CN114474138A - Robot end effector device suitable for food grabbing - Google Patents
Robot end effector device suitable for food grabbing Download PDFInfo
- Publication number
- CN114474138A CN114474138A CN202210047721.2A CN202210047721A CN114474138A CN 114474138 A CN114474138 A CN 114474138A CN 202210047721 A CN202210047721 A CN 202210047721A CN 114474138 A CN114474138 A CN 114474138A
- Authority
- CN
- China
- Prior art keywords
- food
- groove
- clamping
- adsorption
- movable
- 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.)
- Pending
Links
Images
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
- B07C5/362—Separating or distributor mechanisms
-
- 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
- B25J15/02—Gripping heads and other end effectors servo-actuated
-
- 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
- B25J15/065—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum provided with separating means for releasing the gripped object after suction
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
- B07C2501/0063—Using robots
Abstract
The utility model belongs to the technical field of food letter sorting end effector and specifically relates to a robot end effector device that adaptation food snatched is related to, the food that clamping mechanism and adsorption apparatus that set up on the double-end link of this application can use according to the letter sorting, when the mode through the clamping is carried out to needs letter sorting food, rotatable double-end link makes clamping mechanism rotate to the position of food, when needs sort food through absorbent mode, rotatable double-end link makes adsorption apparatus construct and rotates to the position of food. The detachable construction of the main part of adsorbing that sets up and the vice body of absorption at adsorption apparatus for when needing the great plane food of letter sorting area, the vice body of accessible installation absorption increases the adsorption area, so that the great plane food of application area, when the great little plane food of letter sorting area, the vice body of absorption is pulled down to the accessible, reduces the adsorption area, so that the less plane food of application area.
Description
Technical Field
The application relates to the technical field of food sorting end effectors, in particular to a robot end effector device suitable for food grabbing.
Background
In the light industrial fields of food, medicine and the like, a large amount of labor with high repeatability exists, such as sorting, picking and boxing processes, the work is generally finished manually, the labor intensity is high, certain pollution risks exist, the enterprise cost is high, the production requirements are not met by manual operation more and more along with the improvement of the production technology, and the requirements of industrial robots are larger and more.
The indispensable link on the assembly line during letter sorting packing operation, along with economic development and the aggravation of manufacturing competition, the drawback of manual packaging product shows day by day, and manual packaging not only speed is slow, influences the benefit, and long-time dull work makes people tired easily, causes the personal potential safety hazard. Therefore, at present, advanced technologies such as robots, motion control, machine vision and the like are gradually applied to the food production industry, and an automatic sorting and packaging system is built. However, the robot end effector has a complicated gripping device and is difficult to adapt to the sorting of different sorted products in the food industry, so that a plurality of robots with different gripping modes are required, which leads to a corresponding increase in cost.
Disclosure of Invention
Additional features and advantages of the application will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the application. The objectives and other advantages of the application may be realized and attained by the structure particularly pointed out in the written description and drawings.
The utility model provides an aim at overcome the above-mentioned not enough, provides an end effector device of robot that adaptation food snatched to it is comparatively single to solve current end effector grabbing device of robot, is difficult to adapt to the problem of the letter sorting of different letter sorting article.
In order to achieve the purpose, the technical solution of the application is as follows: a robot end effector device suitable for food grabbing comprises a base and a double-end connecting frame, wherein one end of the base is rotatably connected with a first shaft support, the other end of the first shaft support is rotatably connected with a second shaft support, and the other end of the second shaft support is rotatably connected with a third shaft support; the double-end link rotates with the third shaft support to be connected, the both ends of double-end link are provided with clamping mechanism and adsorption apparatus respectively and construct, the third shaft support is equipped with the groove of stepping down of indent, the degree of depth in groove of stepping down is greater than clamping mechanism and adsorption apparatus and constructs, clamping mechanism includes clamping body, fixed clamping ware and activity clamping ware, activity clamping ware and clamping body sliding connection to relatively fixed clamping ware removes, adsorption apparatus constructs including adsorbing the main part, can dismantle the absorption auxiliary body that sets up in adsorbing the main part both sides, all be equipped with a plurality of sucking disc on adsorbing the main part and the absorption auxiliary body, the sucking disc is connected with the air pump through the trachea.
In some embodiments, the double-end connecting frame is provided with a rotating seat corresponding to the position of the third shaft support, the rotating seat is rotatably connected with the third shaft support, and the rotating seat is driven by an adjusting motor.
