CN112623746A

CN112623746A - Movable clamping jaw, transfer robot and operation method of movable clamping jaw

Info

Publication number: CN112623746A
Application number: CN202011553473.6A
Authority: CN
Inventors: 谢小辉; 田志彬; 孙文博
Original assignee: Suzhou University
Current assignee: Suzhou University
Priority date: 2020-12-24
Filing date: 2020-12-24
Publication date: 2021-04-09

Abstract

The invention discloses a movable clamping jaw, a carrying robot and an operation method of the movable clamping jaw, wherein the movable clamping jaw comprises a fixed finger and a movable finger, vacuum chucks are respectively installed on opposite surfaces of the fixed finger and the movable finger, the vacuum chucks are oppositely arranged, the movable finger is hinged with the fixed finger, a first driving motor is connected with the movable finger from a hinged position, the first driving motor drives the movable finger to rotate at any angle around the fixed finger, the movable clamping jaw further comprises a base, a large arm and a lifting assembly, one end of the large arm is rotatably connected with the base, the lifting assembly is rotatably connected with the other end of the large arm, and the movable clamping jaw is connected with the lifting assembly. The fixed clamping jaw picks up the workpiece, the movable clamping jaw is matched with the workpiece to clamp, and the movable clamping jaw turns over the workpiece. The invention can ensure the stability of the workpiece in the transportation process, can change the posture of the workpiece, and has simple structure and flexible operation.

Description

Movable clamping jaw, transfer robot and operation method of movable clamping jaw

Technical Field

The invention relates to the technical field of mechanical arm manufacturing, in particular to a movable clamping jaw, a carrying robot and an operation method of the movable clamping jaw.

Background

With the advance of technology, the manufacturing industry is gradually moving from traditional manual manufacturing to mechanical automation, wherein robots are equipped with suitable gripping jaws which imitate certain human motion functions for gripping, carrying objects or operating tools according to a fixed program. The robot can not only accept human command, but also run programs arranged in advance, and also perform actions according to principles formulated by artificial intelligence technology, the task of the robot is to assist or replace human work, such as production industry, construction industry, or dangerous work, the robot is a product of advanced integrated control theory, machinery, electronics, computers, goods and bionics, and comprises several categories of housework type, operation type, program control type, numerical control type, search and rescue type, platform type and learning control type, and at present, the robot has important application in the fields of industry, medicine, agriculture, even military affairs and the like.

The transfer robot transfers materials by carrying, and is generally composed of a moving device and a clamping jaw, and during operation, the moving device drives the clamping jaw to carry up or down to transfer goods. But present transport clamping jaw is mostly fixed, can't realize the gesture change of goods, and the transport clamping jaw also can't be at the automatic fixed goods that presss from both sides of handling in-process, and the transportation presss from both sides the relatively poor stability of transporting, and handling efficiency is also lower.

Disclosure of Invention

The invention aims to provide a movable clamping jaw, a transfer robot and an operation method of the movable clamping jaw, which can ensure the stability of a workpiece in the transportation process, can change the posture of the workpiece, and have simple structure and flexible operation.

In order to solve the technical problem, the invention provides a movable clamping jaw which comprises a fixed finger and a movable finger, wherein vacuum chucks are respectively arranged on opposite surfaces of the fixed finger and the movable finger, the vacuum chucks are oppositely arranged, the movable finger is hinged with the fixed finger, a first driving motor is connected with the movable finger from a hinged position, and the first driving motor drives the movable finger to rotate around the fixed finger by any angle.

Furthermore, the fixed finger and the movable finger are fork-shaped and comprise a fork arm and at least two fork teeth, the end part of the fork arm is hinged through a hinge transmission hole, and the vacuum suction cup is arranged at the end part of the fork teeth.

Further, the yoke is L-shaped in the plane perpendicular to the plane of the tines.

Furthermore, the end part of the fork tooth is bent inwards to form a bent part, and the vacuum chuck is arranged at the tail end of the bent part.

The invention also provides a transfer robot, which further comprises a base, a large arm and a lifting assembly, wherein one end of the large arm is rotatably connected with the base, the lifting assembly is rotatably connected with the other end of the large arm, and the movable clamping jaw is connected with the lifting assembly.

Furthermore, the lifting assembly is connected with the large arm in a rotating mode through a small arm, and the lifting assembly is fixedly installed at the top of the small arm.

