CN113412962B

CN113412962B - Robot paw and inclined needle movement device thereof

Info

Publication number: CN113412962B
Application number: CN202110907961.0A
Authority: CN
Inventors: 岳鑫; 李森; 谷晓旭; 黄亮; 邱小亮
Original assignee: Peitian Robot Technology Co Ltd
Current assignee: Peitian Robot Technology Co Ltd
Priority date: 2021-08-09
Filing date: 2021-08-09
Publication date: 2023-04-28
Anticipated expiration: 2041-08-09
Also published as: CN113412962A

Abstract

The invention discloses an inclined needle movement device which comprises a mounting frame and an inclined needle frame, wherein a plurality of inclined needles which are parallel to each other and have a preset angle with the lower side surface between the inclined needle frames are arranged on the lower side surface of the inclined needle frame, the mounting frame is provided with a driving mechanism for driving the inclined needle frame to move up and down along the direction of parallel inclined needles, and the moving end of the driving mechanism is connected with the inclined needle frame, and the preset angle is smaller than 90 degrees. When the inclined needle movement device works, the driving mechanism pushes the inclined needle frame to move downwards, and then the inclined needle is driven to move downwards. The inclined needle is downwards inserted into the tobacco leaf, so that the tobacco leaf between the inclined needle and the inclined needle frame and the tobacco leaf adhered to the outer side of the inclined needle are picked up together. Because the inclined needles are multiple, the distance between two adjacent inclined needles is smaller, and the length of a bridge formed by tobacco leaves between the adjacent inclined needles is also shorter. The stability of the bridge is higher, so that the falling of tobacco leaves can be reduced, and the grabbing effect is improved.

Description

Robot paw and inclined needle movement device thereof

Technical Field

The invention relates to the technical field of robots, in particular to an oblique needle movement device. The invention also relates to a robot paw comprising the inclined needle movement device.

Background

With the development of technology, cigarettes have been produced automatically. In the production process, the feeding and discharging of tobacco leaves are completed by adopting equipment such as claws and the like. In the prior art, the gripper generally adopts a structure similar to a stacking gripper to grasp tobacco leaves. In the grabbing process, tobacco leaves between the stacking grabs form a bridge, so that the falling of the tobacco leaves is avoided. However, the distance between the two grabs of the stacking grabs is larger, and the stability of a bridge formed by tobacco leaves is poor. Therefore, a large amount of tobacco leaves fall from the stacking gripper when the tobacco leaves are gripped, which causes mess of production sites and cannot achieve the specified effect.

Therefore, how to improve the effect of the gripper to grasp tobacco leaves is a technical problem which needs to be solved urgently by those skilled in the art.

Disclosure of Invention

The invention aims to provide an inclined needle movement device, which is inserted into tobacco leaves through inclined needles, the distance between the inclined needles is smaller, the length of a bridge can be shortened, and the grabbing effect is improved. Another object of the present invention is to provide a robot gripper including the above-described bevel needle movement device.

In order to achieve the above purpose, the invention provides an oblique needle movement device, which comprises a mounting frame and an oblique needle frame, wherein the lower side surface of the oblique needle frame is provided with a plurality of oblique needles which are parallel to each other and have a preset angle with the lower side surface between the oblique needle frames, the mounting frame is provided with a driving mechanism for driving the oblique needle frame to move up and down along the direction parallel to the oblique needles, the moving end of the driving mechanism is connected with the oblique needle frame, and the preset angle is smaller than 90 degrees.

Preferably, the driving mechanism is a driving air cylinder, the mounting frame comprises a mounting plate fixedly arranged and an air cylinder fixing plate fixedly connected with the mounting plate, a cylinder barrel of the driving air cylinder is fixedly connected with the air cylinder fixing plate, and a piston of the driving air cylinder is fixedly connected with the inclined needle frame.

Preferably, a guide mechanism parallel to the driving cylinder is further arranged between the mounting frame and the inclined needle frame.