In some embodiments, the two ends of the double-end connecting frame are respectively provided with a clamp joint and an adsorption joint, the clamp joint is connected with the clamping mechanism, the adsorption joint is connected with the adsorption mechanism, and the clamp joint and the adsorption joint are driven to rotate by a rotating motor.
In some embodiments, one end of the clamping body is provided with a concave movable groove, one side of the clamping body is provided with a guide hole penetrating to the movable groove, and the clamping device penetrates through the guide hole to be embedded into the movable groove and moves relative to the fixed clamping device.
In some embodiments, a pipe body is arranged in the movable groove, an inwards-concave pipe cavity is arranged at one end of the pipe body, a pipe hole penetrating through the pipe cavity is formed in one side of the pipe body, the clamping device comprises a movable clamping plate and a sliding block, the clamping plate is arranged on the sliding block, the sliding block is embedded into the movable groove, a movable hole penetrates through the position, corresponding to the pipe body, of the sliding block, a driving connecting block is arranged at the position, corresponding to the pipe hole, of the movable hole, the driving connecting block penetrates through the pipe hole, an air cylinder is arranged at the end of the driving connecting block, the air cylinder is embedded into the pipe cavity, a telescopic sealing sleeve is arranged on the pipe body, the sealing sleeve is used for sealing the pipe hole, and a sealing space is formed between the bottom of the pipe cavity and the air cylinder.
In some embodiments, the sealing sleeve comprises a telescopic sleeve, a convex sealing strip is arranged on the inner surface of the telescopic sleeve, the sealing strip is nested on the pipe hole, a sealing ring is arranged at the end part of the sealing strip, the sealing ring is tightly attached to the cylinder, and an air hole penetrates through the sealing ring corresponding to the air hole of the cylinder.
In some embodiments, a reinforcing rib is arranged between the movable clamping plate and the sliding block.
In some embodiments, the side that the main absorption body corresponds the auxiliary absorption body is equipped with the spread groove of indent, the tank bottom of spread groove is provided with the spacing groove to the both sides indent, the position that the auxiliary absorption body corresponds the spread groove is provided with the connecting strip, the position that the connecting strip corresponds the spacing groove is provided with spacing, in the connecting strip embedding spread groove, spacing embedding spacing inslot, the both ends of main absorption body sliding connection have the fixture block respectively, the fixture block is used for blocking spacing in the spacing inslot.
In some embodiments, the position of the adsorption main body corresponding to the clamping block is provided with an inward-concave sliding groove, the clamping block is embedded into the sliding groove, the position of the end part of the limiting strip corresponding to the clamping block is provided with an inward-concave clamping groove, and the clamping block is embedded into the clamping groove.
In some embodiments, one end of the third shaft bracket close to the second shaft bracket is provided with a connecting column, the surface of the connecting column is provided with a concave limiting ring, a quick-change mechanism is arranged at a position of the second shaft bracket corresponding to the limiting ring, the quick-change mechanism comprises a quick-change shell, the quick-change shell is fixed on the second shaft bracket, the quick-change shell is provided with a concave movable groove towards one end of the second shaft bracket, a movable hole penetrates through the groove bottom of the movable groove, a movable rod is embedded in the movable groove, one end of the movable rod is embedded in the limiting ring, the other end of the movable rod penetrates through the movable hole, a push block is arranged on the movable rod, a spring is embedded in the movable groove, one end of the spring is supported at the groove bottom of the movable groove, and the other end of the spring is supported on the push block.
Through adopting foretell technical scheme, the beneficial effect of this application is: the arrangement of the first shaft support, the second shaft support and the third shaft support can enable the double-end connecting frame to rotate and move in the multi-shaft direction, and the double-end connecting frame can realize sorting action on food in sorting operation. The abdicating groove of the third shaft support can abdicate the clamping mechanism and the adsorption mechanism when the double-end connecting frame rotates. The clamping mechanism and the adsorption mechanism which are arranged on the double-end connecting frame can be used according to sorted food, when the food is sorted in a clamping mode, the double-end connecting frame can be rotated, so that the clamping mechanism can be rotated to the position of the food, and when the food is sorted in an adsorption mode, the double-end connecting frame can be rotated, so that the adsorption mechanism can be rotated to the position of the food. The detachable construction of the main part of adsorbing that sets up and the vice body of absorption at adsorption apparatus for when needing the great plane food of letter sorting area, the vice body of accessible installation absorption increases the adsorption area, so that the great plane food of application area, when the great little plane food of letter sorting area, the vice body of absorption is pulled down to the accessible, reduces the adsorption area, so that the less plane food of application area.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
Clearly, such objects and other objects of the present application will become more apparent after a detailed description of the preferred embodiments thereof as illustrated in the various figures and drawings.