Further, the lifting assembly comprises a mounting plate, a lifting screw rod and a second driving motor, the mounting plate is fixedly connected with the small arm, two ends of the lifting screw rod are mounted on the mounting plate through screw rod supports, the lifting screw rod is driven by the second driving motor to rotate, a lifting guide rail is arranged on the mounting plate on the side edge of the lifting screw rod, a screw rod nut is sleeved on the lifting screw rod and connected with the lifting screw rod, and the fixed finger is fixedly connected with the screw rod nut.

Furthermore, the base comprises a bottom plate and mounting columns, fixing holes are formed in four corners of the bottom plate, the mounting columns are fixedly connected with the bottom plate, a semi-cylinder for accommodating the coupler is arranged at the top of each mounting column, and a weight reduction groove is formed in the top surface of each semi-cylinder.

Furthermore, a plurality of lightening holes are formed in the large arm along the length direction of the large arm.

The invention also provides an operation method of the movable clamping jaw, which comprises the following steps:

s10: the movable finger is opened, the fixed finger is inserted above the workpiece in the first station, the vacuum chuck absorbs the workpiece, and the workpiece is taken down from the first station;

s20: the movable fingers are buckled, the workpiece is adsorbed and matched with the fixed fingers to clamp the workpiece, and the workpiece is carried;

s30: the vacuum chuck for fixing the fingers releases the workpiece, and the movable fingers adsorb the workpiece to rotate;

s40: the movable finger places the workpiece at the second station.

Compared with the prior art, the movable clamping jaw, the transfer robot and the operation method of the movable clamping jaw have the advantages that the stability of a workpiece in the transportation process can be ensured, the posture of the workpiece can be changed, the structure is simple, and the operation is flexible.

Drawings

FIG. 1 is a schematic view of a movable jaw configuration of the present invention;

FIG. 2 is a schematic view of the movable finger structure of the present invention;

FIG. 3 is a schematic view of the transfer robot of the present invention;

FIG. 4 is a schematic view of the lift assembly of the present invention;

fig. 5 is a schematic view of the moving parts of the present invention.

The reference numbers in the figures illustrate: 10. a movable clamping jaw 11, a fixed finger 12, a movable finger 13, a vacuum chuck 14, a first driving motor 15, a fork arm 16, a fork tooth 17, a hinged transmission hole 18, a bending part,

20. a base 21, a bottom plate 22, a mounting column 23, a fixing hole 24, a coupling 25 and a weight-reducing groove,

30. a large arm 31, a lightening hole,

40. a lifting component 41, a mounting plate 42, a lifting screw rod 43, a second driving motor 44, a screw rod bracket 45, a lifting guide rail 46 and a screw rod nut,

50. a small arm.

Detailed Description

The present invention is further described below in conjunction with the following figures and specific examples so that those skilled in the art may better understand the present invention and practice it, but the examples are not intended to limit the present invention.

Referring to fig. 1, an embodiment of a movable jaw of the present invention is shown. The movable clamping jaw 10 comprises a fixed finger 11 and a movable finger 12, wherein vacuum suction cups 13 are respectively arranged on the opposite surfaces of the fixed finger 11 and the movable finger 12, the vacuum suction cups 13 are oppositely arranged, so that a workpiece can be clamped from the opposite surfaces of the workpiece, the position of each finger contacting the workpiece is fixed when the workpiece is clamped, and the stability of clamping the workpiece when the workpiece is transported and moved is ensured. The movable finger 12 is hinged to the fixed finger 11, the first driving motor 14 is connected to the movable finger 12 from the hinged position, and the first driving motor 14 drives the movable finger 12 to rotate around the fixed finger 11 by any angle. When a workpiece is picked up, if one surface of the workpiece is connected with the carrier on the first station, the first driving motor 14 drives the movable finger 12 to open, so that the fixed finger 11 can conveniently adsorb the free surface of the workpiece, and after the workpiece is picked up from the carrier by the fixed finger 11, the movable finger 12 and the fixed finger 11 are driven by the first driving motor 14 to clamp the workpiece. The mode is convenient to pick up the workpiece, the workpiece can be picked up as long as the surface of the workpiece is exposed, and the difficulty that the electric clamping jaw and the like in the prior art cannot clamp large-size workpieces is overcome. Because the vacuum chucks 13 on the movable finger 12 and the fixed finger 11 both adsorb the workpiece, and the workpiece is clamped and supported by the movable finger 12 and the fixed finger 11, the stability of the workpiece in the process of being carried and moved can be ensured. When the workpiece is put down, if the workpiece needs to be matched with the carrier on the second station from the other surface, and if the free surface at the first station needs to be matched with the second station, the vacuum chuck 13 on the fixed finger 11 releases the workpiece, the movable finger 12 adsorbs the workpiece, the first driving motor 14 drives the movable finger 12 to turn over, the movable finger 12 drives the workpiece to turn over, and the workpiece is matched with the carrier on the second station to realize the adjustment of the posture of the workpiece.

