CN117325199A - Grabbing mechanical arm and carrying system - Google Patents

Abstract

The invention discloses a gripping manipulator which comprises a plurality of gripping devices, wherein each gripping device comprises a steering executing piece and a claw member, the claw member is connected to the executing end of the steering executing piece, and gripping station areas are formed among the gripping devices; the pressing device is arranged in the gripping station area; the steering actuator drives the gripping end of the claw member to deflect and cooperates with the hold-down device to clamp the target object in the gripping station area. Meanwhile, the carrying system applying the grabbing mechanical arm is also disclosed, the purpose of stable grabbing under the condition that the arrangement space between the PACKs is extremely narrow is achieved, and higher positioning precision and maintenance cost are not needed.

Description

Grabbing mechanical arm and carrying system

Technical Field

The invention relates to the field of manipulators, in particular to a grabbing manipulator and a carrying system.

Background

In the current battery industry, the following two types of manipulators are mainly adopted for grabbing and carrying the PACK: vacuum adsorption formula manipulator and both sides grab double-layered formula manipulator, wherein, vacuum adsorption formula manipulator generally uses vacuum chuck to adsorb the surface at PACK top and snatchs, and vacuum adsorption formula manipulator is higher to the surface requirement of PACK, need not have large tracts of land special-shaped protruding or sunken structure, because PACK is in the in-process of design and production, PACK structure mainly has "soil" style of calligraphy, "concave" style of calligraphy, "T" style of calligraphy and "slide" style of calligraphy, that is, PACK structure is unavoidable to have special-shaped protruding or sunken structure or curved surface, and the sucking disc itself can produce the deformation, consequently, this makes vacuum adsorption formula manipulator need higher location and carry out long-term maintenance, maintenance to sucking disc itself.

The two-side grabbing mechanical arm, such as the operation method of a robot composite gripper for grabbing bags disclosed in application publication No. CN113307031A published by 2021, 8 and 27, is characterized in that when the gripper grabs bags, the grabbing width of the gripper is adjusted according to the size of the bags, the composite gripper adjusts the widths of the long gripper teeth and the short gripper teeth through an adjustable cylinder and an adjustable cylinder, after the width is adjusted, the cylinder of the sucker is in a closed state, the long gripper teeth and the short gripper teeth of the composite gripper grab the bags, meanwhile, the cylinder of the bag pressing assembly is started, the bag pressing plate presses the bags, the gripper completes the bag grabbing action, and bag stacking work is started. Therefore, in the process of grabbing a bag, enough space needs to be reserved for the long grabbing teeth and the short grabbing teeth to deflect, namely enough space needs to be reserved for the arrangement space between the PACK, so that the production assembly space of the PACK needs to be large, and the space utilization rate of the production assembly PACK is low.

Disclosure of Invention

In order to overcome at least one defect in the prior art, the invention provides a grabbing manipulator and a carrying system, which can realize the purpose of stable grabbing under the condition that the arrangement space between PACKs is extremely narrow, and do not need higher positioning precision and maintenance cost.

The invention adopts the technical proposal for solving the problems that:

a grasping manipulator, comprising:

the device comprises a plurality of gripping devices, wherein each gripping device comprises a steering executing piece and a claw member, the claw member is connected to the executing end of the steering executing piece, and gripping station areas are formed among the gripping devices;

the pressing device is arranged in the gripping station area;

the steering actuating piece drives the gripping end of the claw member to rotate around the central line of the claw member and is matched with the pressing device so as to clamp the target object in the gripping station area.

In some embodiments of the present invention, the claw member includes a claw supporting arm and a gripping extension arm, the gripping extension arm is a gripping end of the claw member, the gripping extension arm is disposed on a side wall of the claw supporting arm, and the claw supporting arm is fixedly connected to an actuating end of the steering actuator.

In some embodiments of the invention, the gripping end of the knuckle member is provided with a first bumper.

In some embodiments of the invention, the steering actuator is provided with a magnetic induction switch.

In some embodiments of the present invention, the compressing device includes a driving device and a piston expansion member, where the piston expansion member is movably connected to the driving device, and a second buffer member is disposed on the piston expansion member.