These and other objects, features and advantages of the present application will become more apparent from the following detailed description of one or more preferred embodiments, which is to be read in connection with the accompanying drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application and not to limit the application.
In the drawings, like parts are designated with like reference numerals, and the drawings are schematic and not necessarily drawn to scale.
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only one or several embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to such drawings without creative efforts.
FIG. 1 is a schematic diagram of a robotic end effector assembly adapted for food gripping according to some embodiments of the present application;
FIG. 2 is a cross-sectional view of a third shaft support according to some embodiments of the present application;
FIG. 3 is a schematic structural view of a dual head link, a clamping mechanism, and an adsorption mechanism according to some embodiments of the present disclosure;
FIG. 4 is a schematic structural view of a dual head link of some embodiments of the present application;
FIG. 5 is a schematic structural view of a clamping mechanism according to some embodiments of the present application;
FIG. 6 is a schematic structural view of a tubular body according to some embodiments of the present application;
FIG. 7 is a bottom view of a removable clamp according to some embodiments of the present application;
figure 8 is a schematic view of the construction of a sealing sleeve according to some embodiments of the present application;
FIG. 9 is an exploded view of a suction mechanism according to some embodiments of the present application;
FIG. 10 is an enlarged schematic view of the structure of FIG. 9 according to some embodiments of the present application;
FIG. 11 is an exploded view of a second and third shaft support according to some embodiments of the present disclosure;
fig. 12 is a schematic cross-sectional view of a quick-change mechanism according to some embodiments of the present application.
Description of reference numerals:
1. a base;
2. a first shaft support;
3. a second shaft support;
4. a third shaft support;
41. a yielding groove; 42. connecting columns; 43. a limiting ring;
5. a double-end connecting frame;
51. a rotating base; 52. a clamp joint; 53. an adsorption joint;
6. a clamping mechanism;
61. installing a clamp body; 611. a movable groove; 612. a guide hole;
62. fixing the clamping device;
63. a movable clamp; 631. a movable splint; 632. a slider; 633. reinforcing ribs; 634. a movable hole; 635. a driving connecting block; 636. a cylinder;
64. a pipe body; 641. a lumen; 642. a tube hole;
65. sealing sleeves; 651. a telescopic sleeve; 652. sealing tape; 653. a seal ring; 654. air holes;
7. an adsorption mechanism;
71. an adsorption body; 711. connecting grooves; 712. a limiting groove; 713. a clamping block; 714. a chute;
72. an adsorption sub-body; 721. a connecting strip; 722. a limiting strip; 723. a card slot;
73. a suction cup;
8. adjusting the motor;
9. a quick-change mechanism;
91. quickly replacing the shell; 92. a movable groove; 93. a movable hole; 94. a movable rod; 95. a push block; 96. a spring.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is further described in detail with reference to the following detailed description. It should be understood that the detailed description and specific examples, while indicating the present application, are given by way of illustration only.
In addition, in the description of the present application, it is to be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", and the like, indicate orientations and positional relationships based on those shown in the drawings, are only for convenience of description and simplicity of description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present application.
In this application, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections, removable connections, or integral parts; either directly or indirectly through intervening media, either internally or in any other relationship. However, the direct connection means that the two bodies are not connected through a transition structure, but are connected through a connection structure to form a whole. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through intervening media. In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means 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 application. 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.
The following describes embodiments of the present application with reference to the drawings.
1-5, 9, FIG. 1 is a schematic structural view of a robotic end effector device adapted for food gripping according to some embodiments of the present application; FIG. 2 is a cross-sectional view of a third shaft support according to some embodiments of the present application; FIG. 3 is a schematic structural view of a dual head link, a clamping mechanism, and an adsorption mechanism according to some embodiments of the present disclosure; FIG. 4 is a schematic structural view of a dual head link of some embodiments of the present application; FIG. 5 is a schematic view of a chuck mechanism according to some embodiments of the present application; FIG. 9 is an exploded view of a sorption mechanism according to some embodiments of the present application.