Preferably, the guide mechanism comprises a guide sleeve and a guide rod, the mounting frame further comprises a guide fixing plate, the guide sleeve is fixedly connected with the guide fixing plate, the guide rod is fixedly connected with the inclined needle frame, a through hole parallel to the driving cylinder is formed in the guide sleeve, and the guide rod is in clearance fit with the through hole.

Preferably, the number of the guide mechanisms is 4, and the guide mechanisms are distributed in a rectangular shape on the periphery of the driving cylinder.

Preferably, the oblique needles are distributed on the lower side surface of the oblique needle frame in three rows, and all the oblique needles in the same row are positioned in the same plane perpendicular to the oblique needle frame.

The invention also provides a robot paw, which comprises any one of the inclined needle moving devices and a fixing mechanism for fixing the inclined needle moving device, wherein the mounting frame is connected with the fixing frame, the inclined needle moving devices are two sets, namely a first inclined needle moving device and a second inclined needle moving device, and straight lines where the inclined needles in different inclined needle moving devices are located are intersected or different.

Preferably, the oblique needles of the two oblique needle moving devices are distributed in a matrix of m rows and n columns on the lower side of the oblique needle frame where the oblique needles are located, wherein m and n are integers greater than 1, and planes where all the oblique needle columns are located are parallel to each other and perpendicular to the lower side of the oblique needle frame where the oblique needles are located.

Preferably, the two sets of oblique needle moving devices are both in a row 1 close to one another, when the driving mechanisms of the two sets of oblique needle moving devices move down to the bottommost end, the oblique needle bottom ends of the ith row of the first oblique needle moving devices and the oblique needle bottom ends of the m-i+1 th row of the second oblique needle moving devices are positioned on the same straight line, and i is a positive integer smaller than or equal to m.

Preferably, the fixing mechanism comprises a fixing frame and at least two upright posts, the upper ends of the upright posts are connected with the mounting frame, and the mounting frames of the two inclined needle movement devices are fixedly connected with the fixing frame.

Preferably, the fixing mechanism further comprises needle cleaning frames for cleaning materials on the inclined needles, the needle cleaning frames are located below the inclined needle frames of the two inclined needle moving devices, n fixed needle cleaning grooves are formed in the needle cleaning frames, and inclined needle columns of the inclined needle moving devices are inserted into the fixed needle cleaning grooves in a one-to-one correspondence mode.

The inclined needle movement device comprises a mounting frame and an inclined needle frame, wherein a plurality of inclined needles which are parallel to each other and have a preset angle with the lower side surface between the inclined needle frames are arranged on the lower side surface of the inclined needle frame, the mounting frame is provided with a driving mechanism for driving the inclined needle frame to move up and down along the direction of the parallel inclined needles, and the moving end of the driving mechanism is connected with the inclined needle frame, and the preset angle is smaller than 90 degrees.

When the inclined needle movement device works, the driving mechanism pushes the inclined needle frame to move downwards, and then the inclined needle is driven to move downwards. The inclined needle is downwards inserted into the tobacco leaf, so that the tobacco leaf between the inclined needle and the inclined needle frame and the tobacco leaf adhered to the outer side of the inclined needle are picked up together. Because the inclined needles are multiple, the distance between two adjacent inclined needles is smaller, and the length of a bridge formed by tobacco leaves between the adjacent inclined needles is also shorter. The stability of the bridge is higher, so that the falling of tobacco leaves can be reduced, and the grabbing effect is improved.

The invention also provides a robot paw, wherein two sets of inclined needle moving devices are arranged in the robot paw, and the driving mechanisms of the two sets of inclined needle moving devices push the two inclined needle frames to move downwards. The two inclined needle moving devices can cross the inclined needles to hold the tobacco leaves, so that the grabbing effect is further improved, and the falling of the tobacco leaves is reduced.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram of a bevel needle movement device according to the present invention;

FIG. 2 is a front view of the bevel needle movement device of FIG. 1;

FIG. 3 is a side view of the bevel needle movement device of FIG. 1;

FIG. 4 is a top view of the bevel needle movement device of FIG. 1;

fig. 5 is a schematic structural view of a robot gripper according to the present invention;

FIG. 6 is a front view of the robotic gripper of FIG. 5;

FIG. 7 is a side view of the robotic gripper of FIG. 5;

fig. 8 is a top view of the robotic gripper of fig. 5.