In some embodiments of the invention, a proximity sensor is provided on the hold down device.

In some embodiments of the present invention, the gripping robot further includes a gripping holder, a flange connector is disposed on the gripping holder, and the pressing device and the plurality of gripping devices are both installed and fixed on the gripping holder.

In some embodiments of the present invention, the gripping robot further includes a visual positioning device and a light source device, where the visual positioning device and the light source device are both at one side of the gripping station area and are both fixedly connected to the gripper fixing base.

In some embodiments of the invention, the gripping device and/or the compression device is provided with a telescopic adjustment.

The invention also discloses a carrying system, which comprises:

the above-mentioned grasping manipulator;

the positioning fixing frame is provided with a plurality of positioning station areas, and the grabbing mechanical arm is movably arranged above the positioning fixing frame.

In summary, the grasping manipulator and the carrying system provided by the invention have the following technical effects:

the invention combines the pressing device with the gripping device capable of rotating around the central line of the gripping device, not only realizes stable gripping of the target object (namely the important precise object PACK in the prior art), but also avoids the problem of overlarge spacing space between the target objects caused by the rotation of the gripping device around a certain central point, thereby realizing the purpose of gripping under the condition of extremely narrow spacing between the target objects and effectively improving the utilization rate of the storage space of the target objects. Moreover, the stress on the edge of the target object and the clamping fit formed by the point contact or the small-area contact between the target object and the pressing device can effectively reduce the positioning precision of the grabbing mechanical arm and reduce the maintenance cost of the grabbing mechanical arm.

Drawings

FIG. 1 is a schematic view of the overall structure of a gripping robot according to the present invention;

FIG. 2 is a schematic diagram of the overall structure of a handling system according to the present invention;

FIG. 3 is a schematic view of the operation of the gripping device of the present invention;

fig. 4 is a schematic view illustrating the operation of the compressing apparatus according to the present invention.

Icon: 1. a gripping device; 11. a steering actuator; 12. a claw member; 121. a claw supporting arm; 122. grasping the extension arm; 2. a gripping station area; 3. a compacting device; 31. a driving device; 32. a piston expansion member; 41. a first buffer member; 42. a second buffer member; 51. a gripper fixing seat; 52. a flange connection; 6. positioning a fixing frame; 61. positioning a station area; 71. a target object; 8. visual positioning means.

Detailed Description

For a better understanding and implementation, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention.

In the description of the present invention, it should be noted that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, merely to facilitate description of the present invention and simplify the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

Specifically, as shown in fig. 1, the invention discloses a gripping manipulator, which comprises a gripper fixing seat 51, a pressing device 3 and a plurality of gripping devices 1, wherein the number of the gripping devices 1 is preferably four, the four gripping devices 1 are uniformly distributed, the pressing device 3 and the four gripping devices 1 are respectively installed and fixed on the gripper fixing seat 51, and the installation and fixation are preferably bolt connection, such as welding connection. The gripping station areas 2 are formed among the four gripping devices 1, so that the four gripping devices 1 synchronously act on the target object 71 in the gripping station areas 2, four positions of the target object 71 are uniformly stressed, and the stress stability of the target object 71 in the gripping process can be effectively ensured.

It should be noted that the number of the gripping devices 1 is not limited to four, for example, two gripping devices 1 may be provided opposite to each other, and the stability of the target object 71 during the gripping process can be effectively ensured. The number of gripping devices 1 is adjusted according to the structure and size of the target object 71, e.g., three, five, six, etc. In addition, the object 71 is preferably PACK, but may be an object, such as a box, and the outer surface of the box may be a plane, or may have a structure with a plurality of special-shaped protrusions or depressions.