According to some embodiments of the present application, a robotic end effector device adapted for food gripping is provided, comprising a base 1 and a double-ended attachment frame 5. One end of the base 1 is rotatably connected with a first shaft bracket 2, the other end of the first shaft bracket 2 is rotatably connected with a second shaft bracket 3, and the other end of the second shaft bracket 3 is rotatably connected with a third shaft bracket 4; this double-end link 5 rotates with third shaft support 4 to be connected, the both ends of this double-end link 5 are provided with clamping machine 6 and adsorption apparatus 7 respectively, this third shaft support 4 is equipped with the groove 41 of stepping down of indent, the degree of depth that should step down the groove 41 is greater than clamping machine 6 and adsorption apparatus 7, this clamping machine 6 is including clamping body 61, fixed clamping ware 62 and activity clamping ware 63, this activity clamping ware 63 and clamping body 61 sliding connection, and relatively fixed clamping ware 62 removes, this adsorption apparatus 7 is including adsorbing main part 71, can dismantle the vice body 72 of absorption that sets up in adsorbing main part 71 both sides, all be equipped with a plurality of sucking disc 73 on this absorption main part 71 and the vice body 72 of absorption, this sucking disc 73 is connected with the air pump through the trachea.
The base 1 is used for supporting a first shaft bracket 2, a second shaft bracket 3, a third shaft bracket 4 and a double-head connecting frame 5. The arrangement of the first shaft support 2, the second shaft support 3 and the third shaft support 4 can enable the double-head connecting frame 5 to rotate and move in the multi-shaft direction, so that the double-head connecting frame 5 can realize the sorting action of food in the sorting operation. The abdicating groove 41 of the third shaft bracket 4 can abdicate the clamping mechanism 6 and the adsorption mechanism 7 in the rotating direction of the double-head connecting frame 5. The clamping mechanism 6 and the adsorption mechanism 7 arranged on the double-end connecting frame 5 can be used according to sorted food, when the food is sorted in a clamping mode, the double-end connecting frame 5 can be rotated to enable the clamping mechanism 6 to rotate to the position of the food, and when the food is sorted in an adsorption mode, the double-end connecting frame 5 can be rotated to enable the adsorption mechanism 7 to rotate to the position of the food. The main adsorption body 71 and the auxiliary adsorption body 72 arranged on the adsorption mechanism 7 are of detachable structures, so that when the large-area planar food needs to be sorted, the auxiliary adsorption body 72 can be installed to increase the adsorption area, the large-area planar food can be conveniently used, and when the small-area planar food is sorted, the auxiliary adsorption body 72 can be detached to reduce the adsorption area, and the small-area planar food can be conveniently used. The food can be sucked by driving the air pump and sucking the food by sucking the food at a position where the suction pad 73 is in contact with the surface of the food to form a negative pressure.
Referring to fig. 1, 3, and 4, fig. 1 is a schematic structural view of a robotic end effector device adapted for food gripping according to some embodiments of the present application; FIG. 3 is a schematic structural view of a dual head link, a clamping mechanism, and an adsorption mechanism according to some embodiments of the present disclosure; FIG. 4 is a schematic structural view of a dual head link according to some embodiments of the present application.
According to some embodiments of the present application, the double-headed connecting frame 5 is optionally provided with a rotating base 51 corresponding to the position of the third shaft support 4, the rotating base 51 is rotatably connected with the third shaft support 4, and the rotating base 51 is driven by the adjusting motor 8.
According to some embodiments of the present application, optionally, the two ends of the double-end connecting frame 5 are respectively provided with a clamp connector 52 and an adsorption connector 53, the clamp connector 52 is connected with the clamping mechanism 6, the adsorption connector 53 is connected with the adsorption mechanism 7, and the clamp connector 52 and the adsorption connector 53 are driven to rotate by a rotating motor, wherein the rotating motor is installed in the double-end connecting frame 5.
5-8, FIG. 5 is a schematic structural view of a clamping mechanism according to some embodiments of the present application; FIG. 6 is a schematic structural view of a tubular body according to some embodiments of the present application; FIG. 7 is a bottom view of a removable clamp according to some embodiments of the present application; figure 8 is a schematic view of the seal cartridge of some embodiments of the present application.
According to some embodiments of the present application, optionally, one end of the clamping body 61 is provided with a concave movable groove 611, one side of the clamping body 61 is provided with a guide hole 612 penetrating to the movable groove 611, and the clamping device 63 is inserted into the movable groove 611 through the guide hole 612 and moves relative to the fixed clamping device 62. The movable groove 611 and the guide hole 612 are arranged to limit the movement of the clamper 63 on the clamper 61.
