CN113084779A - Multi-point-position clamping device and robot for picking up articles - Google Patents
Multi-point-position clamping device and robot for picking up articles Download PDFInfo
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- CN113084779A CN113084779A CN202110302255.3A CN202110302255A CN113084779A CN 113084779 A CN113084779 A CN 113084779A CN 202110302255 A CN202110302255 A CN 202110302255A CN 113084779 A CN113084779 A CN 113084779A
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- 230000005540 biological transmission Effects 0.000 claims description 5
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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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
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
- B25J15/026—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by gears
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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
- B25J15/08—Gripping heads and other end effectors having finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/144—Linear actuators
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Abstract
The invention relates to a multi-point clamping device which comprises an upper layer frame, a lower layer frame, a left-right sliding mechanism, a front-back telescopic mechanism, a front-back overturning mechanism, a left-right opening and closing mechanism and a clamping mechanism, wherein the left-right sliding mechanism is arranged on the upper layer frame; the left-right sliding mechanism comprises a double-layer pulley and a left-right sliding component which drives the upper-layer frame to slide in the left-right direction relative to the lower-layer frame; the upper layer frame is erected on the lower layer frame through two double-layer pulleys, and the two double-layer pulleys are respectively positioned at the front end and the rear end of the upper layer frame; the upper layer frame is connected with the left and right sliding component, and the lower layer frame is connected with the left and right sliding component; the front and back telescopic mechanisms are arranged on the upper layer frame, the front and back turnover mechanisms are arranged on the front and back telescopic mechanisms, the left and right opening and closing mechanisms are arranged on the front and back turnover mechanisms, and the clamping mechanisms for clamping articles are arranged on the left and right opening and closing mechanisms. The invention also relates to a robot for picking up objects. The invention has simple and reliable structure, can automatically clamp a plurality of articles with determined positions in sequence, and belongs to the field of article carrying instruments.
Description
Technical Field
The invention relates to the field of material handling instruments, in particular to a multi-point clamping device and a robot for picking up articles.
Background
In the current assembly line production, utilize the multiple spot position to press from both sides the device and realize the acquireing of work piece, part or product, make the takt time shorten greatly, realize fast production, receive each big production manufacturer favour extensively. Along with the popularization of the multi-point clamping device, a lot of factories also begin to use the mechanism to realize rapid production, however, the multi-point clamping device commonly seen on the market is mostly designed based on a multi-axis mechanical arm, the structure is complex, the weight and the volume are large, the control difficulty is high, the cost is high, not all processing factories and merchants can bear the capital investment, the enthusiasm of processing manufacturers for improving production lines is struck, and the production efficiency and the economic benefit are influenced. Therefore, it is necessary to design a multi-point clamping device which is economical and practical, has accurate and stable action, short time consumption, simple and reliable structure, light weight, small volume and low manufacturing cost.
Disclosure of Invention
Aiming at the technical problems in the prior art, the invention aims to: the multi-point clamping device and the robot for picking up the articles have the advantages of accurate and stable action, simple and reliable structure and capability of automatically clamping the articles at a plurality of determined positions in sequence.
In order to achieve the purpose, the invention adopts the following technical scheme:
a multi-point clamping device comprises an upper layer frame, a lower layer frame, a left-right sliding mechanism, a front-back telescopic mechanism, a front-back turnover mechanism, a left-right opening-closing mechanism and a clamping mechanism; the left-right sliding mechanism comprises a double-layer pulley and a left-right sliding component which drives the upper-layer frame to slide in the left-right direction relative to the lower-layer frame; the upper layer frame is erected on the lower layer frame through two double-layer pulleys, and the two double-layer pulleys are respectively positioned at the front end and the rear end of the upper layer frame; the upper layer frame is connected with the left and right sliding component, and the lower layer frame is connected with the left and right sliding component; the front and back telescopic mechanisms are arranged on the upper layer frame, the front and back turnover mechanisms are arranged on the front and back telescopic mechanisms, the left and right opening and closing mechanisms are arranged on the front and back turnover mechanisms, and the clamping mechanisms for clamping articles are arranged on the left and right opening and closing mechanisms. After the structure is adopted, the upper frame slides in the left-right direction, the front-back telescopic mechanism drives the front-back overturning mechanism to stretch in the front-back direction, the front-back overturning mechanism drives the left-right opening-closing mechanism to overturn in the front-back direction and the left-right opening-closing mechanism drives the clamping mechanism to open and close in the left-right direction, and the multi-point clamping device is combined through four degrees of freedom, so that the multi-point clamping device is accurate and stable in action, simple and reliable in structure and capable of automatically clamping a plurality of articles at determined.
