CN114248284A

CN114248284A - Claw thorn adhesive device and robot with same

Info

Publication number: CN114248284A
Application number: CN202210010626.5A
Authority: CN
Inventors: 田煜; 李新新; 李小松; 赵乾; 孟永钢
Original assignee: Tsinghua University
Current assignee: Tsinghua University
Priority date: 2022-01-06
Filing date: 2022-01-06
Publication date: 2022-03-29
Anticipated expiration: 2042-01-06
Also published as: CN114248284B

Abstract

The invention discloses a claw thorn attaching device and a robot with the same. This claw thorn adhesion apparatus includes: the device comprises a rack, a driving assembly and at least one group of claw units, wherein the rack is provided with a base, the base is arranged in the height direction of the rack in an inclined mode, the claw units are movably arranged on the base, each group of claw units are provided with a moving block and a piercing part, the piercing part is arranged on the moving block, and the driving assembly is used for driving the moving block of each group of claw units to move relative to the base so that the moving block drives the piercing part corresponding to the moving block to pierce or pull out a pierced object. According to the claw thorn attaching device disclosed by the embodiment of the invention, objects which are not easy to fix can be attached and grabbed, and the claw thorn attaching device has a good application prospect in the technical field of industrial automation and the technical field of robots.

Description

Claw thorn adhesive device and robot with same

Technical Field

The invention relates to the technical field of robots, in particular to a claw thorn attaching device and a robot with the same.

Background

With the continuous development of industrial automation technology and robot technology, a large number of mechanical devices such as manipulators, suckers and the like are developed for the attachment and the grabbing of various objects, and the traditional attachment and grabbing devices are generally based on friction, coating and adsorption effects and mainly realize the fixation of the objects in a force sealing or shape sealing mode, but are not suitable for the targets of some large-surface objects, flexible materials, objects with rough and porous surfaces and the like.

Disclosure of Invention

The present invention is directed to solving, at least to some extent, one of the above-mentioned problems in the prior art. Therefore, the invention provides a claw thorn attaching device which can attach and grab objects which are not easy to fix.

The invention also provides a robot with the claw thorn attaching device.

According to the claw thorn adhesion apparatus of the embodiment of the invention, the claw thorn adhesion apparatus comprises: the device comprises a rack, a base and a positioning device, wherein the rack is provided with the base which is obliquely arranged in the height direction of the rack; the claw thorn unit is movably arranged on the base, each group of claw thorn unit is provided with a moving block and a piercing part, and the piercing part is arranged on the moving block; the driving assembly is used for driving the moving block of each group of claw and thorn units to move relative to the base, so that the moving block drives the corresponding piercing parts to pierce or pull out a pierced object.

According to the claw thorn attaching device provided by the embodiment of the invention, the driving assembly can drive the moving block of each group of claw thorn units to move relative to the base, so that the moving block drives the corresponding piercing part to pierce or pull out a pierced object, and the object which is not easy to fix can be attached and grabbed.

According to some embodiments of the invention, the base is provided with a piercing guide portion adapted to stop against the object to be pierced, the piercing guide portion has a guide hole through which the piercing portion is inserted, and the moving block is adapted to drive the piercing portion to extend or retract into the guide hole.

Further, the surface of the puncturing guide part opposite to the object to be punctured is provided with a supporting surface.

Furthermore, the claw thorn unit, the puncture guide part and the base are all multiple, and the plurality of claw thorn units, the plurality of puncture guide parts and the plurality of bases correspond to one another.

Further, each base is provided with a first guide portion, the moving block of each claw-stabbing unit is provided with a second guide portion, and the first guide portion and the second guide portion are in guide fit so that the moving block can move in the inclination direction parallel to the base.

Further, one of the first guide portion and the second guide portion is a guide rail, and the other of the first guide portion and the second guide portion is a slide groove.

According to some embodiments of the invention, the drive assembly comprises: the connecting rod is rotatably connected with the connecting piece, the connecting rod is rotatably connected with the corresponding moving block, and the driving piece is used for driving the connecting piece to move along the height direction of the rack.

Optionally, the driving member is a driving cylinder, and the driving cylinder is connected with the connecting member.

Optionally, the drive assembly further comprises: the lead screw is connected with the driving piece, the connecting piece is sleeved outside the lead screw and is in threaded fit with the lead screw, and the driving piece drives the lead screw to rotate so that the connecting piece moves along the height direction of the rack.