According to some embodiments of the present application, optionally, a tube 64 is disposed in the movable groove 611, an inwardly concave tube cavity 641 is disposed at one end of the tube 64, a tube hole 642 penetrating through the tube cavity 641 is disposed at one side of the tube 64, the clamp 63 includes a movable clamp plate 631 and a slider 632, the clamp plate 631 is disposed on the slider 632, the slider 632 is embedded in the movable groove 611, a movable hole 634 penetrates through a position of the slider 632 corresponding to the tube 64, a driving connection block 635 is disposed at a position of the movable hole 634 corresponding to the tube hole 642, the driving connection block 635 penetrates through the tube hole 642, an air cylinder 636 is disposed at an end of the driving connection block 635, the air cylinder 636 is embedded in the tube 641, a telescopic sealing sleeve 65 is disposed on the tube 64, and the sealing sleeve 65 is used for sealing the tube hole 642 to form a sealing space between the bottom of the tube cavity 641 and the air cylinder 636. The bottom of lumen 641 and the sealed space that cylinder 636 formed, when cylinder 636 aerifys or breathes in this sealed space mutually, alright make its inside atmospheric pressure increase or reduce to drive slider 632 and slide on body 64, slider 632 just can drive movable clamp plate 631 and move relative fixed clamping ware 62, thereby realize the effect of clamping, and this drive structure can save space, and reduce the use of part, makes itself have slim and graceful effect, so that carry.
According to some embodiments of the present application, optionally, the sealing sleeve 65 comprises a telescopic sleeve 651, the inner surface of the telescopic sleeve 651 is provided with a protruding sealing belt 652, the sealing belt 652 is nested on the pipe hole 642, the end of the sealing belt 652 is provided with a sealing ring 653, the sealing ring 653 is tightly attached to the cylinder 636, and the sealing ring 653 penetrates through a gas hole 654 corresponding to the gas port of the cylinder 636. The telescopic cover 651 is disposed to enable the sealing band 652 to seal the tube hole 642, so that the bottom of the tube cavity 641 forms a sealed space with the cylinder 636 to facilitate the driving function.
According to some embodiments of the present application, a stiffener 633 is optionally disposed between the movable clamp 631 and the slider 632. The arrangement of the reinforcing ribs 633 can improve the supporting capability of the movable clamp plate 631.
Referring to FIGS. 9-10, FIG. 9 is an exploded view of a sorption mechanism according to some embodiments of the present application; FIG. 10 is an enlarged schematic view of FIG. 9 according to some embodiments of the present application.
According to some embodiments of the present application, optionally, the side of the absorption main body 71 corresponding to the absorption sub-body 72 is provided with an inward-concave connection groove 711, the bottom of the connection groove 711 is provided with a limiting groove 712 inward-concave towards two sides, the absorption sub-body 72 is provided with a connection bar 721 corresponding to the connection groove 711, the connection bar 721 corresponding to the limiting groove 712 is provided with a limiting bar 722, the connection bar 721 is embedded in the connection groove 711, the limiting bar 722 is embedded in the limiting groove 712, two ends of the absorption main body 71 are respectively connected with a fixture 713 in a sliding manner, and the fixture 713 is used for clamping the limiting bar 722 in the limiting groove 712. The horizontal movement of the stopper bar 722 is restricted by the engagement with the stopper groove 712, and the vertical movement of the stopper bar 722 is restricted by the arrangement of the locking block 713, so that the suction sub body 72 can be fixed to the suction main body 71.
According to some embodiments of the present application, optionally, a concave sliding groove 714 is formed in a position of the absorption body 71 corresponding to the fixture block 713, the fixture block 713 is embedded in the sliding groove 714, a concave clamping groove 723 is formed in a position of an end of the limiting bar 722 corresponding to the fixture block 713, and the fixture block 713 is embedded in the clamping groove 723. With the arrangement of the clamping groove 723, when the clamping block 713 limits the longitudinal movement of the limiting bar 722, the connection part of the end parts of the adsorption main body 71 and the adsorption auxiliary body 72 can be smoother.
Referring to fig. 11-12, fig. 11 is an exploded view of a second and third shaft support according to some embodiments of the present application; fig. 12 is a schematic cross-sectional view of a quick-change mechanism according to some embodiments of the present application.
According to some embodiments of the present application, optionally, the third shaft support 4 is provided with a connection column 42 at an end thereof adjacent to the second shaft support 3, the surface of the connecting column 42 is provided with an inwards concave limiting ring 43, the position of the second shaft bracket 3 corresponding to the limiting ring 43 is provided with a quick-change mechanism 9, the quick-change mechanism 9 comprises a quick-change housing 91, the quick-change housing 91 is fixed on the second shaft bracket 3, one end of the quick-change housing 91 facing the second shaft bracket 3 is provided with a concave movable groove 92, a movable hole 93 penetrates through the groove bottom of the movable groove 92, a movable rod 94 is nested in the movable groove 92, one end of the movable rod 94 is embedded in the limit ring 43, the other end of the movable rod 94 passes through the movable hole 93, the movable rod 94 is provided with a push block 95, a spring 96 is nested in the movable groove 92, one end of the spring 96 is supported on the groove bottom of the movable groove 92, and the other end of the spring 96 is supported on the push block 95. Under the elastic force effect of the spring 96, the push block 95 can be pushed towards the direction of the limit ring 43, so that the stability of the movable rod 94 embedded in the limit ring 43 can be ensured, and the movable rod 94 can be separated from the limit ring 43 by setting the quick-change mechanism 9 when the movable rod 94 is pulled outwards, so that the third shaft bracket 4 can be taken out and separated from the second shaft bracket 3.