Referring to fig. 2, in order to facilitate the insertion into the apparatus for picking up the workpiece and ensure the stability of the workpiece during the picking process, the fixed finger 11 and the movable finger 12 are fork-shaped and include a fork arm 15 and at least two fork teeth 16. The tines 16 are elongate with a gap between each tine 16 so that the movable jaw 10 can pick up a workpiece in a small space. A fork arm 15 is connected with a plurality of fork teeth 16, the end part of the fork arm 15 is hinged through a hinge transmission hole 17, and a first driving motor 14 drives the movable finger 12 through the hinge transmission holes 17 of the fixed finger 11 and the movable finger 12. The vacuum cups 13 are mounted at the ends of the tines 16, on the one hand to facilitate picking up the fixed workpiece in a small space and, on the other hand, at a distance furthest from the hinge so as to be able to receive the maximum clamping force when the movable finger 12 is clamped to the fixed finger 11. In order to ensure that there is sufficient space between the fixed finger 11 and the movable finger 12 when they are clamped together to accommodate a workpiece, the yoke 15 is L-shaped in the plane perpendicular to the plane of the tines 16. Further, the end of the tine 16 is bent inwardly to form a bend 18, and the vacuum cup 13 is disposed at the end of the bend. When the movable finger 12 is clamped with the fixed finger 11, the end of the bent portion 18 is clamped first, so that the maximum clamping force can be provided for the workpiece.

Referring to fig. 3, a transfer robot according to an embodiment of the present invention is shown. The transfer robot comprises a base 20, a large arm 30 and a lifting assembly 40 besides the movable clamping jaw 10, wherein one end of the large arm 30 is rotatably connected with the base 20, the lifting assembly 40 is rotatably connected with the other end of the large arm 30, and the movable clamping jaw 10 is connected with the lifting assembly 40. In one embodiment of the present invention, the base 20, the large arm 30 and the lifting assembly 40 comprise a four-axis robot arm to which the movable jaw 10 is attached. The four-axis mechanical arm moves the movable clamping jaw 10 to a first station where a workpiece is located, the first driving motor 14 starts the movable finger 12 to open, the fixed finger 11 adsorbs and picks up the workpiece, the movable finger 12 resets and is matched with the fixed finger 11 to clamp the workpiece, the four-axis mechanical arm moves the workpiece to a second station again, the fixed finger 11 releases the workpiece, the first driving motor 14 drives the movable finger 12 to drive the workpiece to turn over, and the workpiece is placed on the second station. And finishing the conveying and overturning of the workpiece.

Referring to fig. 4, in another embodiment of the present invention, since the first station and the second station are close to each other, a four-axis robot arm can be simplified, in this embodiment, the lifting assembly 40 is rotatably connected to the large arm 30 through a small arm 50, and the lifting assembly 40 is fixedly mounted on the top of the small arm 50. Specifically, lifting unit 40 includes mounting panel 41, lift lead screw 42 and second driving motor 43, mounting panel 41 with forearm 50 fixed connection, install through screw bracket 44 at lift lead screw 42 both ends mounting panel 41, second driving motor 43 drives lift lead screw 42 rotates, be provided with lift guide 45 on the mounting panel 41 of lift lead screw 42 side, screw nut 46 overlaps and locates lift lead screw 42 is last and with lift lead screw 42 links to each other, fixed finger 11 with screw nut 46 fixed connection. With the start of the second driving motor 43, the lifting screw rod 42 rotates, and under the guidance of the lifting guide rail 45, the screw nut 46 drives the movable clamping jaw 10 to move along the length direction of the lifting screw rod 42, so that the movable clamping jaw 10 can lift and contact the workpiece and pick up the workpiece.

