CN113387173A - Robot for industrial production - Google Patents
Robot for industrial production Download PDFInfo
- Publication number
- CN113387173A CN113387173A CN202110528444.2A CN202110528444A CN113387173A CN 113387173 A CN113387173 A CN 113387173A CN 202110528444 A CN202110528444 A CN 202110528444A CN 113387173 A CN113387173 A CN 113387173A
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- China
- Prior art keywords
- arc
- grabber
- disc
- mechanical claw
- claw
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/915—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems with rotary movements only
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
- F16F15/04—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means
- F16F15/06—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means with metal springs
- F16F15/067—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means with metal springs using only wound springs
Abstract
The invention belongs to the technical field of robots, and particularly relates to a robot for industrial production, which comprises a main body, a fixed disc, a group of first mechanical claws and a group of clamping rods, wherein the main body is provided with a first clamping rod; the grabbing platform in the main body is fixedly connected with a fixed disc, the fixed disc is uniformly and circumferentially connected with a first mechanical claw in a rotating mode, and the cross section of the first mechanical claw is arc-shaped; when the bottom of the grabber is large in friction force with the ground, the grabber is large in friction force with the ground and cannot slide, so that the grabber is inclined, for example, the weight of the grabber is large or a supporting foot is arranged at the bottom of the grabber, the grabber is inclined to contact with the clamping plate of which the other part is not in contact with the grabber, the clamping plate moves towards the direction close to the lantern ring under the action force of the inclined grabber, the first spring between the clamping rod and the lantern ring contracts at the moment, the grabber after inclined is damped, the damping effect of the robot during grabbing is increased, the robot is protected, the grabber is grabbed, and the stability of the robot during grabbing is increased.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a robot for industrial production.
Background
Robots are the product of the organic combination of machinery and computer programs. With the continuous development of economy and the rapid advance of science and technology in China, the robot has quite wide application in the industries of stacking, gluing, spot welding, arc welding, spraying, carrying, measuring and the like; the robot palletizer is a robot for industrial production which can carry out automatic palletizing operation.
The technical scheme of the robot for industrial production also appears in the prior art, and for example, a chinese patent with application number CN2019110097114 discloses a palletizing robot, which comprises a fixed seat, wherein a groove is formed in the middle position of the upper surface of the fixed seat, a transposition motor is arranged in the groove, a rotating end of the transposition motor is fixedly provided with a turntable, the turntable is rotatably connected in the groove, a support column is fixedly arranged in the middle position of the upper surface of the turntable, and objects with different shapes or overlarge sizes can be palletized through the matching arrangement of a mechanical claw and a vacuum chuck; however, the technical scheme has the defects that when an article with a larger size is clamped, the article cannot be clamped, two mechanical claws can be separated, the smooth top of the article is sucked by using a vacuum chuck for stacking operation, a robot is in a moving state for carrying and stacking, so that the article is driven to move, the article is adsorbed by the vacuum chuck in the process of carrying the article, the article is fixed through one surface, the article is shaken in the process of carrying, the possibility of collision of the object during stacking is caused by shaking, and the stability of the article in the process of carrying is reduced; under the condition that the limiting plate does not move to the central position of the article, the mechanical claws clamp the article, one side of the mechanical claws contact the article, the article is pushed towards the middle to be matched with the other side of the mechanical claws to clamp the article, the other side of the mechanical claws do not contact the article, the article is inclined or toppled under the thrust force, and the article collides with the mechanical claws, which do not contact the article, of the other side of the mechanical claws, so that the article is possibly damaged.
In view of the above, the present invention provides a robot for industrial production, which solves the above problems.
Disclosure of Invention
The invention provides a robot for industrial production, which aims to make up the defects of the prior art and solve the problem that when a mechanical claw cannot contact an article simultaneously, the article inclines or topples over and collides with the mechanical claw, so that the article is damaged.
