CN113305869A - Industrial robot based on thing networking - Google Patents
Industrial robot based on thing networking Download PDFInfo
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- CN113305869A CN113305869A CN202110470775.5A CN202110470775A CN113305869A CN 113305869 A CN113305869 A CN 113305869A CN 202110470775 A CN202110470775 A CN 202110470775A CN 113305869 A CN113305869 A CN 113305869A
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- mechanical claw
- fixed disc
- grabbed
- grabbing
- thing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/0213—Gripping heads and other end effectors servo-actuated comprising articulated 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
- B25J15/10—Gripping heads and other end effectors having finger members with three or more 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
Abstract
The invention belongs to the technical field of robots, and particularly relates to an industrial robot based on the Internet of things, which comprises a main body, a fixed disc and a paw; the grabbing platform in the main body is fixedly connected with a fixed disc; a first hydraulic cavity is formed in the center of the fixed disc, and a group of second hydraulic cavities are uniformly formed in the circumference of the fixed disc corresponding to the first hydraulic cavity; each second hydraulic cavity corresponds to a groove part in the fixed disc; through setting up a piston rod, when the gripper when rotating and snatching, the one end of gripper and rack bar meshing drive the rack bar motion, and the rack bar drives No. two piston rod motions, and No. two piston rod motions extrude the hydraulic oil in No. two hydraulic pressure chambeies, and the hydraulic oil in No. two hydraulic pressure intracavity flows into a hydraulic pressure chamber, and hydraulic oil promotes a piston rod and grabs the thing to grabbing the thing motion until the contact and get the thing for a piston rod is fixed grabbing the thing, increases the gripper and grabbing the stability of getting the thing in various shapes.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to an industrial robot based on the Internet of things.
Background
The industrial robot is a multi-joint manipulator or a multi-degree-of-freedom machine device widely used in the industrial field, has certain automaticity, and can realize various industrial processing and manufacturing functions by depending on the power energy and control capability of the industrial robot; generally, an industrial robot consists of three major parts, six subsystems; the three parts are a mechanical part, a sensing part and a control part; the six subsystems can be divided into a mechanical structure system, a driving system, a sensing system, a robot-environment interaction system, a man-machine interaction system and a control system; compared with the traditional industrial equipment, the industrial robot has numerous advantages, for example, the robot has the characteristics of easiness in use, high intelligent level, high production efficiency and safety, easiness in management, remarkable economic benefit and the like, so that the robot can work in a high-risk environment; industrial robots are widely used in various industrial fields such as electronics, logistics, and chemical industry.
A technical scheme of an industrial robot based on the internet of things also appears in the prior art, and for example, a chinese patent with application number CN2016106600361 discloses an industrial robot, which comprises a supporting seat, a sliding rail, a data line, a fixed block, a first gripping claw, a rubber pad, an inductor, a supporting rod, a sucking disc and an air injection device; the supporting seat is provided with a control panel, and the upper end of the supporting seat is provided with a sliding rail; the upper end of the sliding rail is provided with a hydraulic power device, and the lower end of the sliding rail is connected with a sliding block; the rubber pad and the sucker are arranged, so that the robot can prevent skidding and protect the grabbed objects in the grabbing process; however, the technical scheme has the defects that after the mechanical claw grabs, the vacuum chuck moves to contact with a grabbed object to adsorb the grabbed object; when the grabbed objects are in irregular shapes or in porous structures, the possibility of insufficient adsorption of the vacuum chuck on the mechanical claw is caused, the grabbed objects cannot be adsorbed and fixed, and the grabbed objects are subjected to shaking gaps; when gripper quantity is few, vacuum chuck appears adsorbing not enough, leads to snatching the thing and rocks the possibility that the clearance grow or even drop, damages and grabs the thing, increases manufacturing cost.
In view of the above, the invention provides an industrial robot based on the internet of things, and solves the above problems.
Disclosure of Invention
In order to make up for the defects of the prior art and solve the problems that when the grabbed object is in an irregular shape or a porous structure, the vacuum sucker on the mechanical claw is not enough in adsorption, the grabbed object cannot be adsorbed and fixed, so that the grabbed object is likely to shake, even fall, damage the grabbed object and increase the production cost, the invention provides an industrial robot based on the Internet of things.
The technical scheme adopted by the invention for solving the technical problems is as follows: the industrial robot based on the Internet of things comprises a main body, a fixed disc and a mechanical claw; the grabbing platform in the main body is fixedly connected with a fixed disc; a first hydraulic cavity is formed in the center of the fixed disc, and a group of second hydraulic cavities are uniformly formed in the circumference of the fixed disc corresponding to the first hydraulic cavity; each second hydraulic cavity corresponds to a groove part in the fixed disc; each second hydraulic cavity is communicated with the first hydraulic cavity, and hydraulic oil is placed in each of the second hydraulic cavity and the first hydraulic cavity; the first hydraulic cavity is hermetically and slidably connected with a first piston rod; a group of second piston rods are hermetically and slidably arranged in each second hydraulic cavity, and the middle part of one side, away from the first piston rod, of each second piston rod is fixedly connected with a rack rod; a group of mechanical claws are rotatably connected in the groove part in the fixed disc through a rotating shaft, and one ends of the mechanical claws, which are close to the fixed disc, are meshed with the rack rods through gears; each mechanical claw is in a circular arc bending shape, and the mechanical claw bends towards the direction of the fixed disc;
when the robot works, the robot is started, the robot is controlled by a computer to perform grabbing action, and in the prior art, after a mechanical claw grabs, a vacuum chuck moves to contact with a grabbed object to adsorb the grabbed object; when the grabbed objects are in irregular shapes or in porous structures, the possibility of insufficient adsorption of the vacuum chuck on the mechanical claw is caused, the grabbed objects cannot be adsorbed and fixed, and the grabbed objects are subjected to shaking gaps; when the number of the mechanical claws is small, the vacuum chuck has insufficient adsorption, so that the shaking gap of the grabbed object is increased, and even the grabbed object can fall off, the grabbed object is damaged, and the production cost is increased; the three mechanical claws are arranged in a circumferential manner, so that the three mechanical claws are arranged on the same radius; in the grabbing and moving process of the mechanical claw, the grabbed object always moves by taking the center of the fixed disc shaft as a reference, on one hand, the triangular structure has stability, the stability of the mechanical claw in grabbing the grabbed object is improved, on the other hand, the three-claw shape and the movement distance are equal, the automatic centering effect is achieved, the position accuracy of placing or installing after the mechanical claw grabs is improved, the situation that the position is inaccurate, the working efficiency is influenced, even the grabbed object is damaged, and the production cost is increased when the mechanical claw is placed or installed is prevented; by arranging the first piston rod, when the mechanical claw rotates to grab, one end of the mechanical claw is meshed with the rack rod to drive the rack rod to move, the rack rod drives the second piston rod to move, the second piston rod moves to extrude hydraulic oil in the second hydraulic cavity, the hydraulic oil in the second hydraulic cavity flows into the first hydraulic cavity, and the hydraulic oil pushes the first piston rod to move towards the grabber until the grabber is contacted with the grabber, so that the grabber is fixed by the first piston rod, and the stability of the mechanical claw in grabbing various shapes of grabbers is improved; because the gripper is the arc bending shape, after the gripper snatchs and picks the thing, it contacts with gripper arc bending one side to grab the thing, and when the gripper tightened up, the thing of snatching moves along the crooked side of gripper to piston rod No. one, and piston rod No. one receives the thrust of hydraulic oil to snatch the thing motion for it is firm in the gripper to snatch the thing, further increases the gripper and snatchs the stability of getting the thing in various shapes.
Preferably, the end part, far away from the fixed disc, of the first piston rod is fixedly connected with a bulb, and an air bubble film is wound on the outer surface of the bulb;
when the mechanical claw is tightened, the grabber moves towards the first piston rod along the bending side of the mechanical claw, and the first piston rod moves towards the grabber under the thrust of the hydraulic oil; by arranging the ball head, in the process that the mechanical claw grabs irregular grabbed objects, the ball head contacts any part of the grabbed objects, the area of the piston rod contacting the grabbed objects is increased, the grabbed objects are stable in the mechanical claw, the possibility that the grabbed objects shake gaps or even fall off is prevented, and the stability of the mechanical claw in grabbing the grabbed objects in various shapes is increased; because the bulb surface winding has the bubble membrane, prevent that the bulb from to grabbing the possibility of getting the thing surface and producing the damage, increase the protection of gripper to grabbing the thing.
Preferably, one side of each mechanical claw, which is bent towards the fixed disc, is fixedly connected with a group of anti-slip rods uniformly, and the anti-slip rods are made of rubber;
when the mechanical claw is in work, the mechanical claw is in contact with the grabbed object to lift the grabbed object, when the grabbed object such as a glass product has smoothness requirement or fragile grabbed object on the surface, the antiskid rod is arranged and made of rubber, and before the mechanical claw is in contact with the grabbed object, the antiskid rod is firstly in contact with the corner or the protruded part of the grabbed object, so that a buffer area is generated when the mechanical claw grabs, the corner or the protruded part of the mechanical claw which is firstly in contact with the grabbed object is prevented from wearing the surface of the grabbed object, even damaging the grabbed object, the protection of the mechanical claw in grabbing the grabbed object is increased, the possibility of damaging the grabbed object in the grabbing process is reduced, and the production cost is reduced; through setting up anti-skidding pole, when the gripper snatchs, the thing is grabbed in the first contact of anti-skidding pole, and fixed before snatching the thing, prevent that the gripper from snatching the in-process of mentioning with grabbing the thing, snatch thing irregular shape, the focus skew takes place the slope or falls down the possibility, further increases the gripper and snatchs the stability of getting the thing in various shapes.
Preferably, each anti-skid rod inclines upwards by 30-45 degrees, and the end part of each anti-skid rod is bent upwards;
when the mechanical claw grabs, the bent part at the end part of the anti-slip rod contacts with the grabbed object firstly, the grabbed object is fixed before being grabbed, the mechanical claw is tightened, the anti-slip rod is obliquely arranged, and after the bent part at the end part of the anti-slip rod contacts with the grabbed object, each anti-slip rod pushes the grabbed object upwards by taking the shaft center of the fixed disk as a reference, so that the grabbed object is quickly contacted with the ball head, the possibility that the grabbed object is irregular in shape, the gravity center is shifted and inclined or falls down in the process that the mechanical claw grabs and lifts the grabbed object is avoided, and the stability of the mechanical claw in grabbing various shapes of the grabbed object is improved; when each antiskid pole uses the axle center of fixed disk to push up grabbing the thing as the benchmark, snatch and produce the space between thing bottom and the place the platform, the gripper is kept away from the fixed disk tip and is stretched into the space between thing bottom and the place the platform, will snatch the thing and mention, avoids machinery to change the tip and contact when fragile or the surface contains the snatch thing that the smoothness required for the first time, and the thing is grabbed in wearing and tearing or even damage, further increases the protectiveness when the gripper snatched of thing is grabbed.
Preferably, a group of picking rods are fixedly connected to the end part, far away from the fixed disc, of each mechanical claw, and the picking rods are made of soft rubber materials;
when the mechanical claw is used for grabbing the grabbed objects, the grabbing height of which is greater than the length of the mechanical claw or the volume of which is greater than the mechanical claw, the mechanical claw is in contact with the outer surface of the bottom or the outer surface of the middle part of the grabbed objects; pick up the pole through the setting, and the material of picking up the pole is soft rubber, prevent gripper end face contact on the one hand and snatch the outer surface, wearing and tearing damage even snatch the outer surface, increase the protectiveness of gripper when grabbing to grabbing the thing, on the other hand, after gripper contact is grabbed thing bottom surface or middle part surface, grab thing surface through soft rubber contact, the gripper tightens up, soft rubber atress deformation, increase gripper area of contact, it is smooth to avoid grabbing the thing surface, glass products for example, make and grab thing gliding and drop, it grabs the thing to break, increase the gripper and snatching the stability of grabbing the thing in various shapes.
Preferably, the end part of each picking rod, which is far away from the mechanical claw, is conical, and the inclination angle of the picking rod is consistent with the bending angle of the mechanical claw;
when the mechanical claw grabbing device works, when grabbing smaller grabbed objects, the end part of the picking rod far away from the mechanical claw is in a conical shape, the grabbing process of the mechanical claw is similar to the process of clamping peanut rice by using chopsticks, the tip parts of three mechanical claws abut against the grabbed objects and lift the grabbed objects, the stability of the mechanical claw grabbing the grabbed objects in various shapes is improved, when grabbing the smaller grabbed objects, the tip parts of three mechanical claws are in mutual contact and extrude, the three picking rods are bent upwards simultaneously after being deformed, the picked objects are clamped by the opposite bent surfaces of the three picking rods, the mechanical claw grabbing device is similar to the process of using mung beans, the stability of the mechanical claw grabbing the grabbed objects in various shapes is further improved, and the phenomenon that the mechanical claw spends too much working time and reduces the working efficiency when grabbing objects with smaller sizes is avoided.
The invention has the following beneficial effects:
1. according to the industrial robot based on the Internet of things, the first piston rod is arranged, when the mechanical claw rotates to grab, one end of the mechanical claw is meshed with the rack rod to drive the rack rod to move, hydraulic oil in the second hydraulic cavity flows into the first hydraulic cavity, the first piston rod is pushed by the hydraulic oil to move towards the grabbed object until the hydraulic oil contacts the grabbed object, the grabbed object is fixed by the first piston rod, and the stability of the mechanical claw in grabbing various shapes of grabbed objects is improved.
2. According to the industrial robot based on the Internet of things, the ball head is arranged, so that the ball head is in contact with any one part of a grabbed object in the process that the mechanical claw grabs an irregular grabbed object, the area of the piston rod in contact with the grabbed object is increased, and the grabbed object is stable in the mechanical claw; because the bulb surface winding has the bubble membrane, prevent that the bulb from to grabbing the possibility of getting the thing surface and producing the damage, increase the protection of gripper to grabbing the thing.
Drawings
The invention will be further explained with reference to the drawings.
FIG. 1 is a perspective view of the present invention;
FIG. 2 is a perspective view of the gripping portion of the present invention;
FIG. 3 is a schematic view of the structure of the grasping portion of the present invention;
FIG. 4 is an enlarged view of a portion of FIG. 3 at A;
FIG. 5 is a partial enlarged view at B in FIG. 3;
in the figure: the mechanical gripper comprises a main body 1, a fixed disc 2, a first hydraulic chamber 3, a first piston rod 31, a ball head 32, a bubble film 33, hydraulic oil 34, a second hydraulic chamber 4, a second piston rod 41, a rack rod 42, a mechanical claw 5, an anti-skid rod 51 and a pickup rod 52.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
As shown in fig. 1 to 5, the industrial robot based on the internet of things comprises a main body 1, a fixed disc 2 and a mechanical claw 5; a fixed disc 2 is fixedly connected with a grabbing platform in the main body 1; a first hydraulic cavity 3 is formed in the center of the fixed disc 2, and a group of second hydraulic cavities 4 are uniformly formed in the circumference of the fixed disc 2 corresponding to the first hydraulic cavity 3; each second hydraulic chamber 4 corresponds to a groove part in the fixed disc 2; each second hydraulic cavity 4 is communicated with the first hydraulic cavity 3, and hydraulic oil 34 is placed in each second hydraulic cavity 4 and each first hydraulic cavity 3; a first piston rod 31 is connected in the first hydraulic cavity 3 in a sealing and sliding manner; a group of second piston rods 41 are hermetically and slidably arranged in each second hydraulic cavity 4, and rack rods 42 are fixedly connected to the middle parts of the sides, away from the first piston rods 31, of the second piston rods 41; a group of mechanical claws 5 are rotatably connected in the groove part of the fixed disc 2 through a rotating shaft, and one ends of the mechanical claws 5, which are close to the fixed disc 2, are meshed with the rack rods 42 through gears; each mechanical claw 5 is in a circular arc bending shape, and the mechanical claws 5 bend towards the direction of the fixed disc 2;
when the robot works, the robot is started, the robot is controlled by a computer to perform grabbing action, and in the prior art, after the mechanical claw 5 grabs, the vacuum chuck moves to contact with a grabbed object to adsorb the grabbed object; when the grabbed objects are in irregular shapes or in a porous structure, the possibility of insufficient adsorption of the vacuum chuck on the mechanical claw 5 is caused, and the grabbed objects cannot be adsorbed and fixed, so that shaking gaps are formed among the grabbed objects; when the number of the mechanical claws 5 is small, the vacuum chuck has insufficient adsorption, so that the shaking gap of the grabbed object is increased, and even the grabbed object can fall off, the grabbed object is damaged, and the production cost is increased; the three mechanical claws 5 are arranged in number and the three mechanical claws 5 are arranged in a circumferential manner, so that the three mechanical claws 5 are arranged on the same radius; in the grabbing and moving process of the mechanical claw 5, the grabbed objects move by taking the center of the shaft of the fixed disc 2 as a reference all the time, on one hand, the triangular structure has stability, and the stability of the mechanical claw 5 in grabbing the grabbed objects is improved, on the other hand, the three-claw shape and the movement distance are equal, and the automatic centering function is realized, so that the position accuracy of placing or installing after the mechanical claw 5 is grabbed is improved, the situation that the position is inaccurate when the mechanical claw 5 is placed or installed, the working efficiency is influenced, even the grabbed objects are damaged, and the production cost is increased; by arranging the first piston rod 31, when the gripper 5 rotationally grips, one end of the gripper 5 is meshed with the rack rod 42 to drive the rack rod 42 to move, the rack rod 42 drives the second piston rod 41 to move, the second piston rod 41 moves to extrude hydraulic oil 34 in the second hydraulic cavity 4, the hydraulic oil 34 in the second hydraulic cavity 4 flows into the first hydraulic cavity 3, and the hydraulic oil 34 pushes the first piston rod 31 to move towards a gripped object until the first piston rod 31 contacts the gripped object, so that the first piston rod 31 fixes the gripped object, and the stability of the gripper 5 in gripping various shapes is improved; because the gripper 5 is the arc bending shape, after the gripper 5 grabs the grabbed object, the grabbed object is contacted with one side of the arc bending of the gripper 5, when the gripper 5 is tightened, the grabbed object moves to the first piston rod 31 along one side of the arc bending of the gripper 5, and the first piston rod 31 moves to the grabbed object under the thrust of the hydraulic oil 34, so that the grabbed object is stable in the gripper 5, and the stability of the gripper 5 in grabbing the grabbed objects in various shapes is further improved.
As an embodiment of the invention, the end of the first piston rod 31 far away from the fixed disk 2 is fixedly connected with a bulb 32, and an air bubble film 33 is wound on the outer surface of the bulb 32;
when the mechanical claw 5 is tightened, the grabber moves towards the first piston rod 31 along the bending side of the mechanical claw 5, and the first piston rod 31 moves towards the grabber under the thrust of the hydraulic oil 34; by arranging the ball head 32, in the process that the mechanical claw 5 grabs irregular grabbed objects, the ball head 32 contacts any position of the grabbed objects, the area of the piston rod contacting the grabbed objects is increased, the grabbed objects are stable in the mechanical claw 5, the possibility that the grabbed objects shake gaps and even fall off is prevented, and the stability of the mechanical claw 5 in grabbing the grabbed objects in various shapes is increased; because the bubble film 33 is wound on the outer surface of the bulb 32, the possibility that the bulb 32 damages the surface of the grabbed object is prevented, and the protection of the mechanical claw 5 on the grabbed object is improved.
As an embodiment of the present invention, a group of anti-slip rods 51 is uniformly fixedly connected to one side of each gripper 5, which is bent toward the fixed disk 2, and the anti-slip rods 51 are made of rubber;
when the mechanical claw 5 is in contact with the grabbed object to lift the grabbed object, when the grabbed object such as a glass product has smoothness requirement or fragile grabbed object on the surface, the antiskid rod 51 is arranged and the antiskid rod 51 is made of rubber, and before the mechanical claw 5 is in contact with the grabbed object, the antiskid rod 51 is firstly in contact with the corner or the protruded part of the grabbed object, so that a buffer area is generated when the mechanical claw 5 grabs, the situation that the surface of the grabbed object is abraded or even the grabbed object is damaged by the corner or the protruded part of the mechanical claw 5 which is firstly in contact with the grabbed object is prevented, the protection of the mechanical claw 5 in grabbing the grabbed object is increased, the possibility of damage of the grabbed object in the grabbing process is reduced, and the production cost is reduced; through setting up anti-skidding pole 51, when gripper 5 snatched, anti-skidding pole 51 contacted earlier and grabbed the thing, snatched the thing fixed before, prevented gripper 5 snatching the thing in-process of mentioning, snatch thing irregular shape, the focus skew, the possibility that takes place to incline or fall down further increases gripper 5 and snatchs the stability of getting the thing in various shapes.
As an embodiment of the invention, each anti-skid rod 51 inclines upwards by 30-45 degrees, and the end parts of the anti-skid rods 51 are all bent upwards;
when the mechanical claw 5 grabs, the bent part of the end part of the anti-skid rod 51 contacts with the grabbed object firstly, the grabbed object is fixed before being grabbed, the mechanical claw 5 is tightened, because the anti-skid rod 51 is arranged in an inclined mode, after the bent part of the end part of the anti-skid rod 51 contacts with the grabbed object, each anti-skid rod 51 pushes the grabbed object upwards by taking the shaft center of the fixed disk 2 as a reference, so that the grabbed object can contact with the ball head 32 quickly, the possibility that the grabbed object is irregular in shape, the gravity center is deviated and inclined or falls down in the process that the mechanical claw 5 grabs and lifts the grabbed object is avoided, and the stability of the mechanical claw 5 in grabbing the grabbed objects in various shapes is improved; when each anti-skidding pole 51 uses the axle center of fixed disk 2 as the benchmark to upwards push away the thing of grabbing, produce the space between thing bottom and the place the platform, gripper 5 is kept away from 2 tip stretches into the space between thing bottom and the place the platform of grabbing of fixed disk, lifts the thing of grabbing, avoids machinery to change the tip and when the first contact is breakable or the surface contains the thing of grabbing that the smoothness required, and the thing is grabbed in wearing and tearing even damage, further increases gripper 5 protectiveness when grabbing of grabbing the thing of grabbing.
As an embodiment of the invention, a group of picking rods 52 is fixedly connected to the end of each gripper 5 away from the fixed disk 2, and the picking rods 52 are made of soft rubber;
when the mechanical claw 5 is used for grabbing the grabbed objects with the height larger than the length of the mechanical claw 5 or the volume larger than the mechanical claw 5, the mechanical claw 5 is contacted with the outer surface of the bottom or the outer surface of the middle part of the grabbed objects; pick up pole 52 through the setting, and the material of picking up pole 52 is soft rubber, prevent 5 end face contact of gripper on the one hand from picking the outer surface, the outer surface is picked in wearing and tearing damage even, increase 5 protectiveness when grabbing of gripper to grabbing thing, on the other hand, after 5 contact grabs thing bottom surface or middle part surface of gripper, grab thing surface through soft rubber contact, gripper 5 tightens up, soft rubber atress deformation, increase 5 area of contact of gripper, avoid grabbing the thing surface smoothness, for example, glass product, make and grab thing gliding and drop, it grabs the thing to break, increase gripper 5 and grabbing the stability of getting the thing in various shapes.
As an embodiment of the present invention, the end of each picking rod 52 far away from the gripper 5 is conical, and the angle of inclination of the picking rod 52 is consistent with the bending angle of the gripper 5;
when the small grabbing object is grabbed, the end part of the picking rod 52 far away from the mechanical claw 5 is conical, the grabbing process of the mechanical claw 5 is similar to the process of clamping peanut rice by using chopsticks, the tip parts of the three mechanical claws 5 abut against the grabbing object to lift the grabbing object, the stability of the mechanical claw 5 in grabbing various grabbing objects is improved, when the small grabbing object is grabbed, the tip parts of the three mechanical claws 5 are in contact with each other and are extruded, the three picking rods 52 are simultaneously bent upwards after being deformed, the picking object is clamped by the opposite bending surfaces of the three picking rods 52, the process similar to the process of picking mung beans by hands is further improved, the stability of the mechanical claw 5 in grabbing various grabbing objects is improved, excessive working time is avoided when the mechanical claw 5 grabs small grabbing objects, and the working efficiency is reduced.
The specific working process is as follows:
starting the robot, and controlling the robot to perform grabbing action through a computer; the three mechanical claws 5 are arranged in number and the three mechanical claws 5 are arranged in a circumferential manner, so that the three mechanical claws 5 are arranged on the same radius; in the process of grabbing and moving by the mechanical claw 5, grabbed objects always move by taking the center of the shaft of the fixed disc 2 as a reference, and on the other hand, the three-claw shape and the movement distance are equal, so that the automatic centering function is realized; by arranging the first piston rod 31, when the gripper 5 rotationally grips, one end of the gripper 5 is meshed with the rack rod 42 to drive the rack rod 42 to move, the rack rod 42 drives the second piston rod 41 to move, the second piston rod 41 moves to extrude hydraulic oil 34 in the second hydraulic cavity 4, the hydraulic oil 34 in the second hydraulic cavity 4 flows into the first hydraulic cavity 3, and the hydraulic oil 34 pushes the first piston rod 31 to move towards a gripped object until the first piston rod 31 contacts the gripped object, so that the first piston rod 31 fixes the gripped object; because the mechanical claw 5 is in the arc bending shape, after the mechanical claw 5 grabs the grabbed object, the grabbed object is contacted with one side of the arc bending of the mechanical claw 5, when the mechanical claw 5 is tightened, the grabbed object moves to the first piston rod 31 along the side of the arc bending of the mechanical claw 5, and the first piston rod 31 moves to the grabbed object under the thrust of the hydraulic oil 34, so that the grabbed object is stable in the mechanical claw 5; when the mechanical claw 5 is tightened, the grabber moves towards the first piston rod 31 along the bending side of the mechanical claw 5, and the first piston rod 31 moves towards the grabber under the thrust of the hydraulic oil 34; by arranging the ball head 32, in the process that the mechanical claw 5 grabs irregular grabbed objects, the ball head 32 contacts any part of the grabbed objects, and the area of the piston rod contacting the grabbed objects is increased; because the bubble film 33 is wound on the outer surface of the bulb 32, the possibility that the bulb 32 damages the surface of a grabbed object is prevented; when the gripper 5 contacts with a grabbed object to lift the grabbed object, and the grabbed object such as a glass product has a surface with smoothness requirement or a fragile grabber, because the anti-skid rod 51 is arranged, and the anti-skid rod 51 is made of rubber, before the gripper 5 contacts with the grabbed object, the anti-skid rod 51 contacts with the corner or the protruded part of the grabbed object, so that a buffer area is generated when the gripper 5 grabs; by arranging the anti-skid rod 51, when the mechanical claw 5 grabs, the anti-skid rod 51 firstly contacts with a grabbed object to fix the grabbed object before grabbing; when the mechanical claw 5 grabs, the bent part of the end part of the anti-skid rod 51 contacts with the grabbed object firstly, the grabbed object is fixed before being grabbed, the mechanical claw 5 is tightened, and because the anti-skid rod 51 is obliquely arranged, after the bent part of the end part of the anti-skid rod 51 contacts with the grabbed object, each anti-skid rod 51 pushes the grabbed object upwards by taking the axial center of the fixed disk 2 as a reference, so that the grabbed object contacts with the ball head 32 quickly; when each anti-skid rod 51 pushes the grabbed object upwards by taking the axial center of the fixed disc 2 as a reference, a gap is generated between the bottom of the grabbed object and the placing platform, and the mechanical claw 5 is far away from the end part of the fixed disc 2 and extends into the gap between the bottom of the grabbed object and the placing platform to lift the grabbed object; when grabbing objects with the height larger than the length of the mechanical claw 5 or the volume larger than the mechanical claw 5, the mechanical claw 5 contacts the outer surface of the bottom or the outer surface of the middle part of the grabbed objects; by arranging the picking rod 52 and making the picking rod 52 of soft rubber, on one hand, the end face of the mechanical claw 5 is prevented from contacting with the outer surface of the grabber, the outer surface of the grabber is prevented from being abraded and even damaged, on the other hand, after the mechanical claw 5 contacts with the outer surface of the bottom of the grabber or the outer surface of the middle part of the grabber, the surface of the grabber is contacted by the soft rubber, the mechanical claw 5 is tightened, the soft rubber is deformed under stress, the contact area of the mechanical claw 5 is increased, and the stability of the mechanical claw 5 in grabbing the various shapes is increased; when grabbing a small grabbed object, because the end part of the picking rod 52 far away from the mechanical claw 5 is conical, the grabbing process of the mechanical claw 5 is similar to the process of clamping peanut rice by using chopsticks, the tip parts of the three mechanical claws 5 abut against the grabbed object to lift the grabbed object, the stability of the mechanical claw 5 in grabbing various grabbed objects is improved, when grabbing the small grabbed object, the tip parts of the three mechanical claws 5 are in contact with each other and are pressed, the three picking rods 52 are bent upwards at the same time after being deformed, the grabbed object is clamped by the opposite bent surfaces of the three picking rods 52, the stability of the mechanical claw 5 in grabbing various grabbed objects is further improved, excessive working time is avoided when the mechanical claw 5 grabs the grabbed object with a small size, and the working efficiency is reduced.
The front, the back, the left, the right, the upper and the lower are all based on figure 1 in the attached drawings of the specification, according to the standard of the observation angle of a person, the side of the device facing an observer is defined as the front, the left side of the observer is defined as the left, and the like.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are used merely for convenience in describing the present invention and for simplifying the description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the scope of the present invention.
The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (6)
1. An industrial robot based on thing networking, its characterized in that: comprises a main body (1), a fixed disc (2) and a mechanical claw (5); a fixed disc (2) is fixedly connected with a grabbing platform in the main body (1); a first hydraulic cavity (3) is formed in the center of the fixed disc (2), and a group of second hydraulic cavities (4) are uniformly formed in the circumference of the fixed disc (2) corresponding to the first hydraulic cavity (3); each second hydraulic cavity (4) corresponds to a groove part in the fixed disc (2); each second hydraulic cavity (4) is communicated with the first hydraulic cavity (3), and hydraulic oil (34) is placed in each second hydraulic cavity (4) and each first hydraulic cavity (3); a first piston rod (31) is connected in the first hydraulic cavity (3) in a sealing and sliding manner; a group of second piston rods (41) are hermetically and slidably arranged in each second hydraulic cavity (4), and rack rods (42) are fixedly connected to the middle parts of the sides, away from the first piston rods (31), of the second piston rods (41); three mechanical claws (5) are uniformly arranged on the circumference of the circular arc outer surface of the fixed disk (2), and the mechanical claws (5) are positioned in groove parts in the fixed disk (2) and are rotationally connected through a rotating shaft; one end of each mechanical claw (5) close to the fixed disc (2) is meshed with a rack rod (42) through gear teeth; each mechanical claw (5) is in a circular arc bending shape, and the mechanical claws (5) bend towards the direction of the fixed disc (2).
2. An industrial robot based on internet of things as claimed in claim 1, characterized in that: the end part of the first piston rod (31) far away from the fixed disc (2) is fixedly connected with a bulb (32), and the outer surface of the bulb (32) is wound with a bubble film (33).
3. An industrial robot based on internet of things according to claim 2, characterized in that: each mechanical claw (5) is evenly fixedly connected with a group of anti-skid rods (51) towards one side of the fixed disc (2), and the anti-skid rods (51) are made of rubber.
4. An industrial robot based on internet of things according to claim 3, characterized in that: each anti-skid rod (51) inclines upwards by 30-45 degrees, and the end part of each anti-skid rod (51) is bent upwards.
5. An industrial robot based on internet of things according to claim 4, characterized in that: every the tip that fixed disk (2) were kept away from in gripper (5) all links firmly a set of pole (52) of picking up, and picks up pole (52) and be soft rubber material.
6. An industrial robot based on internet of things as claimed in claim 5, characterized in that: the end part of each picking rod (52) far away from the mechanical claw (5) is conical, and the inclination angle of the picking rod (52) is consistent with the bending angle of the mechanical claw (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110470775.5A CN113305869A (en) | 2021-04-29 | 2021-04-29 | Industrial robot based on thing networking |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110470775.5A CN113305869A (en) | 2021-04-29 | 2021-04-29 | Industrial robot based on thing networking |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113305869A true CN113305869A (en) | 2021-08-27 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110470775.5A Withdrawn CN113305869A (en) | 2021-04-29 | 2021-04-29 | Industrial robot based on thing networking |
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| Country | Link |
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| CN (1) | CN113305869A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114507835A (en) * | 2022-03-15 | 2022-05-17 | 福州大学 | Zinc pot slag dragging robot with slag dragging device fast conversion device and method |
| CN116101558A (en) * | 2023-04-11 | 2023-05-12 | 沈阳爱尔泰医疗科技有限公司 | Transfer manipulator for abdomen-expanding portable oxygenerator |
| CN116160472A (en) * | 2022-11-30 | 2023-05-26 | 江苏伊凡诺尔智能科技有限公司 | Material transferring manipulator for assembly line |
-
2021
- 2021-04-29 CN CN202110470775.5A patent/CN113305869A/en not_active Withdrawn
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114507835A (en) * | 2022-03-15 | 2022-05-17 | 福州大学 | Zinc pot slag dragging robot with slag dragging device fast conversion device and method |
| CN114507835B (en) * | 2022-03-15 | 2023-02-28 | 福州大学 | Zinc pot slag dragging robot with slag dragging device fast conversion device and method |
| CN116160472A (en) * | 2022-11-30 | 2023-05-26 | 江苏伊凡诺尔智能科技有限公司 | Material transferring manipulator for assembly line |
| CN116160472B (en) * | 2022-11-30 | 2023-11-07 | 江苏伊凡诺尔智能科技有限公司 | Material transferring manipulator for assembly line |
| CN116101558A (en) * | 2023-04-11 | 2023-05-12 | 沈阳爱尔泰医疗科技有限公司 | Transfer manipulator for abdomen-expanding portable oxygenerator |
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