Preferably, the front end and the rear end of the upper layer frame and the front end and the rear end of the lower layer frame are respectively provided with a guide rod matched with the double-layer pulley, the guide rods extend along the left-right direction, and the guide rods are square; the double-layer pulley comprises a pulley frame and a pulley group; the sliding frame is provided with an upper sliding groove and a lower sliding groove, the guide rod of the upper frame is matched with the upper sliding groove, wheel sets are arranged on the periphery of the guide rod of the upper frame and between the upper sliding groove, the guide rod of the lower frame is matched with the lower sliding groove, and the wheel sets are arranged on the periphery of the guide rod of the lower frame and between the lower sliding groove. After adopting this kind of structure, through the cooperation of guide bar and double-deck coaster, double-deck coaster not only supports upper frame and erects on lower floor's frame, and the upper frame of still being convenient for slides in the left and right directions for lower floor's frame, plays the effect that supports the direction, supplementary the sliding.
Preferably, the left and right sliding parts comprise a gear, a rack and a motor; the number of the racks is two, the two racks are respectively arranged on the upper layer frame and the lower layer frame, the two racks extend along the left-right direction, and the two racks are located on the same vertical plane; the motor is arranged on a double-layer pulley positioned at the rear end of the upper-layer frame, a gear is sleeved on an output shaft of the motor, and the gear is in meshing transmission with the two racks. After the structure is adopted, the upper-layer frame is convenient to slide in the left-right direction relative to the lower-layer frame through gear and rack meshing transmission, and the upper-layer frame is also convenient to control to stop sliding; when the gear rotates, the upper rack and the lower rack can realize reverse motion, so that the double lifting of the motion speed and the motion distance of the upper layer frame is realized.
As a preferred, front and back telescopic machanism includes two direction coasters, two first telescopic cylinder, two first guide arms, two direction coasters are installed respectively at the both ends of controlling of upper frame, two first guide arms slide with two direction coasters respectively and are connected, first guide arm extends along the fore-and-aft direction, first telescopic cylinder includes fixed part and pars contractilis, the fixed part of two first telescopic cylinder all with upper frame fixed connection, the pars contractilis of two first telescopic cylinder respectively with two first guide arm fixed connection. After adopting this kind of structure, the first guide arm of supplementary slippage in the fore-and-aft direction of direction coaster makes first guide arm extend to upper frame front end according to the fixed direction.
Preferably, the front-back overturning mechanism positioned in front of the upper-layer frame comprises two mounting seats and two rotating cylinders, and the two mounting seats are respectively and oppositely fixed with the two first guide rods; the rotary cylinders comprise fixed parts and rotating parts, the fixed parts of the two rotary cylinders are respectively installed on the two installation seats, and the rotating parts of the two rotary cylinders are respectively connected with the two ends of the left opening and closing mechanism and the right opening and closing mechanism. After the structure is adopted, the structure is simple, the assembly is convenient, and the left and right opening and closing mechanisms arranged on the front and rear turnover mechanisms can be turned over front and rear conveniently.
Preferably, the left and right opening and closing mechanism comprises a guide rail, a sliding block and a second telescopic cylinder; the guide rail comprises two second guide rods arranged in parallel and two connecting rods connected with the end parts of the second guide rods; the two second guide rods and the two connecting rods form a rectangular guide rail in an enclosing mode, and the two connecting rods are fixedly connected with the rotating parts of the two rotary cylinders respectively; the quantity of slider is two, and every slider all slides with two second guide arms and is connected, and two slider intervals set up, and two sliders of the drive are connected with two sliders respectively at the both ends of second telescopic cylinder and are close to or keep away from, all are equipped with the stopper of the minimum distance between two sliders of restriction on two second guide arms, and the quantity of stopper is four, and four stoppers are two liang along second guide arm center bilateral symmetry and distribute. After adopting this kind of structure, set up the stopper of minimum distance between two sliders, the clamping jaw of being convenient for is opened and shut on the guide rail and is got article, and two clamping jaws symmetry placed in the middle after reseing need not go to detect clamping jaw position rethread control system control cylinder action through setting up complicated detection mechanism, have improved the efficiency of getting article of clamp.