Wherein reference numerals in fig. 1 to 3 are:

the needle cleaning device comprises a mounting frame 1, a driving cylinder 2, an inclined needle 3, an inclined needle frame 4, a guide mechanism 5, a fixing frame 6, a supporting column 7, a mounting block 8, a needle cleaning frame 9, a mounting plate 11, a guide fixing plate 12, a cylinder fixing plate 13, a connecting plate 61 and a fixed needle cleaning groove 91.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

The present invention will be further described in detail below with reference to the drawings and detailed description for the purpose of enabling those skilled in the art to better understand the aspects of the present invention.

Referring to fig. 1 to 8, fig. 1 is a schematic structural diagram of an oblique needle movement device provided by the present invention; FIG. 2 is a front view of the bevel needle movement device of FIG. 1; FIG. 3 is a side view of the bevel needle movement device of FIG. 1; FIG. 4 is a top view of the bevel needle movement device of FIG. 1; fig. 5 is a schematic structural view of a robot gripper according to the present invention; FIG. 6 is a front view of the robotic gripper of FIG. 5; FIG. 7 is a side view of the robotic gripper of FIG. 5; fig. 8 is a top view of the robotic gripper of fig. 5.

The structure of the inclined needle movement device provided by the invention is shown in figures 1 to 4, and the inclined needle movement device comprises a mounting frame 1, an inclined needle frame 4 and a driving mechanism. Wherein, mounting bracket 1 is fixed to be set up, and actuating mechanism's stiff end links to each other with mounting bracket 1, and actuating mechanism's removal end links to each other with oblique needle holder 4. The lower side of the inclined needle frame 4 is provided with a plurality of inclined needles 3. All the inclined needles 3 are parallel to each other, and the lower side surface between the inclined needle 3 and the inclined needle frame 4 has a preset angle. The preset angle is less than 90 °, and typically the preset angle ranges from 30 ° to 60 °. Of course, the user can determine the value of the preset angle according to the needs, and the method is not limited. The driving mechanism can drive the inclined needle frame 4 to move up and down, and the moving direction is parallel to the inclined needle 3. When the driving mechanism pushes the inclined needle frame 4 to move downwards, the inclined needle 3 is inserted into tobacco leaves so as to grasp the tobacco leaves. The driving mechanism can refer to an air cylinder, a hydraulic cylinder or an electric telescopic rod.

Alternatively, in a specific embodiment of the present application, the driving mechanism is a driving cylinder 2. The mounting bracket 1 includes a mounting plate 11 and a cylinder fixing plate 13. As shown in fig. 1, the mounting bracket 1 includes two mounting plates 11 arranged in parallel. The cylinder fixing plate 13 is perpendicular to the mounting plates 11 and drives the cylinder 2, and two ends of the cylinder fixing plate 13 are fixedly connected with the two mounting plates 11 respectively. The cylinder barrel of the driving cylinder 2 is fixedly connected with the cylinder fixing plate 13. The upper side of the inclined needle frame 4 is provided with a first connecting block, and the piston of the driving cylinder 2 is fixedly connected with the first connecting block. Specifically, the first connecting block has a supporting surface facing the driving cylinder 2 and perpendicular to the driving cylinder 2, and has a first insertion hole parallel to the driving cylinder 2 therein. The piston of the driving cylinder 2 is inserted into the first plug hole and is connected with the plug hole in a threaded connection, interference fit and other modes. Meanwhile, the periphery of the piston is provided with a supporting sleeve, and the supporting sleeve is propped against the supporting surface, so that the inclined needle frame 4 is conveniently pushed to move.

Optionally, in order to ensure that the driving cylinder 2 drives the inclined needle frame 4 to move stably, a guide mechanism 5 for driving the cylinder 2 in parallel is further arranged between the mounting frame 1 and the inclined needle frame 4. When the driving cylinder 2 expands and contracts, the guide mechanism 5 can expand and contract accordingly. In the lifting process of the inclined needle frame 4, the guide mechanism 5 can bear bending moment generated by the inclined needle frame 4, and the load on the driving cylinder 2 is reduced. Meanwhile, the guide mechanism 5 is matched with the driving cylinder 2 to realize multi-point support of the inclined needle frame 4, so that the inclined needle frame 4 always keeps the same angle in the up-and-down movement process.