It is to be understood that the embodiments disclosed herein are not limited to the particular process steps or materials disclosed herein, but rather, are extended to equivalents thereof as would be understood by those ordinarily skilled in the relevant arts. It is also to be understood that the terminology used herein is for the purpose of describing particular embodiments only, and is not intended to be limiting.
Reference in the specification to "an embodiment" means that a particular feature, or characteristic described in connection with the embodiment is included in at least one embodiment of the application. Thus, the appearances of the phrase or "an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment.
Furthermore, the described features or characteristics may be combined in any other suitable manner in one or more embodiments. In the above description, certain specific details are provided, such as thicknesses, amounts, etc., to provide a thorough understanding of embodiments of the present application. One skilled in the relevant art will recognize, however, that the application can be practiced without one or more of the specific details, or with other methods, components, materials, etc.
Claims (10)
1. A robotic end effector assembly adapted for food gripping, comprising:
the device comprises a base, a first shaft bracket, a second shaft bracket and a third shaft bracket, wherein one end of the base is rotatably connected with the first shaft bracket, the other end of the first shaft bracket is rotatably connected with the second shaft bracket, and the other end of the second shaft bracket is rotatably connected with the third shaft bracket;
double-end link, it rotates with the third shaft support to be connected, the both ends of double-end link are provided with clamping mechanism and adsorption apparatus respectively and construct, the third shaft support is equipped with the groove of stepping down of indent, the degree of depth in groove of stepping down is greater than clamping mechanism and adsorption apparatus and constructs, clamping mechanism includes clamping body, fixed clamping ware and activity clamping ware, activity clamping ware and clamping body sliding connection to relatively fixed clamping ware removes, adsorption apparatus constructs including adsorbing the main part, can dismantle the vice body of absorption that sets up in adsorbing the main part both sides, all be equipped with a plurality of sucking disc on adsorbing the main part and adsorbing the vice body, the sucking disc is connected with the air pump through the trachea.
2. The food gripping adapted robotic end effector assembly of claim 1, wherein the double-ended attachment frame includes a swivel base at a location corresponding to the third shaft support, the swivel base being rotatably connected to the third shaft support, the swivel base being driven by the adjustment motor.
3. The robot end effector device suitable for food grabbing according to claim 1, wherein a clamp joint and an adsorption joint are respectively arranged at two ends of the double-end connecting frame, the clamp joint is connected with the clamping mechanism, the adsorption joint is connected with the adsorption mechanism, and the clamp joint and the adsorption joint are driven to rotate through a rotating motor.
4. The food gripping adapted robotic end effector assembly of claim 1, wherein the clamp body has a recessed active slot formed in one end thereof, and a guide hole formed in one side thereof and extending through the active slot, wherein the clamp is inserted into the active slot through the guide hole and moves relative to the fixed clamp.
5. The food grabbing robot end effector device according to claim 4, wherein a tube body is arranged in the movable groove, an inwards concave tube cavity is formed in one end of the tube body, a tube hole penetrating through the tube cavity is formed in one side of the tube body, the clamp comprises a movable clamp plate and a slide block, the clamp plate is arranged on the slide block, the slide block is embedded in the movable groove, a movable hole penetrates through the position, corresponding to the tube cavity, of the slide block, a driving connecting block is arranged at the position, corresponding to the tube hole, of the movable hole, the driving connecting block penetrates through the tube hole, an air cylinder is arranged at the end of the driving connecting block, the air cylinder is embedded in the tube cavity, a telescopic sealing sleeve is arranged on the tube body, the sealing sleeve is used for sealing the tube hole, and a sealing space is formed between the bottom of the tube cavity and the air cylinder.
6. A robot end effector device suitable for food grabbing according to claim 5, wherein the sealing sleeve comprises a telescopic sleeve, a convex sealing strip is arranged on the inner surface of the telescopic sleeve and is nested on the pipe hole, a sealing ring is arranged at the end part of the sealing strip and is tightly attached to the air cylinder, and an air hole penetrates through the sealing ring corresponding to the air hole of the air cylinder.