Preferably, the clamping mechanism comprises two clamping jaws, and the two clamping jaws are respectively connected with the two sliding blocks. After the structure is adopted, the article can be clamped conveniently.
Preferably, the jaw comprises a jaw body, a jaw tip; one end of the clamping jaw main body is connected with the sliding block, and the other end of the clamping jaw main body is detachably connected with the tail end of the clamping jaw; the clamping jaw main body is made of a plate, and the tail end of the clamping jaw is made of plastics. After the structure is adopted, the clamping jaw body of the clamping mechanism is detachably connected with the tail end of the clamping jaw, so that objects can be clamped correspondingly and differently by replacing different tail ends of the clamping jaws, and flexible grabbing is realized.
Preferably, the device further comprises a position detection mechanism, wherein the position detection mechanism comprises a plurality of photoelectric switches and a blocking piece for triggering the photoelectric switches; a plurality of photoelectric switches all set up at lower floor's frame, and photoelectric switch's mounted position all corresponds with the stop position of upper frame, and the separation blade moves along with upper frame. After the structure is adopted, the photoelectric switch and the blocking piece are matched to control the upper-layer frame and the lower-layer frame to stop acting, and the control is simple and reliable, economic and practical.
A robot for picking up objects comprises a receiving mechanism and a multi-point clamping device, wherein the multi-point clamping device is positioned above the receiving mechanism. After the structure is adopted, the clamped articles can be conveniently turned over to the upper part of the receiving mechanism, and the articles can be placed on the receiving mechanism.
In summary, the present invention has the following advantages:
1. a multipoint clamping device has four degrees of freedom of left-right direction slippage, front-back direction turning and left-right direction opening and closing, so that a clamping mechanism of the multipoint clamping device can clamp left-right direction and front-back direction articles, the articles can be turned backwards after being clamped, and the clamping mechanism clamps or releases the articles through the opening and closing in the left-right direction; the invention can automatically clamp a plurality of objects with determined positions in sequence, and has the advantages of economy, practicality, accurate and stable action, short time consumption, simple and reliable control, light weight, small volume and low manufacturing cost.
2. The utility model provides a device is got to multiple spot position clamp passes through the cooperation of guide bar with double-deck coaster, and double-deck coaster not only supports upper frame and erects on lower floor's frame, and the upper frame of still being convenient for slides in the left and right directions for lower floor's frame, plays the effect that supports direction, supplementary slip.
3. A left and right sliding component of a multi-point clamping device adopts a motor matched with a gear rack for meshing transmission, and can accurately and conveniently control an upper-layer frame to stop sliding; when the gear rotates, the upper rack and the lower rack can realize reverse motion, so that double lifting of the motion speed and the motion distance is realized.
4. The guide pulley assists the first guide rod to slide in the front-back direction, so that the first guide rod extends to the front end of the upper-layer frame in the fixed direction, and articles can be accurately clamped.
5. Set up the stopper of minimum distance between two sliders on the second guide arm of controlling the mechanism that opens and shuts, the clamping jaw of being convenient for opens and shuts on the guide rail and gets article, two clamping jaws symmetry placed in the middle after reseing, need not go the position rethread control system control cylinder action that detects the clamping jaw through setting up complicated detection mechanism, have improved the efficiency of getting article of pressing from both sides.
6. The clamping jaw body and the clamping jaw tail end of the clamping mechanism are detachably connected, so that objects can be clamped by changing different clamping jaw tail ends corresponding to different clamps, flexible grabbing is realized, and the applicability is high.
7. The upper-layer frame and the lower-layer frame are controlled to stop acting by matching of the photoelectric switch and the blocking piece, so that the control is simple and reliable, and the device is economical and practical.
Drawings
Fig. 1 is a perspective view of a multi-point gripping device.
Figure 2 is a cross-sectional view of a multi-point grasping apparatus.
FIG. 3 is a perspective view showing the connection of the upper frame, the lower frame, and the left and right slide members.
Fig. 4 is a schematic view of the front-rear telescopic mechanism.
FIG. 5 is a schematic view showing the connection of the front and rear turnover mechanism, the left and right opening and closing mechanism and the clamping mechanism.