As a core of the present solution, as shown in fig. 1 and 3, each gripping device 1 includes a steering actuator 11 and a claw member 12, and the claw member 12 is connected to an actuating end of the steering actuator 11. The steering actuator 11 is preferably a rotary pressing cylinder, or alternatively, a servo motor, and the steering actuator 11 is started, and the steering actuator 11 drives the gripping ends of the hook members 12 to rotate around the center line thereof, that is, the hook members 12 move to the space between the two target objects 71, and under the action of the steering actuator 11, the hook members 12 can rotate around the center line thereof until the gripping ends of the hook members 12 hook or snap under the side edges of the target objects 71, so that the space between the two target objects 71 can be compressed to the space for the hook members 12 to move without interference, and the space between the two target objects 71 can be effectively and greatly reduced.

It should be noted that, specifically, as shown in fig. 1, the claw member 12 includes a claw supporting arm 121 and a gripping extension arm 122, the gripping extension arm 122 is a gripping end of the claw member 12, the gripping extension arm 122 is disposed on a side wall of the claw supporting arm 121, and the claw supporting arm 121 is fixedly connected to an actuating end of the steering actuator 11.

The center line of the claw member 12 is understood to be a center line of the claw supporting arm 121 extending along the length direction, the claw supporting arm 121 may be a cylindrical rod, or a polygonal column shaped rod, the gripping extending arm 122 may be a protrusion extending along a direction perpendicular to the center line of the claw member 12, then the claw member 12 may be formed into an L-shaped structure, of course, the number of the gripping extending arms 122 may be two, two gripping extending arms 122 are disposed opposite to each other, then the claw member 12 may be formed into a T-shaped structure, the number of the gripping extending arms 122 may be three, four, five, etc., and the plurality of the gripping extending arms 122 may be distributed on the side walls of the claw supporting arm 121.

In addition, the gripping extension arm 122 may have a ring-shaped structure, that is, the gripping extension arm 122 extends around the circumferential direction of the claw supporting arm 121, so that the claw member 12 may rotate by any angle to grip the target object 71.

In the process of gripping, the claw member 12 is pressed against the top of the gripping extension arm 122 and the target object 71, so that the purpose of lifting and conveying by using the claw member 12 can be achieved.

Further, as shown in fig. 1, the pressing device 3 is disposed in the gripping station area 2, that is, the pressing device 3 is started, so that the target object 71 can be pressed on the gripping end of the hook member 12, thereby achieving the purpose that the pressing device 3 cooperates with a plurality of gripping devices 1 to stably grip the target object 71 in the gripping station area 2.

Therefore, the target object 71 can be more stable in the clamping process, the risk that the target object 71 is shifted or falls off due to special conditions such as clamping and stopping in the clamping and carrying process of the target object 71 is effectively avoided, and safety guarantee is provided for the target object 71 in the carrying process.

Since the pressing device 3 serves as a means for providing a pressing force, an end portion of the surface of the target object 71 on which the pressing device 3 acts may be flat to provide a larger force receiving area. Or, the end part of one end of the surface of the target object 71 acted by the compressing device 3 can be a curved surface, so when the surface of the target object 71 has a special-shaped convex or concave structure or a curved surface, the compressing device 3 and the target object 71 form point contact stress, the target object 71 can still be compressed on the gripping end of the hook member 12 to achieve the effect of stable gripping, and meanwhile, the compressing device 3 can be used for abutting and compressing the target object 71 at any position, thereby greatly reducing the accuracy and difficulty of gripping, and reducing the cost of the compressing device 3 and the gripping manipulator thereof and the cost of subsequent correction and maintenance.

In order to take the balance of the pressing force into consideration, as shown in fig. 1, the pressing devices 3 are preferably arranged in two, and the two pressing devices 3 are arranged opposite to each other. Alternatively, the compressing devices 3 may be configured to be three, four, five, six, etc., where the compressing devices 3 are uniformly distributed, and each compressing device 3 is configured independently, that is, different compressing devices 3 and compressing forces of different compressing devices 3 can be started according to structures or sizes of different objects 71.