7. A robotic end effector mechanism adapted for food gripping according to claim 5, wherein a stiffener is provided between the movable jaw and the slide.
8. The robot end effector device for food grabbing according to claim 1, wherein the side of the main adsorption body corresponding to the auxiliary adsorption body is provided with an inward-concave connecting groove, the bottom of the connecting groove is provided with a limiting groove which is inward concave towards two sides, the auxiliary adsorption body is provided with a connecting strip corresponding to the connecting groove, the connecting strip is provided with a limiting strip corresponding to the limiting groove, the connecting strip is embedded into the connecting groove, the limiting strip is embedded into the limiting groove, two ends of the main adsorption body are respectively connected with a clamping block in a sliding manner, and the clamping blocks are used for clamping the limiting strip in the limiting groove.
9. The food grabbing robot end effector device according to claim 8, wherein the position of the adsorption main body corresponding to the fixture block is provided with a concave sliding groove, the fixture block is embedded into the sliding groove, the position of the end part of the limiting strip corresponding to the fixture block is provided with a concave clamping groove, and the fixture block is embedded into the clamping groove.
10. The food gripping adapted robotic end effector device of claim 1, it is characterized in that one end of the third shaft bracket close to the second shaft bracket is provided with a connecting column, the surface of the connecting column is provided with an inwards concave limiting ring, a quick-change mechanism is arranged at the position of the second shaft bracket corresponding to the limiting ring, the quick-change mechanism comprises a quick-change shell, the quick-change shell is fixed on the second shaft bracket, one end of the quick-change shell facing the second shaft bracket is provided with a concave movable groove, a movable hole penetrates through the bottom of the movable groove, a movable rod is nested in the movable groove, one end of the movable rod is embedded in the limit ring, the other end of the movable rod passes through the movable hole, the movable rod is provided with a push block, a spring is nested in the movable groove, one end of the spring is supported at the bottom of the movable groove, and the other end of the spring is supported on the push block.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210047721.2A CN114474138A (en) | 2022-01-17 | 2022-01-17 | Robot end effector device suitable for food grabbing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210047721.2A CN114474138A (en) | 2022-01-17 | 2022-01-17 | Robot end effector device suitable for food grabbing |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114474138A true CN114474138A (en) | 2022-05-13 |
Family
ID=81511619
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210047721.2A Pending CN114474138A (en) | 2022-01-17 | 2022-01-17 | Robot end effector device suitable for food grabbing |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114474138A (en) |
Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003045934A (en) * | 2001-08-02 | 2003-02-14 | Yaskawa Electric Corp | Robot for transporting substrate |
| CN102491111A (en) * | 2011-12-01 | 2012-06-13 | 河海大学常州校区 | Modularized vacuum adsorption curve type thin plate element conveying device |
| CN203438234U (en) * | 2013-07-22 | 2014-02-19 | 南京信息工程大学 | Multipurpose material-carrying industrial robot |
| CN103802101A (en) * | 2013-01-25 | 2014-05-21 | 常州先进制造技术研究所 | Pneumatic adjustable clamping plate type mechanical gripper for stacking robot |
| CN207656717U (en) * | 2017-12-25 | 2018-07-27 | 上海闳铖自动化技术有限公司 | A kind of robot quick change clamping jaw |
| CN208663843U (en) * | 2018-08-16 | 2019-03-29 | 苏州田心方莫自动化科技有限公司 | A kind of installing mechanism of clamping jaw |
| CN210189840U (en) * | 2019-06-28 | 2020-03-27 | 沈阳大学 | Spliced dot-matrix electromagnetic chuck |
| CN210189827U (en) * | 2019-07-16 | 2020-03-27 | 刘伯辰 | Multi-functional engineering manipulator |
| CN210389184U (en) * | 2019-07-26 | 2020-04-24 | 南昌迪亚特机械设备有限公司 | Integrated mechanical arm |