Optionally, the guiding mechanism 5 comprises a guiding sleeve and a guiding rod. As shown in fig. 1 and 3, the guide sleeve has a guide rod therein that is in clearance fit with the through hole. The mounting frame 1 further comprises a guide fixing plate 12, the guide sleeve is fixedly connected with the guide fixing plate 12, and the guide rod is fixedly connected with the inclined needle frame 4. Specifically, the upper side of the inclined needle frame 4 is provided with a second connecting block, and the guide rod is connected with the inclined needle frame 4 through the second connecting block. The structure of the second connection block may refer to the first connection block. When the driving cylinder 2 drives the inclined needle frame 4 to lift, the inclined needle frame 4 drives the guide rod to stretch out and draw back. Meanwhile, the inner side wall of the through hole limits the moving direction of the guide rod, so that the guide rod is ensured to move along the direction of the parallel driving cylinder 2 all the time.

Alternatively, as shown in fig. 1, the number of guide mechanisms 5 is 4, and the guide mechanisms are distributed in a rectangular shape on the periphery of the driving cylinder 2. Of course, the number and distribution of the guide mechanisms 5 can be set by the user according to the need, and the present invention is not limited thereto.

Alternatively, as shown in fig. 1 to 4, the inclined needles 3 are distributed in 3 rows on the lower side of the inclined needle frame 4, and each row of inclined needles 3 includes 5 inclined needles 3, and the inclined needles 3 are arranged in 5 rows. All the bevel needles 3 in the same column lie in the plane of the same vertical bevel needle holder 4. 15 inclined needles 3 can be completely inserted into tobacco leaves by the downward movement of the inclined needle frame 4. Of course, the number and distribution of the bevel needles 3 can be set by the user according to the needs, and the method is not limited herein.

In this embodiment, the oblique needle movement device sets an oblique needle 3 on the lower side of the oblique needle frame 4, and drives the cylinder 2 to drive the oblique needle frame 4 to move downwards, so as to insert the oblique needle 3 into tobacco leaves. The distance between the inclined needles 3 is smaller and the tobacco leaves are thus more fixed. In addition, the inclined needle 3 is obliquely arranged, so that vertical upward acting force can be applied to tobacco leaves, and dropping of the tobacco leaves is reduced.

The invention further provides the robot claw. As shown in fig. 5 to 8, the robot hand grip includes any one of the bevel needle movement devices described above. Specifically, the robot claw comprises two sets of inclined needle moving devices, and straight lines where the inclined needles 3 in different inclined needle moving devices are located intersect or are different. When the bevel needle frames 4 of the two bevel needle moving devices move to the lowest end, the bevel needles 3 of the two bevel needle moving devices are crossed. As shown in fig. 7, the oblique needles 3 cross to form a V-shaped support structure. The tobacco leaves are positioned above the supporting structure, so that falling of the tobacco leaves can be reduced.

In addition, the robot paw further comprises a fixing mechanism, and the two oblique needle moving devices are connected with the fixing mechanism. Specifically, the fixing mechanism is connected with the mounting frame 1 to fix the inclined needle movement device. The two sets of inclined needle moving devices are symmetrically distributed in the fixing mechanism, and the inclined needle 3 is subjected to the reaction force of the tobacco leaves when the two sets of inclined needle moving devices are inserted into the tobacco leaves. The resultant force generated by the reaction force acting on the fixing mechanism is vertically upward, so that the possibility of deformation of the fixing mechanism is reduced.

Alternatively, the inclined needles 3 of the two inclined needle moving devices are distributed in a matrix of m rows and n columns on the lower side of the inclined needle frame 4 where the inclined needles are located, wherein m and n are integers greater than 1. As shown in fig. 1 or 5, the bevel needles 3 in the bevel needle movement device form a matrix of 5 rows and 3 columns. In the two sets of inclined needle moving devices, planes of all the inclined needle 3 rows are parallel to each other, and the planes of the inclined needle 3 rows are perpendicular to the lower side face of the inclined needle frame 4. Of course, the user can set the number of rows and columns of the matrix by himself as required, and the oblique needle 3 can also adopt other distribution forms, which is not limited herein.