According to some embodiments of the invention, the plurality of pedestals are evenly spaced in sequence in a circumferential direction of the frame.

According to another aspect of the invention, the robot comprises the claw thorn attaching device.

The robot and the claw thorn attaching device have the same advantages compared with the prior art, and the description is omitted.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

FIG. 1 is a schematic view of a claw stick attachment device according to an embodiment of the invention;

FIG. 2 is a schematic view of a piercing portion of a claw stick attachment device piercing an object to be pricked in accordance with an embodiment of the present invention;

fig. 3 is a schematic view of the pricking part of the claw stick attachment apparatus according to the embodiment of the present invention, with the pricked object pulled out.

Reference numerals:

the device comprises a frame 1, a claw-stab unit 2, a moving block 21, a second guide part 211, a stabbing part 22, a driving assembly 3, a driving piece 31, a connecting piece 32, a lead screw 33, a coupler 34, a base 4, a first guide part 41, a stabbing guide part 5, a supporting surface 51, a connecting rod 6, a claw-stab attachment device 10 and a stabbing object 20.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.

In the description of the present invention, it is to be understood that the terms "height", "upper", "lower", "top", "bottom", "inner", "outer", and the like, indicate orientations and positional relationships based on the orientations and positional relationships shown in the drawings, are only for convenience in describing the present invention and simplifying the description, and 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 taken as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically connected, electrically connected or can communicate with each other; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

The claw stick attachment device 10 according to an embodiment of the present invention is described in detail below with reference to fig. 1-3.

Referring to fig. 1-3, a claw stick attachment device 10 includes: frame 1, drive assembly 3 and at least one set of claw thorn unit 2, wherein:

the frame 1 is equipped with

base

4, and 4 slopes settings in the direction of height of frame 1 base, and 1 one end of frame and to the slope extension in the frame 1 outside can be located to base 4, and the contained angle alpha of the incline direction of base 4 and the 1 direction of height of frame can satisfy following relational expression: alpha is more than 0 degree and less than 90 degrees.

The base 4 is movably arranged on the claw-prick unit 2, each group of claw-prick units 2 is provided with a moving block 21 and a prick part 22, the prick part 22 is arranged on the moving block 21, the moving block 21 can drive the prick part 22 to move synchronously when moving, the prick part 22 can be a prick array formed by a plurality of pricks, the number and arrangement mode of the pricks in the prick array can be selected according to actual needs, for example, the prick array comprises 7 pricks arranged in a staggered mode, the material of the pricks can be stainless steel, carbon steel or other hard materials, the pricks are provided with a fixed end and a tip end, the fixed end is suitable for being fixed with the moving block 21, and the tip end is suitable for being pricked into the pricked object 20. The base 4 may be provided with a plurality of claw units 2.

The driving assembly 3 can be arranged on the rack 1, the driving assembly 3 is used for driving the moving block 21 of each group of claw-stabbing units 2 to move relative to the base 4, so that the moving block 21 drives the corresponding piercing part 22 to pierce or pull out the object 20 to be stabbed, when the moving block 21 moves relative to the base 4, the piercing part 22 can extend out of the base 4 to pierce the object 20 to be stabbed, and the piercing part 22 can also retract into the base 4 to pull out the object 20 to be stabbed, when the piercing part 22 pierces the object 20, the claw-stabbing attachment device 10 is attached to the object 20 to be stabbed, the object 20 to be stabbed is fixed relative to the claw-stabbing attachment device 10, the claw-stabbing attachment device 10 can transfer the object 20 to be stabbed or perform other actions, when the piercing part 22 pulls out the object 20 to be stabbed, the claw-stabbing attachment device 10 is detached from the object 20 to be stabbed, and the object 20 is separated from the claw-stabbing attachment device 10. The object 20 may be a penetrable object such as a fabric, and the object 20 may be an object attached to a penetrable surface such as a rubber.

In some embodiments of the present invention, the claw stick attachment device 10 may be used in an industrial robot to perform a function of gripping and setting down an object 20 by driving the piercing section 22 to pierce or pull out the object 20, thereby facilitating the industrial robot to grip and transfer an object that is not easily fixed, such as a large-surface object, a flexible material, an object having a rough porous surface, or the like.

In other embodiments of the present invention, the claw-stab attachment apparatus 10 may be used in a wall-climbing robot to facilitate attachment, walking and work of the wall-climbing robot on the surface of the object 20 by driving the piercing part 22 to pierce or extract the object 20.

According to the claw thorn attaching device 10 provided by the embodiment of the invention, the moving block 21 of each group of claw thorn units 2 can be driven to move relative to the base 4 through the driving component 3, so that the moving block 21 drives the corresponding piercing part 22 to pierce or pull out the barbed object 20, the object which is not fixed easily can be attached and grabbed, and the claw thorn attaching device 10 has a good application prospect in the technical fields of industrial automation and robotics.

In some embodiments of the present invention, referring to fig. 1 to 3, the base 4 is provided with a piercing guide portion 5, the piercing guide portion 5 may be provided at an end of the base 4 away from the rack 1, the piercing guide portion 5 is adapted to abut against the object 20 to be pierced, the piercing guide portion 5 is provided with guide holes, the piercing portion 22 is provided with guide holes, the moving block 21 is adapted to drive the piercing portion 22 to extend out of or retract into the guide holes, and the number and arrangement of the guide holes may be the same as the number and arrangement of the piercing portions 22, so that each needle is pierced with one guide hole. When the puncturing part 22 punctures the object 20, the puncturing guide part 5 can be tightly attached to the object 20 to prevent the puncturing part 22 from not puncturing the object 20 after extending out of the guide hole, and when the puncturing part 22 extracts the object 20, the puncturing guide part 5 can block the object 20 from synchronously moving with the puncturing part 22 to ensure that the puncturing part 22 extracts the object 20. In addition, the guide hole can provide a certain support for the piercing part 22, and prevent the piercing part 22 from deforming.

In some embodiments of the present invention, referring to fig. 1-3, the surface of the piercing guide 5 opposite the object 20 is provided with a support surface 51, the exit end of the guide hole can be located on the support surface 51, the support surface 51 can increase the contact area of the piercing guide 5 and the object 20 to pierce the object 20 after the piercing portion 22 extends out of the guide hole, and to pull the piercing portion 22 out of the object 20 after the piercing portion 22 retracts into the guide hole.

In some embodiments of the present invention, the plurality of the claw stimulation units 2, the plurality of the penetration guides 5, and the plurality of the bases 4 are provided in a one-to-one correspondence, so that the plurality of the claw stimulation units 2, the plurality of the penetration guides 5, and the plurality of the bases 4 can penetrate the object 20 through the penetration portions 22 of the plurality of the claw stimulation units 2, and the firmness of the object 20 grabbed or attached by the claw stimulation attaching device 10 is improved, thereby improving the reliability of the claw stimulation attaching device 10.

In some embodiments of the present invention, as shown in fig. 1 to 3, each base 4 is provided with a first guide portion 41, the moving block 21 of each claw-stabbing unit 2 is provided with a second guide portion 211, and the moving block 21 is moved in a direction parallel to the inclination direction of the base 4 by the guide engagement of the first guide portion 41 and the second guide portion 211, that is, by the guide engagement of the first guide portion 41 and the second guide portion 211, the driving assembly 3 can drive the moving block 21 to move on the base 4 in a direction away from and close to the housing 1 to drive the piercing portion 22 to extend out of or retract into the guide hole, so that the piercing portion 22 pierces or withdraws from the object 20. Alternatively, the engagement of the first guide portion 41 and the second guide portion 211 may be a sliding rail or rolling rail engagement structure.

In some embodiments of the present invention, one of the first guide portion 41 and the second guide portion 211 is a guide rail, and the other of the first guide portion 41 and the second guide portion 211 is a slide groove.

Referring to fig. 1, the first guide portion 41 of each base 4 is a guide rail, the guide rail may protrude from the base 4 and extend on the base 4 in a direction away from the frame 1, the second guide portion 211 of the moving block 21 is a sliding groove, and the moving block 21 and the piercing portion 22 may move linearly along the guide rail.

Alternatively, the first guiding portion 41 may be a plurality of parallel guide rails arranged at intervals, and the moving block 21 of each claw and stab unit 2 is provided with a plurality of sliding grooves adapted to be matched with the plurality of guide rails in a one-to-one correspondence manner, so as to improve the stability of the moving block 21 during movement.

In another embodiment of the present invention, the first guide portion 41 is a slide groove, and the second guide portion 211 is a guide rail.

In some embodiments of the present invention, and as illustrated with reference to fig. 1-3, the drive assembly 3 comprises: the driving part 31 and the connecting part 32, the connecting part 32 and the moving block 21 of each group of claw units 2 are connected with the connecting rod 6, the connecting rod 6 is rotatably connected with the connecting part 32, the connecting rod 6 is rotatably connected with the corresponding moving block 21, the driving part 31 is used for driving the connecting part 32 to move along the height direction of the rack 1, so that the connecting rod 6 is driven to drive the moving block 21 to move through the movement of the connecting part 32, and the moving block 21 drives the piercing part 22 to extend out or retract into the guide hole. Specifically, when the driving member 31 drives the connecting member 32 to move downward along the height direction of the frame 1, the connecting member 32 drives the moving block 21 to move away from the frame 1 through the connecting rod 6, so that the driven piercing part 22 of the moving block 21 extends out of the guide hole. When the driving member 31 drives the connecting member 32 to move upward along the height direction of the frame 1, the connecting member 32 drives the moving block 21 to move toward the frame 1 through the connecting rod 6, so that the moving block 21 drives the piercing part 22 to retract into the guide hole.

Optionally, the connecting member 32 is provided with a plurality of hinge points corresponding to the number and positions of the moving blocks 21, each hinge point may be connected to a corresponding moving block 21 through one connecting rod 6, one end of each connecting rod 6 is hinged to a corresponding moving block 21 through a pin, and the other end of each connecting rod 6 is hinged to a hinge point corresponding to the corresponding moving block 21 on the connecting member 32 through a pin.

In some embodiments of the present invention (not shown in the figures), the driving member is a driving cylinder, and the driving cylinder is connected to the connecting member, and the driving cylinder may be a telescopic mechanism such as an air cylinder, a hydraulic cylinder, an electric cylinder, etc., so as to drive the connecting member to move along the height direction of the frame by the telescopic mechanism of the driving cylinder.

In other embodiments of the present invention, as shown with reference to fig. 1-3, the drive assembly 3 further comprises: the lead screw 33, the lead screw 33 is connected with the driving part 31, the connecting part 32 is sleeved outside the lead screw 33 and is in threaded fit with the lead screw 33, the connecting part 32 can be a nut suitable for being matched with the lead screw 33, one end of the lead screw 33 can be connected with the driving part 31 through the coupler 34, the coupler 34 can be used for transmitting torque, the other end of the lead screw 33 can be connected with the rack 1 through a bearing, the axial direction of the lead screw 33 can be the same as the height of the rack 1, the driving part 31 drives the lead screw 33 to rotate so that the connecting part 32 moves along the height direction of the rack 1, and the driving part 31 drives the lead screw 33 to rotate forwards and backwards so as to control the moving direction of the connecting part 32. Alternatively, the driving member 31 may be fixed on the frame 1, and the driving member 31 may be a steering engine, a stepping motor, a servo motor, or the like.

It should be noted that, due to the guiding engagement of the moving block 21 and the base 4, the moving block 21 can limit the rotation of the connecting member 32 through the connecting rod 6, thereby preventing the connecting member 32 from following when the lead screw 33 rotates.

According to the claw thorn attaching device 10 of the embodiment of the invention, the driving piece 31 can control the length of the penetrating part 22 extending out of the guide hole when the penetrating part 22 penetrates into the object 20 through controlling the moving stroke of the connecting piece 32 so as to cope with different use scenes, for example, when the fabric is grabbed, the protruding length of the penetrating part 22 is shorter so as to prevent multiple layers of fabrics from being adhered, and when the penetrating part is attached to a penetrable surface such as rubber, the protruding length of the penetrating part 22 can be longer so as to realize stable and reliable surface attachment.

Alternatively, the driving member 31 may be provided with an absolute encoder, or a limit switch may be used to detect the piercing position of the piercing member 22.

In some embodiments of the present invention, the plurality of bases 4 are sequentially and uniformly spaced in the circumferential direction of the rack 1, that is, the included angle between any two adjacent bases 4 is equal, so as to improve the stability of the claw thorn attaching device 10 for grabbing or attaching the pricked object 20. Alternatively, the number of pedestals 4 may be 2-6, for example, the number of pedestals 4 is 4.

In some embodiments of the present invention, the machine frame 1 may be a polygonal prism frame structure, the screw 33 or the driving cylinder may be disposed inside the polygonal prism frame structure, the number of the bases 4 may be the same as the number of prisms in the polygonal prism frame structure, and one base 4 may be connected to a junction of the bottom surface and each side surface of the polygonal prism frame structure.

In some embodiments of the present invention, the actuation of the claw stick attachment device 10 includes the steps of:

step S1, smooth touch. Initializing the claw thorn attachment device 10, initializing the original position of the driving part 31, driving the connecting part 32 to return, driving the tip of the puncturing part 22 to retract into the guide hole by the connecting part 32 through the connecting rod 6, enabling the claw thorn attachment device 10 to be in stable contact with the surface of the object 20 to be punctured, and ensuring that the contact state of the supporting surface 51 and the object 20 to be punctured is good.

Step S2, insert attachment. The driving member 31 acts according to the preset program, the driving member 31 drives the connecting member 32 to move downwards, the connecting rod 6 drives the sharp end of the puncturing part 22 to extend out of the supporting surface 51, and the puncturing part 22 punctures the punctured object 20 to realize attachment.

Step S3, transfer desorption. After the object is attached to the claw thorn attaching device 10, the corresponding object is transferred or other actions are completed, the desorption process is started, the driving piece 31 acts according to a preset program, the driving piece 31 drives the connecting piece 32 to move upwards, the connecting rod 6 drives the sharp end of the puncturing part 22 to retract into the guide hole, and the puncturing part 22 extracts the punctured object 20 to realize desorption.

According to another aspect of the present invention, the robot includes the claw thorn attaching apparatus 10 of the above embodiment.

In some embodiments of the present invention, the robot may be an industrial robot for moving an object, and the stabbed object 20 may be pierced or pulled out by driving the piercing part 22 to perform a function of the industrial robot to grip and place the stabbed object 20, thereby facilitating the industrial robot to transfer objects, such as large-surface objects, flexible materials, and the like, which are not easily fixed by wrapping, clamping, and adsorbing.

In other embodiments of the present invention, the robot may be a wall-climbing robot, which may be driven to pierce or pull out the object 20 to attach, walk, and work on the surface of the object 20.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example" or "some examples" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples described in this specification can be combined and combined by those skilled in the art.

Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.

Claims

1. A barb attachment device, comprising:

the device comprises a rack, a base and a positioning device, wherein the rack is provided with the base which is obliquely arranged in the height direction of the rack;

the claw thorn unit is movably arranged on the base, each group of claw thorn unit is provided with a moving block and a piercing part, and the piercing part is arranged on the moving block;

the driving assembly is used for driving the moving block of each group of claw and thorn units to move relative to the base, so that the moving block drives the corresponding piercing parts to pierce or pull out a pierced object.

2. The claw thorn attachment device according to claim 1, wherein the base is provided with a piercing guide portion adapted to abut against the object to be pierced, the piercing guide portion has a guide hole through which the piercing portion is inserted, and the moving block is adapted to drive the piercing portion to extend out of or retract into the guide hole.

3. The spinous process attachment device of claim 2 wherein a surface of the penetration guide opposite the object being pierced is provided with a support surface.

4. The spinous process attachment device of claim 2 wherein the number of the spinous units, the plurality of the spinous guides, and the base are plural, and the number of the spinous units, the plurality of the spinous guides, and the plurality of the bases correspond one to one.

5. The claw spine attachment device according to claim 4, wherein each of the base portions is provided with a first guide portion, and the moving block of each of the claw spine units is provided with a second guide portion, and the first guide portion and the second guide portion are guided to cooperate to move the moving block in an inclined direction parallel to the base portions.

6. A claw barb attachment device according to claim 5, wherein one of the first and second guide portions is a guide rail and the other of the first and second guide portions is a chute.

7. A spinous attachment device of claim 4 or claim 5 wherein the drive assembly comprises: the connecting rod is rotatably connected with the connecting piece, the connecting rod is rotatably connected with the corresponding moving block, and the driving piece is used for driving the connecting piece to move along the height direction of the rack.

8. A spinous attachment device of claim 7 wherein the drive member is a drive cylinder, the drive cylinder coupled to the link.

9. The spinous attachment device of claim 7 wherein the drive assembly further comprises: the lead screw is connected with the driving piece, the connecting piece is sleeved outside the lead screw and is in threaded fit with the lead screw, and the driving piece drives the lead screw to rotate so that the connecting piece moves along the height direction of the rack.

10. The claw pole attachment device of claim 4 wherein the plurality of bases are evenly spaced in sequence in a circumferential direction of the frame.

11. A robot comprising the spinous process attachment apparatus of any of claims 1-10.