hall sensor (8) are installed inside the rubber coating layer (7) and face the center direction of the clamping jaw support (1) when the force sensor and the Hall sensor are installed.

3. The new robotic arm flexible jaw for sorting and recycling of refuse according to claim 1, characterized in that: the fingers (5) made of the negative Poisson ratio material have certain axial rigidity, can ensure that the fingers do not bend axially when an object is held, have certain radial flexibility, can deform when the clamping force is too large, and reduce the extrusion on the recycled object, and the fingers (5) made of the negative Poisson ratio material can be replaced according to different types of the recycled object so as to adapt to different clamping force requirements.

4. The new robotic arm flexible jaw for sorting and recycling of refuse according to claim 1, characterized in that: the rubber coating (7) internally mounted's hall sensor (8) are used for carrying out the judgement of retrieving the thing material for distinguish metal recovery thing and nonmetal recovery thing, and distinguish the position of placing of retrieving the thing according to the material of retrieving the thing, provide the reference to the clamp force that pinch cylinder (3) and negative poisson's ratio material's finger (5) need provide simultaneously, rubber coating (7) internally mounted's force sensor (9) are used for carrying out feedback control to the clamp force, and the size of real-time feedback clamp force.