Alternatively, the two sets of oblique needle moving devices are a first oblique needle moving device and a second oblique needle moving device, respectively, which are both in a row 1 close to the other oblique needle moving device. When the driving mechanisms of the two sets of inclined needle moving devices move downwards to the bottommost end, the bottom ends of the inclined needles 3 of the ith row of the first inclined needle moving device and the bottom ends of the inclined needles 3 of the (m-i+1) th row of the second inclined needle moving device are positioned on the same straight line, and i is a positive integer less than or equal to m. It should be noted that, the bottom ends of the oblique needles 3 are located on the same straight line, and the bottom ends of the oblique needles 3 are not required to be strictly arranged according to the straight line in the geometric sense, and the bottom ends of the oblique needles 3 only need to be arranged along one straight line with a preset width. The preset width can be set according to the needs of the user, and is not limited herein.

Alternatively, as shown in fig. 5 to 8, the fixing mechanism includes a fixing frame 6 and a supporting column 7, the upper end of the supporting column 7 is connected with the mounting frame 1, and the mounting frames 1 of the two bevel needle movement devices are fixedly connected with the fixing frame 6. Specifically, in one specific embodiment of the present application, the number of support columns 7 is 4, and the total of two sets of oblique needle movement devices is 4 mounting plates 11. The upper end of each support column 7 is provided with a mounting block 8, and the mounting blocks 8 are connected with a mounting plate 11 through bolts. The fixing frame 6 comprises two cross beams, two ends of each cross beam are provided with connecting plates 61, and the connecting plates 61 are connected with the upper end face of the mounting plate 11 through bolts. The two cross beams are connected through longitudinal beams, longitudinal fixing plates and the like. The fixing frame 6 and the supporting column 7 are fixedly connected with the mounting plate 11, so that the inclined needle movement device is fixed in the fixing mechanism. Of course, the user may use other fixing mechanisms as needed, and the fixing mechanism is not limited herein.

Alternatively, when the driving mechanism of the two bevel needle moving devices drives the bevel needle frames 4 connected with the driving mechanism to ascend, the two bevel needle frames 4 move in different directions. The inclined needles 3 of the two inclined needle moving devices apply different acting forces to the tobacco leaves, so that the inclined needles 3 can be pulled out. But part of broken leaves still can be attached to the inclined needle 3, and the fixing mechanism also comprises a needle cleaning frame 9 for removing broken leaves on the portraits. As shown in fig. 5, the needle cleaning frame 9 is located below the bevel needle frames 4 of the two bevel needle movement devices. N fixed needle clearing grooves 91 are arranged in the needle clearing frame 9, and the positions of the fixed needle clearing grooves 91 correspond to the inclined needle 3 rows in the inclined needle moving device. The oblique needles 3 of the oblique needle movement device are inserted into the fixed needle cleaning grooves 91 in a one-to-one correspondence, and when the oblique needles 3 are pulled out from tobacco leaves, the fixed needle cleaning grooves 91 can scrape broken leaves attached to the oblique needles 3.

In the embodiment, the robot claw comprises two sets of inclined needle movement devices which are symmetrically arranged. When the inclined needles 3 move to the lowest end, a V-shaped supporting structure is formed between the inclined needles 3, and tobacco leaves are supported by the supporting structure. When the robot claw grabs tobacco leaves, the falling amount of the tobacco leaves is greatly reduced under the support of the inclined needle 3, and the grabbing effect is remarkably improved.

It should be noted that in this specification relational terms such as first and second are used solely to distinguish one entity from another entity without necessarily requiring or implying any actual such relationship or order between such entities.