It should be noted that the above-mentioned compressing device 3 may be alternatively a hydraulic cylinder, or the compressing device 3 may be alternatively a pneumatic cylinder, or the compressing device 3 may be alternatively an electric cylinder. Specifically, as shown in fig. 1, the compressing device 3 includes a driving device 31 and a piston expansion member 32, the piston expansion member 32 is movably connected with the driving device 31, so that the piston expansion member 32 can reciprocate in a linear motion under the action of the driving device 31, that is, when the compressing device 3 is in a compressing state, the piston expansion member 32 slides linearly toward the target object 71 until the end of the piston expansion member 32 presses the target object 71, when the compressing device 3 is in a resetting state, the piston expansion member 32 slides linearly away from the target object 71, and then an assembler or a handling device can take the target object 71 from the gripping manipulator, and take the target object 71 from the gripping end of the gripping device 1.

It should be further noted that, the above-mentioned compressing device 3 may be a spring hydraulic buffer, and then, as shown in fig. 4, the compressing device 3 may move along with the gripper fixing seat 51 toward the target object 71 until the end of the piston expansion member 32 of the compressing device 3 abuts against the target object 71, thereby achieving the purpose that the compressing device 3 compresses the target object 71.

As a preferred mode of the present embodiment, particularly as shown in fig. 1, the grip end of the knuckle member 12 is provided with a first buffer 41. The elastic material, such as silica gel, rubber, etc., is used for the first buffer 41, that is, the elastic deformation capability of the first buffer 41 is utilized, so that the impact force generated by the gripping end of the claw member 12 when the gripping end just contacts the target object 71 and the extrusion force generated by the gripping end of the claw member 12 when the gripping end contacts the target object 71 can be very effectively utilized, and the risk of damage to the surface of the target object 71 caused by rigid contact between the gripping end of the claw member 12 and the target object 71 is avoided.

As a preferred mode of this embodiment, particularly as shown in fig. 1, the piston extension 32 of the pressing device 3 is provided with a second buffer member 42. The second buffer member 42 is made of elastic material, such as silica gel, rubber, etc., that is, the elastic deformation capability of the second buffer member 42 is utilized, so that the impact force generated by the piston expansion member 32 when contacting the target object 71 and the extrusion force generated by the piston expansion member 32 when contacting the target object 71 can be effectively utilized, thereby avoiding the risk of damage to the surface of the target object 71 caused by rigid contact between the piston expansion member 32 and the target object 71.

In addition to the above-described manner of using the second buffer 42 to achieve protection of the surface of the target object 71, the inventors have provided another preferred manner of providing a proximity sensor on the hold down device 3. The proximity sensor herein is a device having the ability to sense the proximity of an object, and it can detect movement information and presence information of an object to be converted into an electrical signal. The proximity sensor comprises a capacitive proximity sensor, an inductive proximity sensor and a photoelectric proximity sensor.

In this way, the piston expansion member 32 of the compressing device 3 can accurately detect whether to compress the target object 71 by using the proximity sensor, so as to ensure that the compressing device 3 can stably act on the target object 71, and ensure that the compressing device 3 compresses in place, so that the problem that the compressing device 3 does not accurately compress the target object 71 to cause the grasping of the target object 71 to be not firm enough is avoided, and the problem that the piston expansion member 32 of the compressing device 3 cannot accurately compress in a specified position range to generate overpressure loss phenomenon, or the problem that the piston expansion member 32 of the compressing device 3 cannot accurately compress in the specified position range to generate insufficient pressure is avoided.

As a further preferable mode of the present embodiment, a magnetic induction switch is provided on the steering actuator 11. The magnetic induction switch can be used for effectively detecting whether the deflection of each gripping device 1 rotates in place, so that the problem that the gripping end of the claw member 12 is incompletely buckled with the target object 71 due to the fact that the deflection angle of the steering actuator 11 of the gripping device 1 is not in place is effectively avoided, and further the hidden danger that the target object 71 falls off due to the fact that the claw member 12 is not buckled in place is avoided.

