CN113526156A - Grabbing robot - Google Patents

Grabbing robot Download PDF

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Publication number
CN113526156A
CN113526156A CN202110807648.XA CN202110807648A CN113526156A CN 113526156 A CN113526156 A CN 113526156A CN 202110807648 A CN202110807648 A CN 202110807648A CN 113526156 A CN113526156 A CN 113526156A
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CN
China
Prior art keywords
plate
electric push
clamping
push rod
arc
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
CN202110807648.XA
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Chinese (zh)
Inventor
石林
于宝
沈东阳
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Nanjing Yusheng Robot Technology Co Ltd
Original Assignee
Nanjing Yusheng Robot Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by Nanjing Yusheng Robot Technology Co Ltd filed Critical Nanjing Yusheng Robot Technology Co Ltd
Priority to CN202110807648.XA priority Critical patent/CN113526156A/en
Publication of CN113526156A publication Critical patent/CN113526156A/en
Withdrawn legal-status Critical Current

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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
    • B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/085—Force or torque sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
    • B25J15/0683—Details of suction cup structure, e.g. grooves or ridges

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)

Abstract

The invention discloses a grabbing robot, and belongs to the technical field of robots. The lifting device comprises a lifting assembly, wherein the lifting assembly comprises a fixed plate, a first electric push rod and a pushing plate, the first electric push rod is arranged on the fixed plate and penetrates through the fixed plate, and the pushing plate is arranged on the first electric push rod; the clamping assembly comprises a pair of clamping plates which are connected to two ends of the pushing plate in a sliding mode, and a pair of second electric push rods which are fixedly connected to two ends of the pushing plate; the second electric push rod is fixedly connected to each clamping plate and drives the clamping plates to move on the pushing plate; the supporting component comprises an arc-shaped supporting plate which is connected to the lower end of the fixed frame in a sliding mode, and a pair of third electric push rods which are connected to the outer side wall of the fixed frame in a rotating mode. The clamping device for the box body avoids deformation of the box body due to excessive clamping pressure on the box body, ensures that the box body is stably fixed in the clamping assembly, and avoids the situation that the box body falls off in the moving process.

Description

Grabbing robot
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a grabbing robot.
Background
Carton packing is the very many packing methods of application in the current market, and the carton of selecting different materials according to the product of difference generally packs the product, utilizes the robot to carry out the pile to the carton of accomplishing the packing, and the later stage of being convenient for is concentrated the transportation to the product.
The in-process of getting the carton is being pressed from both sides to the carton to current pile up neatly machine people, owing to can not excessively press from both sides tight carton, gets the in-process of removing at the clamp, because make the carton take place to rock the easy box condition that drops that appears under the effect of external force, takes place the condition of product damage, to this problem, proposes one kind and snatchs the robot.
Disclosure of Invention
The purpose of the invention is as follows: the welding robot capable of being adjusted in all directions and the using method are provided, and the problems in the prior art are solved.
The technical scheme is as follows: the welding robot capable of being adjusted in all directions comprises a lifting assembly, a lifting assembly and a control assembly, wherein the lifting assembly comprises a fixed plate, a first electric push rod and a pushing plate, the first electric push rod is installed on the fixed plate and penetrates through the fixed plate, and the pushing plate is arranged on the first electric push rod;
the clamping assembly comprises a pair of clamping plates which are connected to two ends of the pushing plate in a sliding mode and a pair of second electric push rods which are fixedly connected to two ends of the pushing plate; the second electric push rod is fixedly connected to each clamping plate and drives the clamping plates to move on the pushing plate;
the supporting assembly comprises an arc-shaped supporting plate which is connected to the lower end of the fixed frame in a sliding mode, and a pair of third electric push rods which are connected to the outer side wall of the fixed frame in a rotating mode; the third electric push rod with the arc layer board rotates to be connected, drives the arc push pedal through third electric push rod and slides on fixed frame.
The clamping assembly in the technical scheme is adopted to clamp the box body, the lifting assembly is utilized to drive the clamping assembly to move upwards, the supporting assembly generates an upward supporting force on the box body, clamping pressure is generated on the box body to prevent the box body from deforming, the box body is stably fixed in the clamping assembly, and the situation that the box body falls off in the moving process is avoided.
Preferably, the clamping assembly further comprises a fourth electric push rod mounted on each clamping plate, and a moving plate arranged on the fourth electric push rod; the movable plate is located between the clamping plates, and the fourth electric push rod is used for driving the movable plate to move so as to clamp and fix the box body.
Preferably, the lifting assembly further comprises a plurality of fixing rods which are fixedly mounted on the pushing plate and circumferentially arranged by the first electric push rods, and the fixing rods are slidably connected to the fixing plates.
Preferably, the arc-shaped supporting plate supports the pressure:
Figure BDA0003167179360000021
wherein C is0、
Figure BDA0003167179360000022
The cohesive force and the internal friction angle of the interface of the arc-shaped supporting plate and the clamping plate are shown; p1The supporting resistance of the clamping plate to the arc-shaped supporting plate is provided; z is the three-phase stress coefficient,
Figure BDA0003167179360000023
m is the height of the arc-shaped supporting plate between the clamping plates; x is the length of the arc-shaped supporting plate positioned between the clamping plates; the weight of the control box body is within the bearing range of the arc-shaped supporting plate.
Because the box of difference box packing is different products, lead to box weight different, get the in-process at the box to different weight and press from both sides, can take place because box weight is overweight, and the weight that supporting component can't bear the box leads to supporting component to damage the box and falls, for the emergence of avoiding above-mentioned condition, calculates arc layer board supporting pressure scope, and the box weight that the control was held bears the within range at arc layer board.
Preferably, the clamping device further comprises more than two rubber suckers fixedly mounted on each moving plate, the box body is fixedly adsorbed by the rubber suckers, and the box body is prevented from deforming in the clamping process.
Preferably, the electric push rod further comprises a pressure sensor embedded on one of the moving plates, and the pressure sensor is electrically connected with the fourth electric push rod.
Preferably, the movable plate fixing device further comprises a pair of positioning rods fixedly connected to each movable plate, and the positioning rods are connected to the clamping plates in a sliding mode, so that the stability of the movable plates in the moving process is improved.
Preferably, the distance sensor is embedded on one of the moving plates and electrically connected with the second electric push rod.
Has the advantages that: the invention relates to a grabbing robot, which is characterized in that a box body is preliminarily clamped by a clamping plate and is further clamped by a movable plate, so that the box body is prevented from being deformed in the clamping process, a rubber sucker is additionally arranged on the movable plate, the box body is sucked and clamped by the sucker, an upward supporting force is generated on the box body by a supporting assembly in the upward moving process, and the box body is effectively prevented from falling off due to the action of external force in the moving process.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a partial schematic view of the present invention;
fig. 3 is a partial structural schematic diagram of the present invention.
The reference numerals in fig. 1 to 3 are: the lifting device comprises a lifting assembly 1, a clamping assembly 2, a supporting assembly 3, a first electric push rod 11, a fixed plate 12, a pushing plate 13, a fixed rod 14, a clamping plate 21, a second electric push rod 22, a fourth electric push rod 23, a moving plate 24, a rubber suction cup 25, an arc-shaped supporting plate 31 and a third electric push rod 32.
Detailed Description
In practical applications, the applicant has found that: the in-process of getting the carton is being pressed from both sides to the carton to current pile up neatly machine people, owing to can not excessively press from both sides tight carton, gets the in-process of removing at the clamp, because make the carton take place to rock the condition that the box appears droing easily under the effect of external force, takes place the condition that the product damaged, also has the mode that adopts spring and grip block to mutually support and carry out the centre gripping to the box, nevertheless moves the in-process production of centre gripping and rocks, and the spring is not hard up to lead to the box to fall, and the centre gripping is unstable.
Therefore, in order to solve the above problem, the embodiment discloses a grabbing robot, which can stably clamp the box body and ensure that the box body does not fall off when the box body is moved.
As shown in fig. 1 to 3, a grasping robot, hereinafter referred to as "the apparatus". The device comprises three parts, namely a lifting assembly 1, a clamping assembly 2 and a supporting assembly 3.
The clamping assembly 2 is slidably mounted on the lifting assembly 1, the supporting assembly 3 is slidably mounted on the clamping assembly 2, the box body is clamped and moved through the clamping assembly 2, in the moving process, the box body is supported by the supporting assembly 3, and the situation that the box body falls in the moving process is avoided.
Lifting unit 1 includes fixed plate 12, just run through on the fixed plate 12 the first electric putter 11 of fixed plate 12 installation, install propulsion board 13 on the first electric putter 11, clamping component 2 includes sliding connection and is in a pair of splint 21 at propulsion board 13 both ends, a pair of second electric putter 22 of propulsion board 13 both ends fixed connection, second electric putter 22 fixed connection is every on splint 21, drive splint 21 and remove on propulsion board 13, supporting component 3 includes sliding connection and is in the arc layer board 31 of fixed frame lower extreme, rotate on the fixed frame lateral wall and connect a pair of third electric putter 32, third electric putter 32 with arc layer board 31 rotates to be connected, drives the arc push pedal through third electric putter 32 and slides on fixed frame. In contrast, in this embodiment, if the box is clamped by the spring clamping mechanism, the box will fall off due to the looseness of the spring clamping mechanism caused by shaking in the process of moving the box. Through, the box is got to clamping unit 2 comes the clamp to utilize lifting unit 1 to drive clamping unit 2 rebound, supporting component 3 produces an ascending support power to the box simultaneously, not excessively produces clamping pressure to the box and leads to the box to warp, and ensures that the box is stable fixes and gets the subassembly in, avoids removing the in-process, takes place the condition that the box drops.
In order to make the box body more stable in the moving process, a fourth electric push rod 23 is installed on each clamping plate 21 of the clamping assembly 2, a moving plate 24 is installed on each fourth electric push rod 23, the moving plate 24 is located between the clamping plates 21, the moving plate 24 is driven by the fourth electric push rod 23 to move so as to clamp and fix the box body, more than two rubber suction cups 25 are fixedly installed on each moving plate 24, the rubber suction cups 25 are used for sucking and fixing the box body, deformation of the box body in the clamping process is avoided, a pressure sensor is embedded on one moving plate 24 and electrically connected with the fourth electric push rod 23, a distance sensor is embedded on one moving plate 24 and electrically connected with the second electric push rod 22, and a pair of positioning rods is fixedly connected on each moving plate 24, the positioning rods are connected to the clamping plates 21 in a sliding mode, and stability of the moving plate 24 in the moving process is improved.
At the in-process that removes, reduce rocking of box, on the propulsion board 13 and with a plurality of dead levers 14 of fixed mounting are arranged to first electric putter 11 circumference, dead lever 14 sliding connection is in on the fixed plate 12, effectual reduction box is in the rocking of removal in-process, improves stability.
Utilize supporting component 3 to hold the box, avoid the box to take place to fall at the removal in-process, but the unable box of bearing all weights of supporting component 3 avoids at the removal in-process, because the overweight condition that leads to the unable bearing of supporting component 3 of box takes place, calculates the scope that supporting component 3 can bear box weight, arc layer board 31 bearing pressure is:
Figure BDA0003167179360000041
wherein C is0、
Figure BDA0003167179360000042
The cohesive force and the internal friction angle of the interface of the arc-shaped supporting plate 31 and the clamping plate 21 are shown; p1The support resistance of the clamp plate 21 to the arc-shaped supporting plate 31; z is the three-phase stress coefficient,
Figure BDA0003167179360000043
m is the height of the arc-shaped supporting plate 31 positioned between the clamping plates 21; x is the length of the arc-shaped supporting plate 31 between the clamping plates 21; the weight of the control box body is within the bearing range of the arc-shaped supporting plate 31.
Through the technical scheme, the invention can realize the following working process:
utilize first electric putter 11 to drive clamping unit 2 and remove downwards, make clamping unit 2 remove to near of box, utilize second electric putter 22 to drive splint 21 and remove and tentatively fix the box, and drive movable plate 24 through fourth electric putter 23 and remove to the box, make rubber suction cup 25 on the movable plate 24 adsorb behind the surface of box, first electric putter 11 shrink drives clamping unit 2 and reciprocates, simultaneously under the drive of third electric putter 32, make arc layer board 31 to want to remove between the splint 21, fix the box in clamping unit 2, avoid moving the in-process to the box, the condition of taking place the box and droing takes place.
Although the preferred embodiments of the present invention have been described in detail, the present invention is not limited to the details of the embodiments, and various equivalent modifications can be made within the technical spirit of the present invention, and the scope of the present invention is also within the scope of the present invention.

Claims (8)

1. A grasping robot, characterized by comprising:
the lifting assembly comprises a fixed plate; the first electric push rod is arranged on the fixed plate and penetrates through the fixed plate, and the pushing plate is arranged on the first electric push rod;
the clamping assembly comprises a pair of clamping plates which are connected to two ends of the pushing plate in a sliding mode and a pair of second electric push rods which are fixedly connected to two ends of the pushing plate; the second electric push rod is fixedly connected to each clamping plate and drives the clamping plates to move on the pushing plate;
the supporting assembly comprises an arc-shaped supporting plate which is connected to the lower end of the fixed frame in a sliding mode, and a pair of third electric push rods which are connected to the outer side wall of the fixed frame in a rotating mode; the third electric push rod with the arc layer board rotates to be connected, drives the arc push pedal through third electric push rod and slides on fixed frame.
2. The grasping robot according to claim 1, wherein the clamping assembly further includes a fourth electric push rod mounted on each of the clamping plates, and a moving plate provided on the fourth electric push rod; the moving plate is located between the clamping plates.
3. The grasping robot according to claim 1, wherein the lifting assembly further includes a plurality of fixing rods fixedly mounted on the pushing plate and circumferentially arranged with the first electric pushing rod, the fixing rods being slidably connected to the fixing plates.
4. The grasping robot according to claim 1, wherein the arc pallet support pressure is:
Figure FDA0003167179350000011
wherein C is0、
Figure FDA0003167179350000012
The cohesive force and the internal friction angle of the interface of the arc-shaped supporting plate and the clamping plate are shown; p1The supporting resistance of the clamping plate to the arc-shaped supporting plate is provided; z is the three-phase stress coefficient,
Figure FDA0003167179350000013
m is the height of the arc-shaped supporting plate between the clamping plates; x is the length of the arc-shaped supporting plate between the clamping plates.
5. The grasping robot according to any one of claims 1 to 4, further comprising two or more rubber suction cups fixedly mounted on each of the moving plates.
6. The grasping robot according to claim 5, further comprising a pressure sensor embedded in one of the moving plates, the pressure sensor being electrically connected to the fourth electric push rod.
7. The grasping robot according to claim 6, further comprising a pair of positioning rods fixedly attached to each of the moving plates, the positioning rods being slidably attached to the clamp plate.
8. The grasping robot according to claim 7, further comprising a distance sensor embedded in one of the moving plates, the distance sensor being electrically connected to the second electric putter.
CN202110807648.XA 2021-07-16 2021-07-16 Grabbing robot Withdrawn CN113526156A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202110807648.XA CN113526156A (en) 2021-07-16 2021-07-16 Grabbing robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202110807648.XA CN113526156A (en) 2021-07-16 2021-07-16 Grabbing robot

Publications (1)

Publication Number Publication Date
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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114211513A (en) * 2022-01-19 2022-03-22 扬州市职业大学(扬州开放大学) Industrial robot with operating manipulator and control method thereof
CN114474127A (en) * 2022-03-29 2022-05-13 温州欧乐彩科技有限公司 Wear-resisting antiskid type manipulator of interval adjustable

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114211513A (en) * 2022-01-19 2022-03-22 扬州市职业大学(扬州开放大学) Industrial robot with operating manipulator and control method thereof
CN114211513B (en) * 2022-01-19 2023-08-25 扬州市职业大学(扬州开放大学) Industrial robot with operation manipulator and control method thereof
CN114474127A (en) * 2022-03-29 2022-05-13 温州欧乐彩科技有限公司 Wear-resisting antiskid type manipulator of interval adjustable

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Application publication date: 20211022

WW01 Invention patent application withdrawn after publication