The device comprises a lower-layer frame 1, an upper-layer frame 2, a left-right sliding mechanism 3, a front-back telescopic mechanism 4, a front-back overturning mechanism 5, a left-right opening and closing mechanism 6, a clamping mechanism 7, a sliding frame 8, a motor 9, a wheel set 10, an upper-layer sliding groove 11, a lower-layer sliding groove 12, a rack 13, a gear 14, a double-layer pulley 15, a guide rod 16, a first guide rod 17, a guide pulley 18, a first telescopic cylinder 19, a rotary cylinder 20, a mounting seat 21, a connecting rod 22, a second guide rod 23, a second telescopic cylinder 24, a limiting block 25, a sliding block 26, a clamping jaw main body 27 and a clamping jaw tail end 28.
Detailed Description
The present invention will be described in further detail with reference to specific embodiments.
Example one
The multi-point-position clamping device comprises an upper layer frame, a lower layer frame, a left-right sliding mechanism, a front-back telescopic mechanism, a front-back overturning mechanism, a left-right opening and closing mechanism and a clamping mechanism; the left-right sliding mechanism comprises a double-layer pulley and a left-right sliding component which drives the upper-layer frame to slide in the left-right direction relative to the lower-layer frame; the upper layer frame is erected on the lower layer frame through two double-layer pulleys, and the two double-layer pulleys are respectively positioned at the front end and the rear end of the upper layer frame; the upper layer frame is connected with the left and right sliding component, and the lower layer frame is connected with the left and right sliding component; the front and back telescopic mechanisms are arranged on the upper layer frame, the front and back turnover mechanisms are arranged on the front and back telescopic mechanisms, the left and right opening and closing mechanisms are arranged on the front and back turnover mechanisms, and the clamping mechanisms for clamping articles are arranged on the left and right opening and closing mechanisms.
In actual practice, the upper frame is slid in the left-right direction with respect to the lower frame by the left-right sliding mechanism, so that the front-rear telescopic mechanism mounted on the upper frame is slid in the left-right direction along with the upper frame. The front-rear telescopic mechanism is telescopic in the front-rear direction relative to the upper frame, and the front-rear turnover mechanism mounted on the front-rear telescopic mechanism can extend to the front of the upper frame, so that the front-rear turnover mechanism has two degrees of freedom of sliding in the left-right direction and telescopic in the front-rear direction. The left and right opening and closing mechanism is arranged on the front and rear overturning mechanism and overturns from the front to the rear along with the front and rear overturning mechanism, so that the left and right opening and closing mechanism has three degrees of freedom of sliding in the left and right direction, stretching in the front and rear direction and overturning from the front to the rear. The clamping mechanism is arranged on the left opening and closing mechanism and the right opening and closing mechanism, and the clamping mechanism adjusts the position of the clamping mechanism in the left and right directions along with the left and right opening and closing mechanisms to clamp articles. The clamping mechanism is matched with the left and right sliding mechanism, the front and rear telescopic mechanisms, the front and rear overturning mechanism and the left and right opening and closing mechanism, so that the clamping mechanism can slide in the left and right direction, stretch in the front and rear direction, overturn in the front and rear direction and adjust four degrees of freedom in the accurate position in the left and right direction, and a plurality of degrees of freedom are combined to automatically clamp and clamp a plurality of articles with determined positions, so that the clamping mechanism is simple to control and reliable in structure.
Wherein, the upper frame and the lower frame of this embodiment are enclosed through the connection of many square pipes. The front end and the rear end of the upper layer frame and the front end and the rear end of the lower layer frame are both provided with guide rods matched with the double-layer pulley, the guide rods extend along the left-right direction, and the guide rods are square; the double-layer pulley comprises a pulley frame and a pulley group; the scooter frame is equipped with upper spout and lower floor's spout, and upper spout and lower floor's spout are the direction coaster that the direction runs through the scooter frame about, and the guide bar and the upper spout cooperation of upper frame, and all be equipped with the wheelset between the guide bar of upper frame all around and the upper spout, the guide bar and the lower floor's spout cooperation of lower floor's frame, and all be equipped with the wheelset between the guide bar of lower floor's frame all around and the lower floor's spout. The setting of wheelset is convenient for upper frame to slide in the left and right sides orientation for lower floor's frame, and the wheelset plays the effect that supports upper frame. The left and right sliding component comprises a gear, a rack and a motor; the two racks are respectively arranged on the upper layer frame and the lower layer frame, the two racks extend along the left and right direction, the two racks are positioned in front of the double-layer pulley, the double-layer pulley is a double-layer pulley positioned at the rear end of the upper layer frame, and the two racks are positioned on the same vertical plane; the motor is installed at the double-layer pulley that is located upper frame rear end, and the output shaft of motor passes the pulley frame and extends forward, and the gear box is at the output shaft of motor, and the gear and two rack mesh transmissions. When the gear rotates, the upper rack and the lower rack can realize reverse motion, so that the double lifting of the motion speed and the motion distance of the upper layer frame is realized.