The technical scheme adopted by the invention for solving the technical problems is as follows: the invention relates to a robot for industrial production, which comprises a main body, a fixed disc, a group of first mechanical claws and a group of clamping rods, wherein the main body is provided with a first clamping groove; the grabbing platform in the main body is fixedly connected with a fixed disc, the fixed disc is uniformly and circumferentially connected with a first mechanical claw in a rotating mode, and the cross section of the first mechanical claw is arc-shaped; the positions, far away from the fixed disc, of the first mechanical claw are fixedly connected with lantern rings, the central positions of the lantern rings are connected with clamping rods in a sliding mode, and one ends of the clamping rods face the grabbed object; one end of the clamping rod, which is close to the grabber, is provided with a clamping plate in a ball-joint mode; the interior of the lantern ring is hollow, and a first spring is arranged in the lantern ring; the first springs are all sleeved on the clamping rods, one ends of the first springs, far away from the clamping plates, are fixedly connected with the inner walls of the lantern rings, and one ends of the first springs, close to the clamping plates, are fixedly connected with the clamping rods; the bottom center of the fixed disk is fixedly connected with a mandril, one end of the mandril, which is far away from the fixed disk, is hemispherical, and the surface of the mandril is covered with a layer of foam plastic.
When the robot is used, the robot is started, the robot is controlled by a computer to carry out grabbing and carrying, the robot moves to move the fixed disc above a grabbed object, the fixed disc descends until the ejector rod contacts the top end of the grabbed object, the first mechanical claw rotates to drive the lantern ring to move, the lantern ring drives the clamping rod to move, and the clamping rod drives the clamping plate to clamp the grabbed object; when the fixed disc is not positioned at the center of the grabber, one part of the clamping plates are contacted with the grabber, the other part of the clamping plates are not contacted with the grabber, the first mechanical claw continuously contracts, the first mechanical claw contacted with the grabber pushes the grabber to the center of the fixed disc, the grabber is forced to slide on the ground or a production line platform until the other part of the first mechanical claw not contacted with the grabber is contacted with the grabber to clamp the grabber, when the friction force between the bottom of the grabber and the ground is large, the friction force between the grabber and the ground is large, the grabber cannot slide, and the grabber inclines, such as the weight of the grabber is large or a supporting foot is arranged at the bottom of the grabber, the grabber inclines to contact the other part of the clamping plates not contacted with the grabber, the clamping plates move towards the direction close to the lantern ring under the action force of the toppling of the grabber, and the first spring between the clamping rod and the lantern ring contracts, to the shock attenuation of snatching the thing after heeling, prevent to grab and get the thing and heels, directly collide a gripper, lead to damaging and grab the thing, shock attenuation effect when increasing the robot and snatching to protect the robot and grab and get the thing, increase the stability when robot snatchs.
Preferably, the surface of one side, close to the grabbed object, of the clamping plate is a rough surface made of rubber, a group of counter bores are uniformly formed in one side, close to the grabbed object, of the clamping plate, and each counter bore consists of a first hole and a second hole; a first rod is connected in the second hole in a sliding manner, and the first rod is fixedly connected with the bottom of the second hole through a spring; one end of the first rod, which is far away from the clamping plate, is fixedly connected with a circular sucker, and the sucker is positioned outside the second hole.
When the grabbing device is used, the clamping plate clamps the grabbed objects, the clamping plate moves to drive the first rod to move, the first rod drives the sucker to be adsorbed on the surface of the grabbed objects, the clamping plate continues to clamp the grabbed objects, the sucker is stressed to drive the first rod to retract into the first hole through the spring until the clamping plate contacts the surface of the grabbed objects, and through the matching between the sucker and the rough surface of the clamping plate, when the grabbed objects are clamped by the first mechanical claw, the friction force of the clamping plate on the grabbed objects is increased, the skid resistance of the first mechanical claw is increased, and therefore the stability of the grabbed objects in the carrying process is increased; under snatching the smooth condition of thing surface, the grip block passes through the spring and drives a pole motion, and a pole extrusion sucking disc for the air extrusion in the sucking disc, make the sucking disc produce the adsorption to snatching the thing surface, further increase the grip block to the frictional force who snatchs the thing, thereby increase the antiskid nature of gripper, make the stability improvement to snatching the thing in handling of gripper.