It should be noted that, the above-mentioned gripping device 1 is provided with a telescopic adjusting piece, and the position of the gripping end of the hook member 12 in the height direction is adjusted and changed by using the telescopic adjusting piece, that is, the distance of the gripping station area 2 in the height direction is changed, so on one hand, the gripping end of the hook member 12 is ensured to be flexibly adjusted according to the height positions of the target objects 71 of different types, thereby being capable of accurately buckling the target objects 71 of different heights and improving the adapting range of the gripping scale object gripped by the gripping manipulator. On the other hand, the height distance of the gripping station area 2 is increased, so that the number of objects 71 which can be accommodated in the gripping station area 2 can be increased, the single-support capacity of the gripping manipulator is improved, the times and cost of gripping and carrying are reduced, and the efficiency of gripping and transporting is improved.

Besides, besides the telescopic adjusting piece arranged on the gripping device 1, the telescopic adjusting piece can be arranged on the compressing device 3, so that the strength of the compressing device 3 acting on the surface of the target object 71 can be changed, and the risk of pressure loss on the outer surface of the target object 71 caused by overpressure of the compressing device 3 is avoided. In addition, the height distance of the gripping station area 2 can be increased, so that the number of objects 71 which can be accommodated in the gripping station area 2 can be increased, the single-support capacity of the gripping manipulator is improved, the times and cost of gripping and carrying are reduced, and the efficiency of gripping and transporting is improved.

It should also be noted that the gripping device 1 and the compacting device 3 are provided with telescopic adjustment members, so that the height distance of the gripping station area 2 is greater, which is beneficial for further increasing the number of objects 71 that can be accommodated by the gripping station area 2. The telescopic adjusting member may be a hydraulic cylinder, an air cylinder, or an electric cylinder, and of course, other mechanisms or structures capable of gripping the device 1 and the pressing device 3 in the height direction may be used as the telescopic adjusting member in the present embodiment.

As a preferred mode of this embodiment, the gripping robot further includes a visual positioning device 8 and a light source device, where the visual positioning device 8 and the light source device both grip one side of the station area 2 and are fixedly connected to the gripper fixing seat 51. Wherein, the vision positioning device 8 is preferably a CCD camera, and provides sufficient light to illuminate the target object 71 through the light source device, so that the vision positioning device 8 can more accurately position the PACK, for example, the grabbing manipulator performs accurate positioning detection before grabbing the target object 71, or the target object 71 is placed in the grabbing station area 2 and performs accurate positioning detection, thereby ensuring that the grabbing manipulator can integrally and accurately grab the target object 71.

As a preferred mode of this embodiment, specifically referring to fig. 1, the gripper fixing seat 51 is provided with a flange connection piece 52, where the flange connection piece 52 is preferably an airlock quick-change flange, and the gripper manipulator can be quickly installed on an external device by using the flange connection piece 52, and the external device is more convenient for subsequent disassembly and maintenance of the gripper manipulator, such as a four-axis joint robot, a six-axis joint robot, an XYZ three-axis module executing mechanism, and the like.

Based on the above disclosed gripping robot, the inventor also discloses a handling system, specifically please refer to fig. 1 and 2, which includes:

the grabbing mechanical arm is arranged;

the positioning fixing frame 6 is provided with a plurality of positioning station areas 61, wherein each positioning station area 61 is used for placing the above target objects 71, and it should be noted that the number of the target objects 71 placed in each positioning station area 61 can be one or a plurality of, the target objects 71 are stacked along the height direction, and the holding mechanical arm is movably arranged above the positioning fixing frame 6.

In this way, during the process of gripping, the gripping robot moves to the position above a certain positioning station area 61 of the positioning fixing frame 6, at this time, the gripping device 1 of the gripping robot is located between two adjacent positioning station areas 61, that is, the gripping device 1 of the gripping robot is located between two adjacent target objects 71, and the visual positioning device 8 will perform scanning detection on the target objects 71 in the gripping station area 2 for positioning.

Next, the steering actuator 11 of the gripping device 1 in the gripping robot drives the claw member 12 to rotate so that the claw member 12 of the gripping device 1 can engage the target object 71.

Then, the driving device 31 of the pressing device 3 in the gripping robot drives the piston expansion member 32 to contact the target object 71.

Finally, the grabbing mechanical arm is driven by external equipment to lift a certain safety height and is transferred to the external specification of the positioning fixing frame 6, so that the conveying purpose of the conveying system is achieved.