Referring to fig. 5, in order to ensure the stability of the robot during installation, the base 20 includes a bottom plate 21 and mounting posts 22, fixing holes 23 are formed at four corners of the bottom plate 21, and the mounting posts 22 are fixedly connected with the bottom plate 21, so that the base 20 is convenient to install, and the robot can be stably stressed in any direction. In order to further achieve the lightness, material saving and attractive appearance of the robot, the top of the mounting column 22 is provided with a semi-cylinder for accommodating the coupler 24, and the top surface of the semi-cylinder is provided with a weight reduction groove 25; the large arm 30 is provided with a plurality of lightening holes 31 along the length direction.

The invention relates to an operation method of a movable clamping jaw, which comprises the following steps:

s10: the movable finger is opened, the fixed finger is inserted above the workpiece in the first station, the vacuum chuck absorbs the workpiece, and the workpiece is taken down from the first station; the single fixed finger occupies small space and is convenient for picking up workpieces.

S20: the movable fingers are buckled, the workpiece is adsorbed and matched with the fixed fingers to clamp the workpiece, and the workpiece is carried; the workpiece is clamped from two sides, so that the stability of the workpiece in the carrying process is guaranteed, and the workpiece cannot fall off.

S30: the vacuum chuck for fixing the fingers releases the workpiece, and the movable fingers adsorb the workpiece to rotate; the change of the posture of the workpiece is realized, and the operation is convenient.

S40: the movable finger places the workpiece at the second station.

The above-mentioned embodiments are merely preferred embodiments for fully illustrating the present invention, and the scope of the present invention is not limited thereto. The equivalent substitution or change made by the technical personnel in the technical field on the basis of the invention is all within the protection scope of the invention. The protection scope of the invention is subject to the claims.

Claims

1. The utility model provides a movable clamping jaw, its characterized in that includes fixed finger and activity finger, all install vacuum chuck on the opposite face of fixed finger and activity finger, vacuum chuck sets up relatively, the activity finger with fixed finger is articulated, and a driving motor connects from articulated position the activity finger, a driving motor drive the activity finger winds fixed finger is rotatory arbitrary angle.

2. The movable jaw of claim 1, wherein said fixed and movable fingers are fork-shaped and comprise a yoke and at least two tines, the ends of said yoke being hinged by hinge transmission holes, said vacuum cups being mounted to the ends of said tines.

3. A movable jaw as claimed in claim 2, wherein said yoke is L-shaped in a plane perpendicular to the plane of said tines.

4. A moveable jaw as claimed in claim 2, wherein the tine ends are bent inwardly to form bends, and wherein the vacuum cups are located at the ends of the bends.

5. A transfer robot comprising a movable jaw according to any one of claims 1-4, further comprising a base, a large arm rotatably connected at one end to said base, and a lifting assembly rotatably connected to the other end of said large arm, said movable jaw being connected to said lifting assembly.

6. A transfer robot as recited in claim 5, wherein said lift assembly is pivotally connected to said upper arm by a lower arm, said lift assembly being fixedly mounted to the top of said lower arm.

7. The transfer robot as claimed in claim 6, wherein the lifting assembly includes a mounting plate, a lifting screw, and a second driving motor, the mounting plate is fixedly connected to the small arm, two ends of the lifting screw are mounted to the mounting plate through screw supports, the second driving motor drives the lifting screw to rotate, a lifting guide rail is disposed on the mounting plate at a side of the lifting screw, a screw nut is sleeved on the lifting screw and connected to the lifting screw, and the fixed finger is fixedly connected to the screw nut.

8. The transfer robot as claimed in claim 5, wherein the base comprises a bottom plate and mounting posts, the bottom plate is provided with fixing holes at four corners, the mounting posts are fixedly connected with the bottom plate, the tops of the mounting posts are semi-cylinders for accommodating the couplings, and the top surfaces of the semi-cylinders are provided with weight-reducing grooves.

9. The carrier robot as claimed in claim 5, wherein the large arm is formed with weight-reducing holes along a length direction thereof.

10. A method of operating a movable jaw, comprising the steps of:

s40: the movable finger places the workpiece at the second station.