Preferably, the section of the sucker consists of an arc a, an arc b and an arc c, the arc a is connected with one end of the arc b, and the other end of the arc b is connected with the arc c; the radius of the arc b is larger than the radii of the arc a and the arc c, the opening directions of the arc a and the arc c face the clamping rod, and the opening direction of the arc b is far away from the clamping rod; the end, far away from the arc b, of the arc a is fixedly connected to the inner wall position, close to the end face of the clamping plate, of the first hole, the position of the arc c is symmetrical to that of the arc a, and the position of the arc b is fixedly connected with the end, far away from the second hole, of the first rod.
During the use, when the robot will snatch the thing transport and accomplish and put down, gripper opens No. one, gripper drives the lantern ring motion, the lantern ring drives the motion of clamp bar, clamp bar drives the clamp plate and moves to keeping away from the direction of grabbing the thing, because the one end of circular arc a and circular arc b links firmly on an downthehole wall, the clamp plate pulls circular arc a and the circular arc b part in the sucking disc and keeps away from and grabs the thing surface, make circular arc b's position not produce the adsorption of sucking disc in the sucking disc, thereby make the sucking disc break away from automatically and grab the thing surface of getting, increase the practicality of sucking disc.
Preferably, it is characterized in that: one end of the first mechanical claw, which is far away from the fixed disc, is hinged with a second mechanical claw, the second mechanical claw rotates towards the fixed disc, and the rotation amplitude of the second mechanical claw is smaller than the degree; when the mechanical gripper does not work, the included angle between the first mechanical gripper and the second mechanical gripper is smaller than degree; the section of the second mechanical claw is arc-shaped, and the second mechanical claw is bent towards the direction far away from the fixed disc; and one end of the second mechanical claw, which is far away from the first mechanical claw, is rotatably connected with a disc.
During the use, the clamp plate presss from both sides tightly and grabs the thing back, gripper motion No. one, drive No. two gripper motions, No. two grippers drive the disc contact and grab the thing, gripper motion No. one, No. two grippers rotate to the fixed disk direction, drive the disc and move to the fixed disk direction, the disc motion will grab the thing and push away to clamp plate and ejector pin, through the disc, cooperation between clamp plate and the ejector pin, make a gripper stably grab the thing from many places, increase and grab the lifting surface who gets the thing, thereby increase and grab the stability of getting the thing in handling, prevent to grab the thing and rock in handling, lead to grabbing the thing and collide with the fish tail, damage and grab the thing.
Preferably, all install the gasbag between a gripper and No. two grippers, the gasbag links firmly with a gripper and No. two grippers, and the thing is grabbed to gasbag opening direction orientation.
When the air bag type gripper is used, the second gripper rotates towards the fixed disc, and due to the fact that the air bag is arranged, when the second gripper rotates towards the fixed disc, the second gripper extrudes the air bag, so that the air bag blows air to a grabbed object, dust on the surface of the grabbed object is blown away, and the cleanliness of the grabbed object is improved; no. two gripper continues to rotate to the fixed disk, and No. one gripper of surface contact that No. two grippers are close to a gripper for No. two grippers pass through gasbag flexible contact with a gripper, prevent No. two grippers and a gripper rigid contact, lead to No. two grippers atress too big bending deformation, damage the part.
Preferably, the disc corresponds the surface of grabbing the thing and evenly links firmly a set of claw that colludes, and the one end that colludes the claw all links firmly on the disc, colludes the crooked orientation fixed disk of the one end that the disc was kept away from to the claw, colludes the claw and is the rubber material.
During the use, the gripper drives No. two gripper motions, No. two gripper drive disc motion, the disc drives and colludes the claw contact and grabs the thing surface of getting, collude the one end contact that the disc was kept away from to the claw and grabs the thing surface of getting, owing to collude the crooked fixed disk of claw one end, collude the claw and receive disc extrusion deformation, make the one end that colludes the claw and keep away from the fixed disk hug closely and snatch the thing surface and move towards the fixed disk direction, thereby it pushes away to the ejector pin direction to drive to grab the thing, further increase and grab the stability of getting the thing in handling.