| CN111173152A (en) * | 2019-12-26 | 2020-05-19 | 江苏天涵之星吸音材料有限公司 | Spliced sound-insulation and sound-absorption board and processing method thereof |
| CN210939270U (en) * | 2019-11-27 | 2020-07-07 | 烟台森斯特电气自动化科技有限公司 | Multifunctional mechanical arm |
| CN211967517U (en) * | 2020-04-01 | 2020-11-20 | 江苏秦贵智能科技有限公司 | Six-shaft mechanical arm |
| CN112454339A (en) * | 2020-10-26 | 2021-03-09 | 大连理工江苏研究院有限公司金坛分公司 | Mechanical arm convenient for replacing clamping mechanism |
| CN212683993U (en) * | 2020-07-30 | 2021-03-12 | 敬亮杰 | Practical mechanical arm |
-
2022
- 2022-01-17 CN CN202210047721.2A patent/CN114474138A/en active Pending
Patent Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003045934A (en) * | 2001-08-02 | 2003-02-14 | Yaskawa Electric Corp | Robot for transporting substrate |
| CN102491111A (en) * | 2011-12-01 | 2012-06-13 | 河海大学常州校区 | Modularized vacuum adsorption curve type thin plate element conveying device |
| CN103802101A (en) * | 2013-01-25 | 2014-05-21 | 常州先进制造技术研究所 | Pneumatic adjustable clamping plate type mechanical gripper for stacking robot |
| CN203438234U (en) * | 2013-07-22 | 2014-02-19 | 南京信息工程大学 | Multipurpose material-carrying industrial robot |
| CN207656717U (en) * | 2017-12-25 | 2018-07-27 | 上海闳铖自动化技术有限公司 | A kind of robot quick change clamping jaw |
| CN208663843U (en) * | 2018-08-16 | 2019-03-29 | 苏州田心方莫自动化科技有限公司 | A kind of installing mechanism of clamping jaw |
| CN210189840U (en) * | 2019-06-28 | 2020-03-27 | 沈阳大学 | Spliced dot-matrix electromagnetic chuck |
| CN210189827U (en) * | 2019-07-16 | 2020-03-27 | 刘伯辰 | Multi-functional engineering manipulator |
| CN210389184U (en) * | 2019-07-26 | 2020-04-24 | 南昌迪亚特机械设备有限公司 | Integrated mechanical arm |
| CN210939270U (en) * | 2019-11-27 | 2020-07-07 | 烟台森斯特电气自动化科技有限公司 | Multifunctional mechanical arm |
| CN111173152A (en) * | 2019-12-26 | 2020-05-19 | 江苏天涵之星吸音材料有限公司 | Spliced sound-insulation and sound-absorption board and processing method thereof |
| CN211967517U (en) * | 2020-04-01 | 2020-11-20 | 江苏秦贵智能科技有限公司 | Six-shaft mechanical arm |
| CN212683993U (en) * | 2020-07-30 | 2021-03-12 | 敬亮杰 | Practical mechanical arm |
| CN112454339A (en) * | 2020-10-26 | 2021-03-09 | 大连理工江苏研究院有限公司金坛分公司 | Mechanical arm convenient for replacing clamping mechanism |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113984281B (en) | Dynamic balance detection device for motor spindle of mining equipment | |
| CN110137575B (en) | Rubber coating device | |
| CN111392512A (en) | Automatic assembling and disassembling chuck for tire steel wire winding spool | |
| CN114474138A (en) | Robot end effector device suitable for food grabbing | |
| CN212197937U (en) | Automatic assembling and disassembling chuck for tire steel wire winding spool | |
| CN212247307U (en) | Integral doffing movable pipe gripper | |
| CN113059044A (en) | End socket necking machine | |
| CN205739324U (en) | Upset feed mechanism | |
| CN214054258U (en) | Separator of seal gasket | |
| CN115156889A (en) | Dustproof sleeve device for mounting connecting rod assembly of transverse stabilizer bar of automobile | |
| CN213381586U (en) | Sucking disc subassembly and UR collaborative type arm | |
| CN113859991A (en) | Sucker type unstacking device | |
| CN219561189U (en) | Pneumatic mechanical arm for stamping robot | |
| CN220046219U (en) | Traction frame convenient to move | |
| CN217481477U (en) | Air charging device for repeatedly using air column bag package | |
| CN216583044U (en) | Sucker type unstacking device | |
| CN217858465U (en) | Full-automatic self-plugging rivet sleeve gasket pressing equipment | |
| CN213258066U (en) | Screw locking device and screw locking robot applying same | |
| CN219963669U (en) | Automatic pressing device of respirator | |
| CN213859311U (en) | Industrial robot multifunctional suction cup | |
| CN220269083U (en) | Stable television supporting seat assembly | |
| CN217100698U (en) | Automatic bag opening mechanism and lathe are inhaled in upset vacuum | |
| CN218800330U (en) | Automatic clamping ring installing machine for connector | |
| CN218144399U (en) | Sucking disc device of applicable multiple plate location | |
| CN217164970U (en) | Clamping jaw for bolt spraying |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |