CN113602806A - Multifunctional self-adaptive clamp for robot - Google Patents
Multifunctional self-adaptive clamp for robot Download PDFInfo
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- CN113602806A CN113602806A CN202110849610.9A CN202110849610A CN113602806A CN 113602806 A CN113602806 A CN 113602806A CN 202110849610 A CN202110849610 A CN 202110849610A CN 113602806 A CN113602806 A CN 113602806A
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- 230000007246 mechanism Effects 0.000 claims abstract description 13
- 230000007306 turnover Effects 0.000 claims abstract description 6
- 230000000712 assembly Effects 0.000 claims abstract description 4
- 238000000429 assembly Methods 0.000 claims abstract description 4
- 230000003044 adaptive effect Effects 0.000 claims description 7
- 238000001179 sorption measurement Methods 0.000 abstract description 5
- 241000252254 Catostomidae Species 0.000 abstract description 2
- 238000005516 engineering process Methods 0.000 description 3
- 239000000428 dust Substances 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000007792 addition Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005272 metallurgy Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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- 230000008569 process Effects 0.000 description 1
- 239000000779 smoke Substances 0.000 description 1
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Classifications
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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
- B65G47/914—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems incorporating rotary and rectilinear movements
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a multifunctional self-adaptive clamp for a robot, which comprises: a mechanical arm; the connecting column is arranged at the free end of the mechanical arm; the clamping mechanism is arranged at the bottom end of the connecting column; the clamping mechanism comprises: the top column is fixedly connected with the bottom end of the connecting column; the supporting column is fixedly arranged at one end of the top column; the first side column is fixedly arranged on the inner side surface of the supporting column; the second side column is fixed with the bottom end of the supporting column in a turnover mode through the turnover assembly; and the suction assemblies are respectively arranged on the inner side surfaces of the top column, the first side column and the second side column. The invention adopts the plurality of flat suckers to adsorb the surface of the box body, has stronger adsorption force, and can adsorb the box body when the box body is not flat, so that the box body is not easy to fall off.
Description
Technical Field
The invention belongs to the technical field of mechanical arm clamps, and particularly relates to a multifunctional self-adaptive clamp for a robot.
Background
The manipulator is an automatic operating device which can imitate some action functions of human hands and arms, is used for sucking, carrying objects or operating tools according to a fixed program, can replace heavy labor of people to realize mechanization and automation of production, can operate under harmful environment to protect personal safety, and is widely applied to departments of mechanical manufacturing, metallurgy, electronics, light industry, atomic energy and the like.
Chinese patent document CN211362315U discloses a chuck type manipulator grabbing clamp, which comprises two longitudinal beams and two transverse beams, wherein a plurality of transverse beams are adjustably installed between the two longitudinal beams, a cylinder is adjustably installed on the transverse beam at the middle part, a chuck is fixed at one end of the cylinder, and an annular concave structure is arranged at the middle part of the chuck.
Chinese patent publication No. CN210551317U discloses a multipurpose carrying manipulator clamp, which is characterized by comprising a basic mounting seat and two clamping arms arranged on the basic mounting seat, wherein the two clamping arms are driven by a power assembly and move relatively, the clamping arms are provided with two clamping rollers, the clamping rollers on the two clamping arms are oppositely arranged, and the bottom of each clamping arm is further provided with a sucker assembly.
However, the anchor clamps of utilizing on the manipulator at present are only provided with the sucking disc at the top surface to make the case catch and carry, nevertheless at the removal in-process, the case is thrown away easily, and the translation rate is slow, and is inefficient, and present a lot of smoke factories are all in the special-shaped case of product, and also the specification of box is unset exactly, and current manipulator anchor clamps can't carry out the transport that stabilizes to this type of case, and the sucking disc that prior art adopted is the sponge sucking disc, and the adsorption affinity is just greatly reduced when meetting the box injustice, and the box just drops very easily.
Disclosure of Invention
The invention aims to provide a multifunctional self-adaptive clamp for a robot, which aims to solve the problems that the existing manipulator clamp in the background technology is unstable in clamping a box, poor in applicability and low in adsorption force.
A multifunctional self-adaptive clamp for a robot comprises:
a mechanical arm;
the connecting column is arranged at the free end of the mechanical arm;
the clamping mechanism is arranged at the bottom end of the connecting column; the clamping mechanism comprises:
the top column is fixedly connected with the bottom end of the connecting column;
the supporting column is fixedly arranged at one end of the top column in the horizontal direction;
the first side column is fixedly arranged on the inner side surface of the supporting column;
the second side column is fixed with the bottom end of the supporting column in a turnover mode through the turnover assembly;
and the suction assemblies are respectively arranged on the inner side surfaces of the top column, the first side column and the second side column.
Preferably, the support column is 7-shaped, and a support plate is arranged between the cross rod and the vertical rod of the support column.
Preferably, in the clamping state of the clamping mechanism, the suction assemblies on the inner side surfaces of the first side column and the second side column are positioned on the same plane.
Further, the recess has been seted up to the bottom of support column, and the inner chamber one side of recess is equipped with the through-hole, the upset subassembly includes:
the servo motor is fixedly arranged on the outer wall of one side of the groove with the through hole and is electrically connected with an external control system of the mechanical arm;
the output end of the servo motor extends into the inner cavity of the groove through the through hole and locks one end of the rotating shaft through the coupler, and the other end of the rotating shaft is installed on the inner wall of the groove through a bearing;
the circular column is fixedly arranged on the outer wall of the rotating shaft;
one end of the connecting plate is fixed with the outer wall of the round column, and the other end of the connecting plate is fixedly connected with the top end of the second side column.
Preferably, the connecting plate is provided with two blocks.
Further, the suction assembly comprises: the vacuum flow divider, the compressed air connecting pipe and the flat sucker;
the vacuum flow divider is fixedly arranged in the top column, the first side column and the second side column respectively; the air inlet pipe of the vacuum flow divider is connected with a vacuum generator,
each vacuum divider corresponds to one compressed air connecting pipe, one end of each compressed air connecting pipe is in threaded connection with a compressed air inlet of the vacuum generator, the other ends of the three compressed air connecting pipes respectively extend out of the outer walls of the top column, the first side column and the second side column and are connected with compressed air inlet ports through electromagnetic valves, and the electromagnetic valves are electrically connected with an external control system of the mechanical arm;
the flat sucker is communicated with the inner cavity of the vacuum flow divider through a connecting pipe.
The suction assembly also comprises a hollow fixing column; the number of the fixing columns is a plurality, the fixing columns are fixedly arranged on one side of the vacuum splitter and are communicated with the inner cavity of the vacuum splitter; the connecting pipe is screwed inside the fixing column.
Preferably, the connecting pipe is provided with a filter screen at the outlet end fixed with the flat sucker.
Preferably, the cross-sectional shape of the connecting pipe is an inverted 'T' shape.
Compared with the prior art, the invention has the following beneficial effects:
1. the box body can be simultaneously sucked and fixed on the upper surface and the side surface of the box body to be conveyed through the matching of the first side column, the supporting column, the second side column and the sucking component, the adsorption force is stronger, and the conveying speed of the box body can be accelerated.
2. According to the invention, through the matching of the support column, the overturning assembly and the second side column, the second side column can be overturned towards one side of the support column, so that the flat sucker on the second side column can suck the surfaces of the box bodies with different specifications by changing the angle of the second side column, and the device has stronger applicability.
3. The invention adopts the plurality of flat suckers to adsorb the surface of the box body, has stronger adsorption force, and can adsorb the box body when the box body is not flat, so that the box body is not easy to fall off.
Drawings
FIG. 1 is a schematic structural diagram of a multifunctional adaptive clamp for a robot according to the present invention;
FIG. 2 is a schematic view of the gripping mechanism of FIG. 1 according to the present invention;
FIG. 3 is a front cross-sectional view of a headrail of the present invention;
FIG. 4 is an enlarged view taken at A of FIG. 3 according to the present invention;
FIG. 5 is a front view of the side post assembly of the present invention after being flipped.
In the figure: 1. mechanical arm, 2, spliced pole, 3, press from both sides and get the mechanism, 31, the fore-set, 32, the support column, 33, first side post, 34, upset subassembly, 341, servo motor, 342, the pivot, 343, circular post, 344, connecting plate, 35, second side post, 36, absorb the subassembly, 361, vacuum shunt, 362, vacuum generator, 363, intake pipe, 364, compressed air connecting pipe, 365, fixed column, 366, connecting pipe, 367, flat sucking disc, 368, filter screen, 37, the backup pad, 4, the recess.
Detailed Description
The invention will be described in further detail below with reference to the drawings and examples, which are intended to facilitate the understanding of the invention without limiting it in any way.
As shown in fig. 1 to 3, a multifunctional adaptive clamp for a robot includes: the mechanical arm 1, the connecting column 2 and the clamping mechanism 3, wherein the connecting column 2 is arranged at the free end of the mechanical arm 1, and the clamping mechanism 3 is arranged at the bottom end of the connecting column 2.
Preferably, the gripping mechanism 3 further includes: top column 31, support column 32, first side column 33, inversion assembly 34, first side column 35 and suction assembly 36. The bottom fixed connection of fore-set 31 and spliced pole 2, the fixed one side that sets up at fore-set 31 of support column 32, first side column 33 is fixed to be set up in the inboard of support column 32, first side column 33 passes through support column 32 and sets up perpendicularly for fore-set 31, upset subassembly 34 sets up in the bottom of support column 32, second side column 35 sets up in the bottom of upset subassembly 34, the inboard of fore-set 31, first side column 33 and second side column 35 all is provided with absorbs subassembly 36.
Preferably, the supporting column 32 is shaped like a "7" (also referred to as an inverted "L"), a supporting plate 37 is fixedly disposed on the inner side of the supporting column 32 in an inclined direction, and the supporting plate 37 is disposed to make the connection of the supporting column 32 more stable.
In the clamped state, the second side column 35 is positioned on the same plane as the inner side of the first side column 33, so that the flat suction cups 367 positioned on the second side column 35 and the flat suction cups 367 positioned on the first side column 33 can suck the same plane of the box body.
As shown in fig. 3 and 4, the suction assembly 36 includes: a vacuum flow divider 361, a vacuum generator 362, an intake tube 363, and a compressed air connection tube 364. The top pillar 31, the first side pillar 33 and the second side pillar 35 are all fixedly provided with a vacuum splitter 361 on one side of the inner cavity, and a vacuum generator 362 is fixedly arranged on one side of the vacuum splitter 361. The vacuum generator 362 is a conventional technology, the vacuum generator model according to the present invention can be used, the vacuum generator 362 can pump the interior of the vacuum diverter 361 into a vacuum state through the air inlet pipe 363 by controlling the electromagnetic valve connected with the compressed air connecting pipe 364 to be started, one end of the air inlet pipe 363 is screwed with one side of the vacuum diverter 361, the other end of the air inlet pipe 363 is screwed with the vacuum air inlet of the vacuum generator 362, the compressed air inlet of the vacuum generator 362 is screwed with one end of the compressed air connecting pipe 364, the other ends of the three compressed air connecting pipes 364 respectively extend out of the outer walls of the top pillar 31, the first side pillar 33 and the second side pillar 35 and are connected with the compressed air inlet through the electromagnetic valve, and the electromagnetic valve is electrically connected with the external control system of the robot arm 1.
The suction assembly 36 further comprises: the vacuum suction device comprises a fixed column 365, a connecting pipe 366, a flat suction cup 367 and a filter screen 368, wherein the number of the fixed columns 365 is a plurality, the fixed columns 365 are fixedly arranged on one side of the vacuum flow divider 361, the fixed columns 365 are communicated with the inner cavity of the vacuum flow divider 361, the connecting pipe 366 is screwed in the inner cavity of the fixed columns 365, the inner sides of the connecting pipes 366 are respectively extended to form a top column 31, a first side column 33 and a second side column 35, the flat suction cup 367 is screwed with the outer wall of the connecting pipe 366, the flat suction cup 367 forms a vacuum state under the suction of the connecting pipe 366 and firmly sucks the upper surface and the side surface of the box body, the filter screen 368 is fixedly arranged at one end of the connecting pipes 366 inside the flat suction cup 367, and dust or impurities can be prevented from being sucked into the vacuum flow divider 361 through the connecting pipe 366 when air is sucked into the interior of the flat suction cup 367 by the filter screen 368.
Preferably, the connection pipe 366 is shaped like an inverted "T" to prevent the flat suction cup 367 from being separated from the connection pipe 36, so that the connection is more stable.
The detailed connection means is a known technology in the field, and the following main introduction working principle and process specifically work as follows:
when the vacuum suction device is used, the top column 31 connected with the connecting column 2 can be stably moved to the upper part of the box body by controlling the mechanical arm 1, and after the top column 31 and the first side column 33 are controlled to move until the flat suction cups 367 are contacted with the upper surface and the side surface of the box body, the vacuum generator 362 can be enabled to draw the inside of the vacuum flow divider 361 into a vacuum state through the air inlet pipe 363 by controlling the starting of the electromagnetic valve connected with the compressed air connecting pipe 364, so that the flat suction cups 367 form a vacuum state under the suction of the connecting pipe 366 and firmly adsorb the upper surface and the side surface of the box body. The filter screen 368 is provided to prevent dust or foreign materials from being sucked into the vacuum diverter 361 through the connection pipe 366 when air is sucked into the flat suction cup 367, and the connection pipe 366 and the flat suction cup 367 are rotated to be mounted and dismounted. The servo motor 341 is controlled to drive the shaft 342 to rotate around its axis, so that the circular column 343 drives the connecting plate 344 to rotate around the axis of the shaft 342. As shown in fig. 3 and 5, the two positions of the second side post 35 during the turning of the connecting plate 344 are shown. Due to the groove 4, the connecting plate 344 can drive the second side column 35 to rotate until the connecting plate 344 can rotate to one side of the supporting column 32 and keep horizontal with the side wall of the supporting column 32. The rotation of the second side column 35 is controlled to enable the flat suction cups 367 on the side wall of the second side column 35 to suck the surfaces of boxes with different specifications. And when the flat suction cups 367 on the second side column 35 and the flat suction cups 367 on the first side column 33 are positioned on the same side, the suction force on the box body can be improved by matching with the flat suction cups 367 at the bottom end of the top column 31, so that the box body can be stably fixed and moved, the carrying speed can be accelerated, and the wide popularization is facilitated.
The embodiments described above are intended to illustrate the technical solutions and advantages of the present invention, and it should be understood that the above-mentioned embodiments are only specific embodiments of the present invention, and are not intended to limit the present invention, and any modifications, additions and equivalents made within the scope of the principles of the present invention should be included in the scope of the present invention.
Claims (9)
1. The utility model provides a multi-functional self-adaptation anchor clamps are used to robot which characterized in that includes:
a robot arm (1);
the connecting column (2) is arranged at the free end of the mechanical arm (1);
the clamping mechanism (3) is arranged at the bottom end of the connecting column (2); the gripping mechanism (3) comprises:
the top column (31) is fixedly connected with the bottom end of the connecting column (2);
the supporting column (32) is fixedly arranged at one end of the top column (31) in the horizontal direction;
the first side column (33) is fixedly arranged on the inner side surface of the supporting column (32);
the second side column (35) is fixed with the bottom end of the supporting column (32) in a turnover mode through a turnover component (34);
and the suction assemblies (36) are respectively arranged on the inner side surfaces of the top column (31), the first side column (33) and the second side column (35).
2. The multifunctional adaptive clamp for the robot is characterized in that the support column (32) is 7-shaped, and a support plate (37) is arranged between a cross rod and a vertical rod of the support column (32).
3. The multi-functional adaptive clamp for the robot as claimed in claim 1, wherein the gripping mechanism (3) is configured such that the suction components on the inner side surfaces of the first side pillar (33) and the second side pillar (35) are located on the same plane in the gripping state.
4. The multifunctional self-adaptive clamp for the robot is characterized in that a groove (4) is formed in the bottom end of a supporting column (32), a through hole is formed in one side of an inner cavity of the groove (4), and the overturning assembly (34) comprises:
the servo motor (341) is fixedly arranged on the outer wall of one side of the groove (4) with the through hole, and the servo motor (341) is electrically connected with an external control system of the mechanical arm (1);
the output end of the servo motor (341) extends into the inner cavity of the groove (4) through a through hole and locks one end of the rotating shaft (342) through a coupler, and the other end of the rotating shaft (342) is installed on the inner wall of the groove (4) through a bearing;
the round column (343) is fixedly arranged on the outer wall of the rotating shaft (342);
and one end of the connecting plate (344) is fixed with the outer wall of the round column (343), and the other end of the connecting plate is fixedly connected with the top end of the second side column (35).
5. The multi-functional adaptive clamp for robots according to claim 4, wherein the connecting plate (344) is provided with two pieces.
6. The multi-functional adaptive chuck for robots according to claim 1, characterized in that said suction assembly (36) comprises: the vacuum flow divider (361), the compressed air connecting pipe (364) and the flat sucking disc (367);
the vacuum flow divider (361) is fixedly arranged in the top column (31), the first side column (33) and the second side column (35) respectively; an air inlet pipe (362) of the vacuum flow divider (361) is connected with a vacuum generator (362),
each vacuum diverter (361) corresponds to one compressed air connecting pipe (364), one end of each compressed air connecting pipe (364) is in threaded connection with a compressed air inlet of the vacuum generator (362), the other ends of the three compressed air connecting pipes (364) respectively extend out of the outer walls of the top column (31), the first side column (33) and the second side column (35) and are connected with inlets of compressed air through electromagnetic valves, and the electromagnetic valves are electrically connected with an external control system of the mechanical arm (1);
the flat suction cup (367) is communicated with the inner cavity of the vacuum flow divider (361) through a connecting pipe (366).
7. The multifunctional self-adaptive clamp for the robot is characterized in that the suction assembly (36) further comprises a plurality of hollow fixing columns (365), the number of the fixing columns (365) is several, the fixing columns (365) are fixedly arranged on one side of the vacuum diverter (361), and the fixing columns (365) are communicated with the inner cavity of the vacuum diverter (361); the connecting pipe (366) is screwed inside the fixing column (365).
8. The multi-functional adaptive clamp for robot as claimed in claim 6, wherein the connection pipe (366) is provided with a filter net (368) at an outlet end fixed with a flat suction cup (367).
9. The multi-functional self-adaptation anchor clamps of robot of claim 8, characterized in that: the cross-sectional shape of the connecting pipe (366) is inverted T-shaped.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110849610.9A CN113602806A (en) | 2021-07-27 | 2021-07-27 | Multifunctional self-adaptive clamp for robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110849610.9A CN113602806A (en) | 2021-07-27 | 2021-07-27 | Multifunctional self-adaptive clamp for robot |
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| Publication Number | Publication Date |
|---|---|
| CN113602806A true CN113602806A (en) | 2021-11-05 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110849610.9A Pending CN113602806A (en) | 2021-07-27 | 2021-07-27 | Multifunctional self-adaptive clamp for robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114920039A (en) * | 2022-05-16 | 2022-08-19 | 大连海事大学 | Intelligent unloading and transferring robot |
| CN115027971A (en) * | 2022-05-13 | 2022-09-09 | 大连海事大学 | Pneumatic loading and unloading vehicle applied to cold chain transportation |
| CN115043230A (en) * | 2022-05-16 | 2022-09-13 | 大连海事大学 | Be applied to complete set of device that cold-stored ship intelligence was unloaded |
| CN115583498A (en) * | 2022-10-20 | 2023-01-10 | 大连理工大学 | Autonomous-advancing type automatic grabbing and unloading device and method for boxed goods of container and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US5984623A (en) * | 1998-03-31 | 1999-11-16 | Abb Flexible Automation, Inc. | Carrier feed vaccum gripper |
| CN107791267A (en) * | 2017-11-15 | 2018-03-13 | 纳博特南京科技有限公司 | A kind of Novel industrial robot handgrip |
| CN109015736A (en) * | 2018-08-22 | 2018-12-18 | 安徽信息工程学院 | Plate and the clipping conveying robot of column |
| CN111498488A (en) * | 2020-04-01 | 2020-08-07 | 常州创盛智能装备股份有限公司 | Smoke box clamp with overturning function |
| CN212825463U (en) * | 2020-06-24 | 2021-03-30 | 昆山全力发机器人科技有限公司 | Flat sucking disc for packaging industry |
| CN212892723U (en) * | 2020-07-30 | 2021-04-06 | 昆山全力发机器人科技有限公司 | Flat sucking disc for carrying sheets |
-
2021
- 2021-07-27 CN CN202110849610.9A patent/CN113602806A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5984623A (en) * | 1998-03-31 | 1999-11-16 | Abb Flexible Automation, Inc. | Carrier feed vaccum gripper |
| CN107791267A (en) * | 2017-11-15 | 2018-03-13 | 纳博特南京科技有限公司 | A kind of Novel industrial robot handgrip |
| CN109015736A (en) * | 2018-08-22 | 2018-12-18 | 安徽信息工程学院 | Plate and the clipping conveying robot of column |
| CN111498488A (en) * | 2020-04-01 | 2020-08-07 | 常州创盛智能装备股份有限公司 | Smoke box clamp with overturning function |
| CN212825463U (en) * | 2020-06-24 | 2021-03-30 | 昆山全力发机器人科技有限公司 | Flat sucking disc for packaging industry |
| CN212892723U (en) * | 2020-07-30 | 2021-04-06 | 昆山全力发机器人科技有限公司 | Flat sucking disc for carrying sheets |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115027971A (en) * | 2022-05-13 | 2022-09-09 | 大连海事大学 | Pneumatic loading and unloading vehicle applied to cold chain transportation |
| CN115027971B (en) * | 2022-05-13 | 2024-05-28 | 大连海事大学 | Pneumatic loading and unloading vehicle applied to cold chain transportation |
| CN114920039A (en) * | 2022-05-16 | 2022-08-19 | 大连海事大学 | Intelligent unloading and transferring robot |
| CN115043230A (en) * | 2022-05-16 | 2022-09-13 | 大连海事大学 | Be applied to complete set of device that cold-stored ship intelligence was unloaded |
| CN114920039B (en) * | 2022-05-16 | 2024-05-28 | 大连海事大学 | Intelligent unloading and transferring robot |
| CN115583498A (en) * | 2022-10-20 | 2023-01-10 | 大连理工大学 | Autonomous-advancing type automatic grabbing and unloading device and method for boxed goods of container and storage medium |
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Application publication date: 20211105 |