The invention has the following beneficial effects:
1. according to the robot for industrial production, the lantern ring, the spring and the clamping rod are matched, when the friction force between the bottom of the grabber and the ground is large, the grabber has large friction force with the ground and cannot slide, the grabber is toppled to contact the other part of the clamping plate which is not in contact with the grabber, the spring between the clamping rod and the lantern ring contracts, the grabber after being tilted is damped, the damping effect of the robot during grabbing is increased, and therefore the robot and the grabber are protected.
2. According to the robot for industrial production, the sucker is matched with the rough surface of the clamping plate, the clamping plate moves to drive the first rod to move, the first rod drives the sucker to be adsorbed on the surface of a grabbed object, the clamping plate continues to clamp the grabbed object, the sucker is stressed to drive the first rod to retract into the first hole through the spring until the clamping plate contacts the surface of the grabbed object, and the friction force of the clamping plate on the grabbed object is increased.
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 a grasping portion in the present invention;
FIG. 3 is a schematic view of the structure of the grasping portion in the present invention;
FIG. 4 is an enlarged view of a portion of FIG. 3 at A;
FIG. 5 is an enlarged view of a portion of the suction cup of FIG. 3 shown without the suction cup removed from the grasp object at point B;
FIG. 6 is an enlarged view of a portion of the suction cup of FIG. 3 shown removed from the gripper at C;
in the figure: the clamping device comprises a main body 1, a fixed disc 2, a first mechanical claw 3, a lantern ring 31, a clamping rod 32, a first spring 33, a clamping plate 34, a counter bore 35, a first hole 36, a second hole 37, a first rod 38, a sucking disc 39, a top rod 4, a second mechanical claw 5, an air bag 51, a disc 52 and a hook claw 53.
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 6, the robot for industrial production according to the present invention includes a main body 1, a fixed plate 2, a set of first mechanical claws 3, and a set of clamping rods 32; the grabbing platform in the main body 1 is fixedly connected with a fixed disc 2, a first mechanical claw 3 is uniformly and circumferentially connected to the fixed disc 2 in a rotating mode, and the section of the first mechanical claw 3 is arc-shaped; a lantern ring 31 is fixedly connected to the first mechanical claw 3 at a position far away from the fixed disc 2, a clamping rod 32 is connected to the center of the lantern ring 31 in a sliding mode, and one end of the clamping rod 32 faces towards the grabbed object; a clamping plate 34 is ball-jointed at one end of the clamping rod 32 close to the grabber; the interior of the lantern ring 31 is hollow, and a first spring 33 is arranged in the lantern ring 31; the first springs 33 are sleeved on the clamping rod 32, one ends of the first springs 33, far away from the clamping plate 34, are fixedly connected with the inner wall of the lantern ring 31, and one ends of the first springs 33, close to the clamping plate 34, are fixedly connected with the clamping rod 32; the center position of the bottom end of the fixed disk 2 is fixedly connected with a mandril 4, one end of the mandril 4 far away from the fixed disk 2 is hemispherical, and the surface of the mandril 4 is covered with a layer of foam plastic.
When the robot is used, the robot is started, the robot is controlled by a computer to grab and carry, the robot moves to move the fixed disc 2 above a grabbed object, the fixed disc 2 descends until the ejector rod 4 contacts the top end of the grabbed object, the first mechanical claw 3 rotates to drive the lantern ring 31 to move, the lantern ring 31 drives the clamping rod 32 to move, and the clamping rod 32 drives the clamping plate 34 to clamp the grabbed object; when the fixed tray 2 is not at the center of the grabber, one part of the clamping plate 34 contacts with the grabber, the other part of the clamping plate 34 does not contact with the grabber, the first mechanical claw 3 continues to contract, the first mechanical claw 3 contacting with the grabber pushes the grabber towards the center of the fixed tray 2, the grabber is forced to slide on the ground or a production line platform until the first mechanical claw 3 not contacting with the grabber contacts with the grabber, the grabber is clamped, when the friction force between the bottom of the grabber and the ground is large, the friction force between the grabber and the ground is large and the grabber cannot slide, so that the grabber tilts, for example, the weight of the grabber is large or the bottom of the grabber is provided with a supporting foot, the grabber tilts to contact the other part of the clamping plate 34 not contacting with the grabber, the clamping plate 34 moves towards the direction close to the collar 31 under the action of the tilting of the grabber, and at the moment, the first spring 33 between the clamping rod 32 and the collar 31 contracts, to the shock attenuation of snatching the thing after heeling, prevent to grab and get the thing and heels, directly collide a gripper 3, lead to damaging to grab and get the thing, shock attenuation effect when increasing the robot and snatching to protect the robot and grab and get the thing, increase the stability when robot snatchs.