The robot claw and the inclined needle movement device provided by the invention are described in detail above. The principles and embodiments of the present invention have been described herein with reference to specific examples, the description of which is intended only to facilitate an understanding of the method of the present invention and its core ideas. It should be noted that it will be apparent to those skilled in the art that various modifications and adaptations of the invention can be made without departing from the principles of the invention and these modifications and adaptations are intended to be within the scope of the invention as defined in the following claims.

Claims

1. The oblique needle movement device is characterized by comprising a mounting frame (1) and an oblique needle frame (4), wherein a plurality of oblique needles (3) which are parallel to each other and have a preset angle with the lower side surface between the oblique needle frames (4) are arranged on the lower side surface of the oblique needle frame (4), a driving mechanism for driving the oblique needle frame (4) to move up and down along the direction parallel to the oblique needles (3) is mounted on the mounting frame (1), and the moving end of the driving mechanism is connected with the oblique needle frame (4) and the preset angle is smaller than 90 degrees;

the driving mechanism is a driving air cylinder (2), the mounting frame (1) comprises a mounting plate (11) which is fixedly arranged and an air cylinder fixing plate (13) which is fixedly connected with the mounting plate (11), a cylinder barrel of the driving air cylinder (2) is fixedly connected with the air cylinder fixing plate (13), and a piston of the driving air cylinder (2) is fixedly connected with the inclined needle frame (4);

a guide mechanism (5) parallel to the driving cylinder (2) is also arranged between the mounting frame (1) and the inclined needle frame (4);

the guide mechanism (5) comprises a guide sleeve and a guide rod, the mounting frame (1) further comprises a guide fixing plate (12), the guide sleeve is fixedly connected with the guide fixing plate (12), the guide rod is fixedly connected with the inclined needle frame (4), a through hole parallel to the driving cylinder (2) is formed in the guide sleeve, and the guide rod is in clearance fit with the through hole.

2. The bevel needle movement device according to claim 1, characterized in that the number of guide mechanisms (5) is 4 and is rectangular distributed on the periphery of the driving cylinder (2).

3. The bevel needle movement device according to claim 1 or 2, characterized in that the bevel needles (3) are distributed in three rows on the underside of the bevel needle holder (4), all bevel needles (3) in the same row being located in the same plane perpendicular to the bevel needle holder (4).

4. A robot gripper, characterized by comprising the oblique needle movement device according to any one of claims 1 to 3, and further comprising a fixing mechanism for fixing the oblique needle movement device, wherein the fixing mechanism comprises a fixing frame (6) and at least two support columns (7), the upper ends of the support columns (7) are connected with the mounting frame (1), and the mounting frames (1) of the two oblique needle movement devices are fixedly connected with the fixing frame (6);

the mounting frame (1) is connected with the fixing frame (6), two inclined needle moving devices are respectively a first inclined needle moving device and a second inclined needle moving device, and straight lines where the inclined needles (3) in different inclined needle moving devices are located intersect or are different.

5. The robot gripper according to claim 4, wherein the oblique needles (3) of the two oblique needle movement devices are distributed in a matrix of m rows and n columns on the lower side of the oblique needle frame (4) where the oblique needles are located, m and n are integers greater than 1, and the planes of all the oblique needle (3) columns are parallel to each other and perpendicular to the lower side of the oblique needle frame (4) where the oblique needles are located.

6. The robotic gripper according to claim 5, wherein each of the two sets of bevel needle moving devices is arranged in a row 1 adjacent to the other bevel needle moving device, and when the driving mechanisms of the two sets of bevel needle moving devices move down to the bottommost end, the bottom ends of bevel needles (3) in the ith row of the first bevel needle moving device and the bottom ends of bevel needles (3) in the m-i+1 th row of the second bevel needle moving device are positioned on the same straight line, wherein i is a positive integer less than or equal to m.

7. The robotic gripper according to claim 6, wherein the fixing mechanism further comprises needle clearing frames (9) for clearing materials on the inclined needles (3), the needle clearing frames (9) are located below the inclined needle frames (4) of the two inclined needle moving devices, n fixed needle clearing grooves (91) are formed in the needle clearing frames (9), and inclined needles (3) of the inclined needle moving devices are inserted into the fixed needle clearing grooves (91) in a one-to-one correspondence mode.