Wherein, the telescopic machanism includes two direction coasters around this embodiment, two first telescopic cylinder, two first guide arms, both ends about upper frame are installed respectively to two direction coasters, two first guide arms slide with two direction coasters respectively and are connected, first guide arm extends along the fore-and-aft direction, first telescopic cylinder includes fixed part and pars contractilis, the fixed part of two first telescopic cylinder all with upper frame fixed connection, the pars contractilis of two first telescopic cylinder respectively with two first guide arm fixed connection, first guide arm is parallel to each other with first telescopic cylinder's pars contractilis, first guide arm extends forward or resets along with first telescopic cylinder's pars contractilis.
In the embodiment, the front-back overturning mechanism positioned in front of the upper-layer frame comprises two mounting seats and two rotating cylinders, and the two mounting seats are respectively and oppositely fixed with the two first guide rods; the mount pad is installed at the front end of first guide arm, and revolving cylinder includes fixed part and rotating part, and two revolving cylinder's fixed part is installed respectively at two mount pads, and two revolving cylinder's rotating part is connected with the both ends of controlling the mechanism that opens and shuts respectively. The rotary cylinder can realize 180-degree movement, and the mounting seat is a rotary cylinder support for fixing the rotary mechanism on the first guide rod.
The left and right opening and closing mechanism of the embodiment comprises a guide rail, a sliding block and a second telescopic cylinder; the guide rail comprises two second guide rods arranged in parallel and two connecting rods connected with the end parts of the second guide rods; the two second guide rods and the two connecting rods form a rectangular guide rail in an enclosing mode, and the two connecting rods are fixedly connected with the rotating parts of the two rotary cylinders respectively; the quantity of slider is two, and every slider all slides with two second guide arms and is connected, and two slider intervals set up, and two sliders of the drive are connected with two sliders respectively at the both ends of second telescopic cylinder and are close to or keep away from, all are equipped with the stopper of the minimum distance between two sliders of restriction on two second guide arms, and the quantity of stopper is four, and four stoppers are two liang along second guide arm center bilateral symmetry and distribute. The slider is the coaster, and the second guide arm passes from the spout of coaster, and the second guide arm is square pole, is equipped with in the coaster wheelset and laminates around the second guide arm, and the coaster of being convenient for slides for the guide rail.
Wherein, the fixture of this embodiment includes two clamping jaws, and two clamping jaws are connected with two sliders respectively. The clamping jaw comprises a clamping jaw body and a clamping jaw tail end; one end of the clamping jaw main body is connected with the sliding block, and the other end of the clamping jaw main body is detachably connected with the tail end of the clamping jaw; the clamping jaw main body is made of a plate, and the tail end of the clamping jaw is made of plastics. The two clamping jaws are parallel to each other and are perpendicular to the guide rail. The clamping jaw end and the clamping jaw body are connected through the bolt, the nut matched with the bolt is loosened according to the type of the clamped article, the clamping jaw end is detached from the clamping jaw body, the clamping jaw end suitable for the clamped article is replaced, and the clamping jaw end is locked through the bolt and the nut in a matched mode, so that various types of articles can be clamped.
The multi-point clamping device further comprises a position detection mechanism, wherein the position detection mechanism comprises a plurality of photoelectric switches and blocking pieces for triggering the photoelectric switches; a plurality of photoelectric switches all set up at lower floor's frame, and photoelectric switch's mounted position all corresponds with the stop position of upper frame, and the separation blade moves along with upper frame. The photoelectric switches of this embodiment are three in quantity, establish respectively in the left and right sides both ends of lower floor's frame and three positions in the middle, and the separation blade sets up in the centre of upper frame.
The working process is as follows:
after electrification, the left-right sliding mechanism drives the upper layer frame to sequentially move to each photoelectric light-on position for positioning, and the upper layer frame is centered and stopped at the middle position. After the left and right sliding mechanisms drive the upper-layer frame to slide to a designated position, if the distance of the object to be clamped is short, the clamping mechanism can be turned out forwards through the rotary cylinder, the clamping mechanism is driven to clamp the object through the left and right opening and closing mechanisms, the clamping mechanism and the clamped object are turned over together through the rotary cylinder, the left and right sliding mechanisms drive the upper-layer frame to slide to a middle position, and the clamping mechanism is driven to release the object through the left and right opening and closing mechanisms to enable the object to fall into a middle receiving position of the lower-layer frame; if the distance of the object to be clamped is far, before the rotary cylinder turns the clamping mechanism forwards, the clamping mechanism is completely extended out through the front and rear telescopic mechanisms, the left and right sliding mechanisms drive the upper-layer frame to slide to the middle position, the clamping mechanism is completely retracted through the front and rear telescopic mechanisms, and the left and right opening and closing mechanisms drive the clamping mechanism to release the object to enable the object to fall into the middle receiving position of the lower-layer frame.
Example two
The robot for picking up the articles comprises a receiving mechanism and a multi-point clamping device, wherein the multi-point clamping device is positioned above the receiving mechanism.
The work flow of the robot for picking up the article of the embodiment is as follows: according to the position of the article to be clamped, a control program is recorded, the upper layer frame slides to the middle position through the left and right sliding mechanisms in the initial state, and the blocking piece triggers the photoelectric switch to control the motor to stop driving. When the clamping mechanism works, the position detection mechanism is matched with the left-right sliding mechanism to control the upper-layer frame to slide at three positions in the left-right direction, so that the clamping mechanism clamps articles at the three positions; if the nearer article of upper frame, control glide machanism and drive upper frame and control the translation, fixture presss from both sides and gets article, and upper frame slides to the intermediate position through controlling glide machanism, and article clamp that will be located upper frame the place ahead through front and back tilting mechanism will press from both sides and overturn certain angle, press from both sides or loosen the article that the clamp was got to article through controlling the mechanism that opens and shuts and control fixture, will press from both sides the article of getting and place to connect and get on the mechanism. If there is the article far away from upper frame, then through front and back telescopic machanism control fixture clamp get the article far away from upper frame, upper frame slides to the intermediate position through controlling glide machanism, article clamp that will be located upper frame the place ahead through front and back tilting mechanism will be got and overturn certain angle, through controlling the mechanism that opens and shuts and control fixture to get or loosen the article that the clamp got to the clamp of article, the article that will press from both sides to get is placed and is connect and get on the mechanism, repeat the above-mentioned action, until all pressing from both sides article and get and place connect and get on the mechanism, upper frame resets, the work of article is got in the end clamp.
The embodiment is the same as the first embodiment.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.
Claims (10)
1. The utility model provides a device is got to multiple spot position clamp which characterized in that: the device comprises an upper layer frame, a lower layer frame, a left-right sliding mechanism, a front-back telescopic mechanism, a front-back turnover mechanism, a left-right opening and closing mechanism and a clamping mechanism;
the left-right sliding mechanism comprises a double-layer pulley and a left-right sliding component which drives the upper-layer frame to slide in the left-right direction relative to the lower-layer frame; the upper layer frame is erected on the lower layer frame through two double-layer pulleys, and the two double-layer pulleys are respectively positioned at the front end and the rear end of the upper layer frame; the upper layer frame is connected with the left and right sliding component, and the lower layer frame is connected with the left and right sliding component;
the front and back telescopic mechanisms are arranged on the upper layer frame, the front and back turnover mechanisms are arranged on the front and back telescopic mechanisms, the left and right opening and closing mechanisms are arranged on the front and back turnover mechanisms, and the clamping mechanisms for clamping articles are arranged on the left and right opening and closing mechanisms.
2. A multi-point gripping apparatus as defined in claim 1, wherein: the front end and the rear end of the upper layer frame and the front end and the rear end of the lower layer frame are both provided with guide rods matched with the double-layer pulley, the guide rods extend along the left-right direction, and the guide rods are square; the double-layer pulley comprises a pulley frame and a pulley group; the sliding frame is provided with an upper sliding groove and a lower sliding groove, the guide rod of the upper frame is matched with the upper sliding groove, wheel sets are arranged on the periphery of the guide rod of the upper frame and between the upper sliding groove, the guide rod of the lower frame is matched with the lower sliding groove, and the wheel sets are arranged on the periphery of the guide rod of the lower frame and between the lower sliding groove.
3. A multi-point gripping apparatus as defined in claim 2, wherein: the left and right sliding component comprises a gear, a rack and a motor; the number of the racks is two, the two racks are respectively arranged on the upper layer frame and the lower layer frame, the two racks extend along the left-right direction, and the two racks are located on the same vertical plane; the motor is arranged on a double-layer pulley positioned at the rear end of the upper-layer frame, a gear is sleeved on an output shaft of the motor, and the gear is in meshing transmission with the two racks.
4. A multi-point gripping apparatus as defined in claim 1, wherein: front and back telescopic machanism includes two direction coasters, two first telescopic cylinder, two first guide arms, two direction coasters are installed respectively at upper frame's both ends of controlling, two first guide arms slide with two direction coasters respectively and are connected, first guide arm extends along the fore-and-aft direction, first telescopic cylinder includes fixed part and pars contractilis, two first telescopic cylinder's fixed part all with upper frame fixed connection, two first telescopic cylinder's pars contractilis respectively with two first guide arm fixed connection.
5. A multi-point gripping apparatus as defined in claim 4, wherein: the front-back overturning mechanism positioned in front of the upper-layer frame comprises two mounting seats and two rotating cylinders, and the two mounting seats are respectively and oppositely fixed with the two first guide rods; the rotary cylinders comprise fixed parts and rotating parts, the fixed parts of the two rotary cylinders are respectively installed on the two installation seats, and the rotating parts of the two rotary cylinders are respectively connected with the two ends of the left opening and closing mechanism and the right opening and closing mechanism.
6. A multi-point gripping apparatus as defined in claim 5, wherein: the left and right opening and closing mechanism comprises a guide rail, a sliding block and a second telescopic cylinder; the guide rail comprises two second guide rods arranged in parallel and two connecting rods connected with the end parts of the second guide rods; the two second guide rods and the two connecting rods form a rectangular guide rail in an enclosing mode, and the two connecting rods are fixedly connected with the rotating parts of the two rotary cylinders respectively; the quantity of slider is two, and every slider all slides with two second guide arms and is connected, and two slider intervals set up, and two sliders of the drive are connected with two sliders respectively at the both ends of second telescopic cylinder and are close to or keep away from, all are equipped with the stopper of the minimum distance between two sliders of restriction on two second guide arms, and the quantity of stopper is four, and four stoppers are two liang along second guide arm center bilateral symmetry and distribute.
7. A multi-point gripping apparatus as defined in claim 6, wherein: the clamping mechanism comprises two clamping jaws which are respectively connected with the two sliding blocks.
8. A multi-point gripping apparatus as defined in claim 7, wherein: the clamping jaw comprises a clamping jaw body and a clamping jaw tail end; one end of the clamping jaw main body is connected with the sliding block, and the other end of the clamping jaw main body is detachably connected with the tail end of the clamping jaw; the clamping jaw main body is made of a plate, and the tail end of the clamping jaw is made of plastics.
9. A multi-point gripping apparatus as defined in claim 1, wherein: the device also comprises a position detection mechanism, wherein the position detection mechanism comprises a plurality of photoelectric switches and blocking pieces for triggering the photoelectric switches; a plurality of photoelectric switches all set up at lower floor's frame, and photoelectric switch's mounted position all corresponds with the stop position of upper frame, and the separation blade moves along with upper frame.
10. A robot for picking up an article, characterized by: comprising an access mechanism and a multi-point gripping device according to any one of claims 1-9, which is located above the access mechanism.
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| CN202110302255.3A CN113084779A (en) | 2021-03-22 | 2021-03-22 | Multi-point-position clamping device and robot for picking up articles |
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| CN202110302255.3A CN113084779A (en) | 2021-03-22 | 2021-03-22 | Multi-point-position clamping device and robot for picking up articles |
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| CN113084779A true CN113084779A (en) | 2021-07-09 |
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