As an embodiment of the invention, the surface of one side of the clamping plate 34 close to the grasped object is a rough surface made of rubber, a group of counter bores 35 are uniformly formed in one side of the clamping plate 34 close to the grasped object, and each counter bore 35 is composed of a first hole 36 and a second hole 37; a first rod 38 is connected in the second hole 37 in a sliding manner, and the first rod 38 is fixedly connected with the bottom of the second hole 37 through a spring; the end of the first rod 38 away from the clamping plate 34 is fixedly connected with a circular suction cup 39, and the suction cup 39 is located outside the second hole 37.
When the grabbing device is used, the clamping plate 34 clamps the grabbed objects, the clamping plate 34 moves to drive the first rod 38 to move, the first rod 38 drives the sucker 39 to be adsorbed on the surface of the grabbed objects, the clamping plate 34 continues to clamp the grabbed objects, the sucker 39 is stressed to drive the first rod 38 to retract into the first hole 36 through the spring until the clamping plate 34 contacts the surface of the grabbed objects, and through the matching between the sucker 39 and the rough surface of the clamping plate 34, when the grabbed objects are clamped by the first mechanical claw 3, the friction force of the clamping plate 34 on the grabbed objects is increased, and the skid resistance of the first mechanical claw 3 is increased, so that the stability of the grabbed objects in the carrying process is increased; under the smooth condition of snatching the thing surface, clamp plate 34 passes through the motion of spring drive first pole 38, and first pole 38 extrudees sucking disc 39, extrudees sucking disc 39 with the air in sucking disc 39 for sucking disc 39 produces the adsorption to snatching the thing surface, further increases clamp plate 34 to the frictional force of snatching the thing, thereby increases gripper 3's antiskid nature, makes gripper 3 improve the stability of snatching the thing in handling.
As an embodiment of the present invention, the suction cup 39 has a cross section composed of an arc a, an arc b and an arc c, wherein the arc a is connected with one end of the arc b, and the other end of the arc b is connected with the arc c; the radius of the arc b is larger than the radii of the arc a and the arc c, the opening directions of the arc a and the arc c face the clamping rod 32, and the opening direction of the arc b is far away from the clamping rod 32; one end of the circular arc a, which is far away from the circular arc b, is fixedly connected to the inner wall position of the first hole 36, which is close to the end face of the clamping plate 34, the position of the circular arc c is symmetrical to the position of the circular arc a, and the position of the circular arc b is fixedly connected to one end, which is far away from the second hole 37, of the first rod 38.
During the use, when the robot will snatch the thing transport and accomplish and put down, gripper 3 opens, gripper 3 drives the lantern ring 31 motion, lantern ring 31 drives the motion of pressing from both sides tight pole 32, press from both sides tight pole 32 and drive clamp plate 34 to keeping away from the direction motion of grabbing the thing, because the one end of circular arc a and circular arc b links firmly on 36 inner walls of a hole, clamp plate 34 drags circular arc a and the circular arc b part of sucking disc 39 in and keeps away from and grabs the thing surface of getting, make the position of circular arc b not produce the adsorption to sucking disc 39 in the sucking disc 39, thereby make sucking disc 39 break away from automatically and grab the thing surface of getting, increase sucking disc 39's practicality.
In one embodiment of the present invention, the method includes: one end of the first mechanical claw 3, which is far away from the fixed disc 2, is hinged with a second mechanical claw 5, the second mechanical claw 5 rotates towards the fixed disc 2, and the rotation amplitude of the second mechanical claw 5 is smaller than the degree; when the mechanical gripper does not work, the included angle between the first mechanical gripper 3 and the second mechanical gripper 5 is smaller than degree; the section of the second mechanical claw 5 is arc-shaped, and the second mechanical claw 5 is bent towards the direction far away from the fixed disc 2; and one end of the second mechanical claw 5, which is far away from the first mechanical claw 3, is rotatably connected with a disc 52.
During the use, the thing back is grabbed in the clamp plate 34 clamp, gripper 3 moves, drive the motion of No. two gripper 5, No. two gripper 5 drive disc 52 contact and grab the thing, gripper 3 continues the motion, extrude No. two gripper 5, gripper 5 rotates to fixed disk 2 direction, drive disc 52 and move to fixed disk 2 direction, disc 52 moves and will grab the thing and push away to clamp plate 34 and ejector pin 4, through disc 52, the cooperation between clamp plate 34 and the ejector pin 4, make gripper 3 stably grab the thing from many places, increase and grab the lifting surface who gets the thing, thereby increase and grab the stability of getting the thing in handling, prevent to grab the thing and rock in handling, lead to snatching the thing and collide with the fish tail, damage and grab the thing.
According to one embodiment of the invention, air bags 51 are installed between the first mechanical claw 3 and the second mechanical claw 5, the air bags 51 are fixedly connected with the first mechanical claw 3 and the second mechanical claw 5, and the opening direction of the air bags 51 faces to the grabber.
When the gripper is used, the second gripper 5 rotates towards the fixed disk 2, and due to the arrangement of the air bag 51, when the second gripper 5 rotates towards the fixed disk 2, the air bag 51 is extruded by the second gripper 5, so that the air bag 51 blows air to a grabbed object, dust on the surface of the grabbed object is blown away, and the cleanliness of the grabbed object is increased; the second mechanical claw 5 continuously rotates towards the fixed disc 2 until the surface of the second mechanical claw 5 close to the first mechanical claw 3 contacts the first mechanical claw 3, so that the second mechanical claw 5 is in flexible contact with the first mechanical claw 3 through the air bag 51, and the second mechanical claw 5 is prevented from being in rigid contact with the first mechanical claw 3, and the second mechanical claw 5 is subjected to excessive stress, bent and deformed, and a part is damaged.
As an embodiment of the present invention, a group of hooks 53 is uniformly fixedly connected to the outer surface of the disc 52 corresponding to the grabber, one end of each hook 53 is fixedly connected to the disc 52, one end of each hook 53 away from the disc 52 is bent toward the fixed disc 2, and each hook 53 is made of rubber.
During the use, gripper 3 drives the motion of No. two gripper 5, No. two gripper 5 drives the disc 52 motion, disc 52 drives and colludes the contact of claw 53 and grabs the thing surface of getting, collude the one end contact that claw 53 kept away from disc 52 and grabs the thing surface of getting, owing to collude the crooked fixed disk 2 that faces of claw 53 one end, collude claw 53 and receive disc 52 extrusion deformation, make the one end that claw 53 kept away from fixed disk 2 hug closely and snatch the thing surface and move to fixed disk 2 direction, thereby it pushes away to ejector pin 4 direction to drive to grab the thing, further increase and grab the stability of getting the thing in handling.