It should be noted that the above-mentioned operation steps are merely reference examples, and are not limiting, and the operator may adjust the operation steps according to actual operation experience or operation habit. For example, when the holding-down device 3 in the holding-down robot is a spring hydraulic buffer, the holding-down device 3 is pressed against the target object 71 with the hand holder 51 in contact therewith, and then the hook members 12 of the holding-down device 1 in the holding-down robot can engage with the target object 71.

It should also be noted that the positioning and fixing frame 6 may also be used for storing the target objects 71, that is, the gripping manipulator may transfer the target objects 71 from the outside of the positioning and fixing frame 6 to a certain positioning station area 61 designated in the positioning and fixing frame 6 after gripping, so as to realize storage of a plurality of target objects 71.

It should be noted that, considering that the positioning fixture 6 is used for placing the target object 71, since scraping or bumping is easily generated during the process of picking and placing the target object 71, the positioning fixture 6 is preferably made of a non-metal material, such as a foam material. Alternatively, the positioning fixing frame 6 may be made of a metal material, and a non-metal buffer layer is disposed in each positioning station area 61, where the non-metal buffer layer may be made of silica gel, rubber, or the like.

The technical means disclosed by the scheme of the invention is not limited to the technical means disclosed by the embodiment, and also comprises the technical scheme formed by any combination of the technical features. It should be noted that modifications and adaptations to the invention may occur to one skilled in the art without departing from the principles of the present invention and are intended to be within the scope of the present invention.

Claims (10)

1. A grasping manipulator, comprising:

each gripping device (1) comprises a steering executing piece (11) and a claw member (12), the claw members (12) are connected to the executing ends of the steering executing pieces (11), and gripping station areas (2) are formed among the gripping devices (1);

the pressing device (3) is arranged in the gripping station area (2);

the steering actuator (11) drives the gripping end of the claw member (12) to rotate around the central line of the claw member and is matched with the pressing device (3) so as to clamp the target object (71) in the gripping station area (2).

2. The grasping manipulator according to claim 1, wherein: the claw member (12) comprises a claw supporting arm (121) and a gripping extension arm (122), the gripping extension arm (122) is a gripping end of the claw member (12), the gripping extension arm (122) is arranged on the side wall of the claw supporting arm (121), and the claw supporting arm (121) is fixedly connected to the actuating end of the steering actuating piece (11).

3. The grasping manipulator according to claim 1 or 2, characterized in that: the gripping end of the claw member (12) is provided with a first buffer (41).

4. The grasping manipulator according to claim 1 or 2, characterized in that: the steering actuator (11) is provided with a magnetic induction switch.

5. The grasping manipulator according to claim 1, wherein: the compressing device (3) comprises a driving device (31) and a piston telescopic piece (32), the piston telescopic piece (32) is movably connected with the driving device (31), and a second buffer piece (42) is arranged on the piston telescopic piece (32).

6. The grasping manipulator according to claim 1 or 5, wherein: a proximity sensor is arranged on the pressing device (3).

7. The grasping robot according to claim 1 or 2 or 5, wherein: the novel clamping device is characterized by further comprising a handle fixing seat (51), wherein a flange connecting piece (52) is arranged on the handle fixing seat (51), and the pressing device (3) and the plurality of handle devices (1) are all installed and fixed on the handle fixing seat (51).

8. The grasping manipulator according to claim 7, wherein: the hand grip fixing device is characterized by further comprising a visual positioning device (8) and a light source device, wherein the visual positioning device (8) and the light source device are fixedly connected to one side of the grip station area (2) and are fixedly connected to the hand grip fixing seat (51).

9. The grasping robot according to claim 1 or 2 or 5, wherein: the gripping device (1) and/or the compacting device (3) are provided with telescopic adjusting pieces.

10. A handling system, comprising:

at least one gripping robot according to any of claims 1 to 9;

the positioning fixing frame (6), a plurality of positioning station areas (61) are arranged on the positioning fixing frame (6), and the grabbing mechanical arm is movably arranged above the positioning fixing frame (6).