CN113319874B - Intelligent robot locking type end picking device - Google Patents
Intelligent robot locking type end picking device Download PDFInfo
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- CN113319874B CN113319874B CN202110645893.5A CN202110645893A CN113319874B CN 113319874 B CN113319874 B CN 113319874B CN 202110645893 A CN202110645893 A CN 202110645893A CN 113319874 B CN113319874 B CN 113319874B
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- 230000003068 static effect Effects 0.000 claims abstract description 30
- 230000007246 mechanism Effects 0.000 claims abstract description 28
- 239000012636 effector Substances 0.000 claims description 12
- 238000000034 method Methods 0.000 abstract description 7
- 230000008569 process Effects 0.000 abstract description 6
- 238000004519 manufacturing process Methods 0.000 description 16
- 239000000463 material Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Abstract
The invention belongs to the technical field of intelligent robots, and particularly relates to an intelligent robot locking type end picking device. The movable mould is arranged opposite to the static mould and is respectively connected with each linear driving mechanism through a plurality of groups of movable branched chains; the linear driving mechanism can drive the movable die to be close to or far away from the static die, so that the clamping or releasing function is realized. The invention has the advantages of light weight, flexible compensation in the process and low noise, and can realize a group of pneumatic control braking die and static die to compress and loosen the workpiece on two space surfaces required by the process.
Description
Technical Field
The invention belongs to the technical field of intelligent robots, and particularly relates to an intelligent robot locking type end picking device.
Background
A large number of locking type end effectors are currently employed in the intelligent robot and automation industries. With the progress of the times, the manpower production cost of the traditional manufacturing industry is gradually increased, and the popularization of the automatic production of the manufacturing industry is becoming urgent. In this situation, automated equipment such as robots, manipulators, etc. has been unprecedented in the field of manufacturing due to its many advantages, and has spread rapidly. In each carrying and stacking industry, the phenomenon that the manual production is converted into the robot automatic production is more obvious due to the severe production environment. Gradually, the overall level of automation of production and automation of the automotive industry has rapidly progressed. In addition to the fact that robots play a vital role in the whole automated production process, a component is also critical, namely the pick-up. The pick-off is used to pick and drop the workpiece as a connecting tie between the robot and the workpiece. The robot has the same effect, replaces two hands for grabbing parts, and assists the robot in carrying the parts in automatic production. However, the conventional end effector device has insufficient adaptive capability to the external dimensions of the workpiece, only supports gripping materials during production of single-variety workpieces, and has great production limitations.
Disclosure of Invention
Aiming at the problems, the invention aims to provide an intelligent robot locking type end effector, which solves the problems that the traditional end effector device has insufficient self-adaptive capacity to the external dimension of a workpiece, only supports grabbing materials during single-variety workpiece production and has great production limitation.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
The embodiment of the invention provides an intelligent robot locking type end picking device which comprises a clamping body, a movable mould, a static mould, a moving branched chain and linear driving mechanisms, wherein the clamping body is provided with the static mould and a plurality of linear driving mechanisms; the linear driving mechanism can drive the movable die to be close to or far away from the static die, so that the clamping or releasing function is realized.
In one possible implementation manner, the movement branched chain comprises two telescopic elastic clubs arranged in parallel, and two ends of each telescopic elastic club are respectively hinged with the movable mould and the output end of the linear driving mechanism.
In one possible implementation manner, the telescopic elastic club comprises a telescopic elastic club body and space spherical hinge heads connected to two ends of the telescopic elastic club body, wherein the two space spherical hinge heads are respectively hinged with the movable die and the output end of the linear driving mechanism.
In one possible implementation manner, the telescopic elastic rod body comprises a front telescopic rod, a middle rod, a rear telescopic rod, an elastic rod and a disc spring group, wherein the front telescopic rod and the rear telescopic rod are of hollow structures, the elastic rod is respectively connected in a sliding manner in the cavity, the disc spring group is sleeved on the elastic rod and is axially limited through a positioning spigot at one end of the elastic rod;
The other ends of the two elastic rods respectively penetrate through the front telescopic rod and the rear telescopic rod and are connected with the two ends of the middle rod.
The movable die and the static die are of T-shaped structures and are parallel to each other;
In one possible implementation manner, the moving branched chains are three groups and are respectively hinged to the left side, the right side and the rear side of the movable mould.
In one possible implementation manner, the linear driving mechanism is arranged between the clamping body and the static die, and the linear driving mechanism outputs power along a direction perpendicular to the moving direction of the movable die.
In one possible implementation manner, the linear driving mechanism comprises a cylinder body, a cylinder rod and a cylinder head, wherein the cylinder body is arranged on the clamping body, one end of the cylinder rod is in sliding fit with the cylinder body through a piston, the other end of the cylinder rod is connected with the cylinder head, and the cylinder head is hinged with the moving branched chain.
In one possible implementation, the cylinder head is in sliding engagement with the clamp body.
In one possible implementation, the linear driving mechanism further includes an electromagnetic braking band-type brake disposed on the grip body for holding or releasing the cylinder rod.
In one possible implementation, a connecting flange is provided on one side of the gripper body, and the connecting flange is used for connecting with the execution end of the intelligent robot.
The invention has the advantages and beneficial effects that:
1. the invention can realize a group of pneumatic control braking die and static die, and compress and loosen the workpiece on two space surfaces required by the process.
2. The invention can adapt to a workpiece with a certain thickness range by air pressure and elasticity.
3. The invention ensures that the movable die and the static die do not loosen the workpiece within a certain time under the conditions of unexpected gas interruption and power interruption due to the energy reserved by the electromagnetic brake and the elastic disc spring in the connecting rod, thereby improving the safety redundancy.
4. The invention has simple structure, convenient use and wide application range.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention may be realized and attained by the structure particularly pointed out in the written description and drawings.
The technical scheme of the invention is further described in detail through the drawings and the embodiments.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention. In the drawings:
FIG. 1 is an isometric view of a locking smart robotic end effector in accordance with an embodiment of the present invention;
FIG. 2 is a front view of an intelligent robotic locking end effector according to an embodiment of the present invention;
FIG. 3 is an enlarged view of the portion I of FIG. 2;
fig. 4 is an enlarged view of fig. 2 at ii.
In the figure: 1 is a connecting flange, 2 is a clamping body, 3 is a cylinder body, 4 is a cylinder rod, 5 is an electromagnetic brake band-type brake, 6 is a cylinder head, 7 is a front telescopic rod, 8 is a middle rod, 9 is a rear telescopic rod, 10 is a movable die, 11 is a workpiece, 12 is a static die, 13 is an elastic rod, 14 is a disc spring group, 15 is a space spherical hinge head, 16 is a spherical pair, and 20 is a telescopic elastic club.
Detailed Description
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
The preferred embodiments of the present invention will be described below with reference to the accompanying drawings, it being understood that the preferred embodiments described herein are for illustration and explanation of the present invention only, and are not intended to limit the present invention.
The locking type end effector of the intelligent robot, which is provided by the embodiment of the invention, is connected to the execution end of the intelligent robot, has the advantages of light weight, flexible compensation in the process and low noise, and can be suitable for grabbing and carrying workpieces of an automatic production line and the intelligent robot. Referring to fig. 1 to 2, the locking type end effector of an intelligent robot comprises a hand clamping body 2, a movable die 10, a static die 12, a moving branched chain and a linear driving mechanism, wherein the hand clamping body 2 is provided with the static die 12 and a plurality of linear driving mechanisms, the movable die 10 and the static die 12 are arranged oppositely, and the movable die 10 and the static die 12 are respectively connected with each linear driving mechanism through a plurality of groups of moving branched chains; the linear driving mechanism can drive the movable die 10 to be close to or far from the static die 12, so as to realize the clamping or releasing function.
In the embodiment of the invention, one side of the clamping body 2 is provided with a connecting flange 1, and the connecting flange 1 is used for connecting with the execution tail end of the intelligent robot. The linear driving mechanism is arranged between the clamping body 2 and the static die 12, and outputs power along the direction perpendicular to the moving direction of the movable die 10.
Specifically, the linear driving mechanism comprises a cylinder body 3, a cylinder rod 4 and a cylinder head 6, wherein the cylinder body 3 is arranged on the clamping body 2, one end of the cylinder rod 4 is in sliding fit with the cylinder body 3 through a piston, the other end of the cylinder rod is connected with the cylinder head 6, and the cylinder head 6 is hinged with the moving branched chain.
Further, the cylinder head 6 is slidably engaged with the grip body 2 to improve the smoothness of movement.
On the basis of the embodiment, the linear driving mechanism further comprises an electromagnetic braking band-type brake 5, wherein the electromagnetic braking band-type brake 5 is arranged on the clamping body 2 and is used for tightly holding or releasing the air cylinder rod 4. The electromagnetic braking band-type brake 5 can ensure that the movable die 10 and the static die 12 do not loose the workpiece within a certain time under the conditions of unexpected air break and power failure, thereby improving the safety redundancy.
In the embodiment of the invention, the movable die 10 and the static die 12 are of T-shaped structures and are parallel to each other; the moving branched chains are three groups and are respectively hinged on the left side, the right side and the back side of the movable mould 10. Corresponding to the three groups of movement branched chains, three cylinder blocks 3 are arranged on the clamping body 2, and the static mold 12 is fixed on the clamping body 2 through the three cylinder blocks 3. Specifically, three cylinders are controlled by a group of air paths, so that synchronous movement of the three cylinders is realized. The number of the moving branches is not limited to three groups, and may be defined according to the specific circumstances.
Referring to fig. 1, in the embodiment of the present invention, the moving branched chain includes two telescopic elastic clubs 20 arranged in parallel, and two ends of each telescopic elastic club 20 are respectively hinged to the movable mold 10 and the cylinder head 6 of the linear driving mechanism.
Specifically, the telescopic elastic club 20 comprises a telescopic elastic club body and space spherical hinge heads 15 connected to two ends of the telescopic elastic club body, and the two space spherical hinge heads 15 are hinged with the movable die 10 and the cylinder head 6 respectively. Referring to fig. 2 to 4, the telescopic elastic rod body comprises a front telescopic rod 7, a middle rod 8, a rear telescopic rod 9, an elastic rod 13 and a disc spring set 14, wherein the front telescopic rod 7 and the rear telescopic rod 9 are of hollow structures, the elastic rod 13 is respectively connected in a sliding manner in a cavity, the disc spring set 14 is sleeved on the elastic rod 13, and the disc spring set is axially limited through a positioning spigot at one end of the elastic rod 13; the other ends of the two elastic rods 13 respectively penetrate through the front telescopic rod 7 and the rear telescopic rod 9 and then are connected with the two ends of the middle rod 8, so that the front telescopic rod 7 and the rear telescopic rod 9 can stretch and retract relative to the middle rod 8, namely, the two elastic rods 13 respectively form a linear cylinder pair with the front telescopic rod 7 and the rear telescopic rod 9, and form an elastic floating relation through the disc spring set 14, and the front telescopic rod 7 and the rear telescopic rod 9 are locked through adjustable nuts. The telescopic elastic ball rod 20 is self-adaptive to workpieces with a certain thickness range through the elastic force of the disc spring group 14.
In the embodiment of the invention, the cylinder rod 4 can do linear fixed stroke telescopic movement in the cylinder body 3. The electromagnetic brake 5 can be locked or unlocked at any position, so that the cylinder rod 4 is locked at any position in the linear motion section of the cylinder body 3. The shell of the electromagnetic braking band-type brake 5 is fixedly connected relative to the clamping body 2, and the braking tile action target of the electromagnetic braking band-type brake 5 is the relative movement of the cylinder rod 4. The cylinder head 6 is connected to the piston-free end of the cylinder rod 4, and one surface of the cylinder head 6 and the clamping body form a plane kinematic pair. One end of the two telescopic elastic ball bars 20 and the cylinder head 6 form a space ball hinge through the two ball pairs 16, and the other end of the two telescopic elastic ball bars 20 and the movable mould 10 form a space ball hinge through the two ball pairs respectively.
The embodiment of the invention provides an intelligent robot locking type end effector, which comprises the following working procedures;
The first step, a static mold 12 is attached to one surface of a workpiece 11;
secondly, unlocking three electromagnetic brake band-type brakes 5, wherein the cylinder rod 4 can do linear motion relative to the cylinder body 3;
thirdly, the three cylinders start to extend, and the cylinder rod 4 performs extending movement relative to the cylinder body 3;
Fourthly, the three groups of moving branched chains drive the movable die 10 to move towards the direction close to the static die 12, so that the movable die 10 compresses the other surface of the workpiece 11; at this time, the six telescopic elastic clubs 20 are stretched, so that the disc spring set 14 is compressed, and elastic energy is stored. Due to the elastic system disturbance of the disc spring set 14, one set of air passages effectively distributes the air pressure energy of the three air cylinders. The compression reaction force of the workpiece 11 to the movable die 10, the elastic force of the disc spring set 14 and the tensile force of the three cylinders form a first space balance force system of the static die 12 and the movable die 10 to the workpiece 11.
And fifthly, three electromagnetic braking band-type brakes 5 lock the three cylinder rods 4 to form double safety protection. At this time, the pressing reaction force of the workpiece 11 to the movable die 10, the elastic force of the disc spring set 14, and the three electromagnetic braking forces form a second space balance force system of the stationary die 12 and the movable die 10 to the workpiece 11.
The intelligent end effector clamping process is the reverse process.
The invention can adapt to a workpiece with a certain thickness range by air pressure and the elasticity of the disc spring set 14. Because the electromagnetic braking band-type brake 5 and the disc spring group 14 in the telescopic elastic ball rod 20 store energy, the movable die 10 and the static die 12 do not loosen the workpiece within a certain time under the conditions of unexpected air-break and power-off, and the safety redundancy is improved.
The invention has simple structure, strong self-adaption capability to the external dimension of the workpiece, capability of grabbing and taking various workpieces, convenient use and wide application range.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (3)
1. The intelligent robot locking type end picking device is characterized by comprising a clamping body (2), a movable die (10), a static die (12), a motion branched chain and a linear driving mechanism, wherein the static die (12) and a plurality of linear driving mechanisms are arranged on the clamping body (2), the movable die (10) and the static die (12) are oppositely arranged, and the movable die and the static die are respectively connected with the linear driving mechanisms through a plurality of groups of motion branched chains; the linear driving mechanism can drive the movable die (10) to be close to or far away from the static die (12) so as to realize the clamping or releasing function;
The motion branched chain comprises two telescopic elastic ball rods (20) which are arranged in parallel, and two ends of each telescopic elastic ball rod (20) are respectively hinged with the movable mould (10) and the output end of the linear driving mechanism; the telescopic elastic club (20) comprises a telescopic elastic club body and space spherical hinge heads (15) connected to two ends of the telescopic elastic club body, and the two space spherical hinge heads (15) are respectively hinged with the movable die (10) and the output end of the linear driving mechanism;
The telescopic elastic rod body comprises a front telescopic rod (7), a middle rod (8), a rear telescopic rod (9), an elastic rod (13) and a disc spring set (14), wherein the front telescopic rod (7) and the rear telescopic rod (9) are of hollow structures, the elastic rod (13) is respectively connected in the cavity in a sliding manner, the disc spring set (14) is sleeved on the elastic rod (13), and the disc spring set is axially limited through a positioning spigot at one end of the elastic rod (13);
The other ends of the two elastic rods (13) respectively penetrate through the front telescopic rod (7) and the rear telescopic rod (9) and are connected with two ends of the middle rod (8);
The linear driving mechanism is arranged between the clamping body (2) and the static die (12), and outputs power along the direction perpendicular to the moving direction of the movable die (10); the linear driving mechanism comprises a cylinder body (3), a cylinder rod (4) and a cylinder head (6), wherein the cylinder body (3) is arranged on the tong body (2), one end of the cylinder rod (4) is in sliding fit with the cylinder body (3) through a piston, the other end of the cylinder rod is connected with the cylinder head (6), and the cylinder head (6) is hinged with the moving branched chain; the cylinder head (6) is in sliding fit with the clamping body (2);
The linear driving mechanism further comprises an electromagnetic braking band-type brake (5), and the electromagnetic braking band-type brake (5) is arranged on the tong body (2) and used for tightly holding or releasing the air cylinder rod (4).
2. The intelligent robotic locking end effector as claimed in claim 1, wherein the movable die (10) and the stationary die (12) are both of T-shaped configuration and parallel to each other;
the moving branched chains are three groups and are respectively hinged to the left side, the right side and the rear side of the movable mould (10).
3. The intelligent robot locking type end effector as claimed in claim 1, wherein a connecting flange (1) is arranged on one side of the gripper body (2), and the connecting flange (1) is used for being connected with an execution end of the intelligent robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110645893.5A CN113319874B (en) | 2021-06-10 | Intelligent robot locking type end picking device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110645893.5A CN113319874B (en) | 2021-06-10 | Intelligent robot locking type end picking device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113319874A CN113319874A (en) | 2021-08-31 |
| CN113319874B true CN113319874B (en) | 2024-06-11 |
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| CN204321628U (en) * | 2014-11-14 | 2015-05-13 | 平高集团有限公司 | Shielding ball clamping tool |
| CN205021911U (en) * | 2015-08-17 | 2016-02-10 | 泉州市科信精密模具有限公司 | Ear cap mould |
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| CN210967971U (en) * | 2019-09-26 | 2020-07-10 | 常州市大杰智能装备有限公司 | Clamping device of numerical control machine tool |
| CN211164018U (en) * | 2019-09-05 | 2020-08-04 | 大族激光科技产业集团股份有限公司 | Clamping jaw device |
| RU2729690C1 (en) * | 2019-11-19 | 2020-08-11 | Владимир Иванович Пожбелко | Hinged clamping device |
| CN215240916U (en) * | 2021-06-10 | 2021-12-21 | 潍坊新松机器人自动化有限公司 | Intelligent robot locking type end effector |
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR19980061608A (en) * | 1996-12-31 | 1998-10-07 | 추호석 | Natural clamp device of the workpiece |
| JP2006340768A (en) * | 2005-06-07 | 2006-12-21 | Kanazawa Univ | Wearable robot hand |
| JP2012163134A (en) * | 2011-02-04 | 2012-08-30 | Shimizu Corp | Spring member |
| CN103862307A (en) * | 2012-12-17 | 2014-06-18 | 广东远东食品包装机械有限公司 | Fixture capable of self-adjusting position |
| CN204321628U (en) * | 2014-11-14 | 2015-05-13 | 平高集团有限公司 | Shielding ball clamping tool |
| CN205021911U (en) * | 2015-08-17 | 2016-02-10 | 泉州市科信精密模具有限公司 | Ear cap mould |
| CN105459095A (en) * | 2016-01-26 | 2016-04-06 | 安徽理工大学 | Three-freedom-degree series-parallel omni-directional mobile transfer robot |
| CN211164018U (en) * | 2019-09-05 | 2020-08-04 | 大族激光科技产业集团股份有限公司 | Clamping jaw device |
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| RU2729690C1 (en) * | 2019-11-19 | 2020-08-11 | Владимир Иванович Пожбелко | Hinged clamping device |
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