The specific working process is as follows:
starting the robot, controlling the robot to grab and carry by a computer, when the fixed disk 2 is not at the center of the grabbed object, one part of the clamping plate 34 contacts the grabbed object, the other part of the clamping plate 34 does not contact the grabbed object, the first mechanical claw 3 continuously contracts, the first mechanical claw 3 contacting the grabbed object pushes the grabbed object to the center of the fixed disk 2, the grabbed object is stressed to slide on the ground or a production line platform until the other part of the first mechanical claw 3 not contacting the grabbed object contacts the grabbed object to clamp the grabbed object, when the friction force between the bottom of the grabbed object and the ground is larger, the friction force between the grabbed object and the ground is larger, the grabbed object cannot slide, the grabbed object is inclined, for example, the weight of the grabbed object is larger, or the bottom of the grabbed object is provided with a supporting foot, the grabbed object is inclined to contact the other part of the clamping plate 34 not contacting the grabbed object, and the clamping plate 34 moves towards the direction close to the lantern ring 31 under the action force of the inclined grabbed object, at the moment, a first spring 33 between the clamping rod 32 and the sleeve ring 31 contracts to absorb shock to the inclined grabbed objects; the clamping plate 34 clamps the grabbed object, the clamping plate 34 moves to drive the first rod 38 to move, the first rod 38 drives the suction cup 39 to be adsorbed on the surface of the grabbed object, the clamping plate 34 continues to clamp the grabbed object, and the suction cup 39 is forced to drive the first rod 38 to retract into the first hole 36 through the spring until the clamping plate 34 contacts the surface of the grabbed object; when the robot finishes the transportation of the grabbed objects and puts down, the first mechanical claw 3 opens, the first mechanical claw 3 drives the lantern ring 31 to move, the lantern ring 31 drives the clamping rod 32 to move, the clamping rod 32 drives the clamping plate 34 to move towards the direction far away from the grabbed objects, and as one ends of the circular arc a and the circular arc b are fixedly connected to the inner wall of the first hole 36, the clamping plate 34 pulls the parts of the circular arc a and the circular arc b in the sucker 39 to be far away from the surface of the grabbed objects, so that the position of the circular arc b in the sucker 39 does not have the adsorption effect on the sucker 39; after the clamping plate 34 clamps the grabbed object, the first mechanical claw 3 moves to drive the second mechanical claw 5 to move, the second mechanical claw 5 drives the disc 52 to contact the grabbed object, the first mechanical claw 3 continues to move to extrude the second mechanical claw 5, the second mechanical claw 5 rotates towards the fixed disc 2 to drive the disc 52 to move towards the fixed disc 2, and the disc 52 moves to push the grabbed object towards the clamping plate 34 and the ejector rod 4, so that the first mechanical claw 3 stably grabs the object from multiple places; the second mechanical claw 5 rotates towards the fixed disc 2, and when the second mechanical claw 5 rotates towards the fixed disc 2, the second mechanical claw 5 extrudes the air bag 51, so that the air bag 51 blows air to the grabbed objects, dust on the surfaces of the grabbed objects is blown away, and the cleanliness of the grabbed objects is improved; no. one gripper 3 drives No. two gripper 5 and moves, No. two gripper 5 drives disc 52 and moves, disc 52 drives and colludes the contact of claw 53 and grabs the thing surface of getting, collude the one end contact that claw 53 kept away from disc 52 and grabs the thing surface of getting, owing to collude the crooked fixed disk 2 of claw 53 one end orientation, collude claw 53 and receive disc 52 extrusion deformation, make collude the one end that claw 53 kept away from fixed disk 2 and hug closely and snatch the thing surface and move to fixed disk 2 direction, thereby it pushes away to 4 directions of ejector pin to drive to grab the thing, further increase and grab the stability of getting the thing in handling.
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. A robot for industrial production, characterized in that: comprises a main body (1), a fixed disc (2), a group of first mechanical claws (3) and a group of clamping rods (32); the grabbing platform in the main body (1) is fixedly connected with a fixed disc (2), a first mechanical claw (3) is uniformly and circumferentially connected to the fixed disc (2) in a rotating mode, and the cross section of the first mechanical claw (3) is arc-shaped; the positions, far away from the fixed disc (2), of the first mechanical claw (3) are fixedly connected with lantern rings (31), the center positions of the lantern rings (31) are connected with clamping rods (32) in a sliding mode, and one ends of the clamping rods (32) face towards the grabbed object; one end of the clamping rod (32) close to the grabber is ball-jointed with a clamping plate (34); the interior of the lantern ring (31) is hollow, and a first spring (33) is arranged in the lantern ring (31); the first springs (33) are sleeved on the clamping rods (32), one ends of the first springs (33) far away from the clamping plates (34) are fixedly connected with the inner wall of the lantern ring (31), and one ends of the first springs (33) close to the clamping plates (34) are fixedly connected with the clamping rods (32); the fixed disk (2) bottom central point puts and has linked firmly ejector pin (4), and ejector pin (4) keep away from the one end of fixed disk (2) and be hemispherical, and ejector pin (4) surface covering one deck foamed plastic.
2. A robot for industrial production according to claim 1, wherein: the surface of one side, close to the grabbed object, of the clamping plate (34) is a rough surface made of rubber, a group of counter bores (35) are uniformly formed in one side, close to the grabbed object, of the clamping plate (34), and each counter bore (35) consists of a first hole (36) and a second hole (37); a first rod (38) is connected in the second hole (37) in a sliding manner, and the first rod (38) is fixedly connected with the bottom of the second hole (37) through a spring; one end of the first rod (38) far away from the clamping plate (34) is fixedly connected with a circular sucking disc (39), and the sucking disc (39) is positioned outside the second hole (37).
3. A robot for industrial production according to claim 2, wherein: the section of the sucker (39) consists of an arc a, an arc b and an arc c, the arc a is connected with one end of the arc b, and the other end of the arc b is connected with the arc c; the radius of the arc b is larger than the radii of the arc a and the arc c, the opening directions of the arc a and the arc c face the clamping rod (32), and the opening direction of the arc b is far away from the clamping rod (32); one end of the circular arc a, which is far away from the circular arc b, is fixedly connected to the inner wall position of the first hole (36), which is close to the end face of the clamping plate (34), the position of the circular arc c is symmetrical to the position of the circular arc a, and the circular arc b is fixedly connected with one end, which is far away from the second hole (37), of the first rod (38).
4. A robot for industrial production according to claim 3, wherein: one end, far away from the fixed disk (2), of the first mechanical claw (3) is hinged with a second mechanical claw (5), the second mechanical claw (5) rotates towards the fixed disk (2), and the rotation amplitude of the second mechanical claw (5) is smaller than the degree; when the mechanical gripper is not in work, the included angle between the first mechanical gripper (3) and the second mechanical gripper (5) is smaller than degree; the section of the second mechanical claw (5) is arc-shaped, and the second mechanical claw (5) is bent towards the direction far away from the fixed disc (2); and one end of the second mechanical claw (5) far away from the first mechanical claw (3) is rotatably connected with a disc (52).
5. The robot for industrial production according to claim 4, wherein: all install gasbag (51) between a gripper (3) and No. two grippers (5), gasbag (51) link firmly with a gripper (3) and No. two grippers (5), and gasbag (51) opening direction orientation is grabbed and is got the thing.
6. The robot for industrial production according to claim 5, wherein: disc (52) correspond the surface of grabbing the thing and evenly link firmly a set of claw (53) that collude, and the one end that colludes claw (53) all links firmly on disc (52), collude the crooked fixed disk (2) of the one end that disc (52) were kept away from in claw (53), collude claw (53) and be the rubber material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110528444.2A CN113387173A (en) | 2021-05-14 | 2021-05-14 | Robot for industrial production |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110528444.2A CN113387173A (en) | 2021-05-14 | 2021-05-14 | Robot for industrial production |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113387173A true CN113387173A (en) | 2021-09-14 |
Family
ID=77617096
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110528444.2A Withdrawn CN113387173A (en) | 2021-05-14 | 2021-05-14 | Robot for industrial production |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113387173A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115258389A (en) * | 2022-07-01 | 2022-11-01 | 湖南医药学院 | Tumor marker detection kit |
-
2021
- 2021-05-14 CN CN202110528444.2A patent/CN113387173A/en not_active Withdrawn
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115258389A (en) * | 2022-07-01 | 2022-11-01 | 湖南医药学院 | Tumor marker detection kit |
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Application publication date: 20210914 |