CN212445218U

CN212445218U - Multi-robot cooperation grabbing device

Info

Publication number: CN212445218U
Application number: CN202021180357.XU
Authority: CN
Inventors: 陈志�; 陈宇媚
Original assignee: Guilin University of Aerospace Technology
Current assignee: Guilin University of Aerospace Technology
Priority date: 2020-06-23
Filing date: 2020-06-23
Publication date: 2021-02-02
Anticipated expiration: 2030-06-23

Abstract

The utility model relates to a robot equipment technical field just discloses a multirobot cooperation grabbing device, including the mounting panel, the front side of mounting panel is opened and is equipped with the removal recess. This multirobot cooperation grabbing device, through will rotating motor circular telegram and rotate, make dwang and worm sleeve rotate, the threaded rod rotates under worm sleeve and the telescopic combined action of worm at this moment, thereby make the movable block upwards or move down will treat the work piece that snatchs and snatch, snatch the back and rotate through circular telegram with the power roller, make driving belt motion, the work piece that is snatched this moment is moved left or right under driving belt's drive, it can be convenient for other robots to assist after the work piece that treats processing removes and snatchs, the device makes the work piece snatch the back position and still can change through a series of mechanical structure, make the staff avoid the too close that a plurality of robots leaned on when the debugging, make the staff convenient that can be more when debugging.

Description

Multi-robot cooperation grabbing device

Technical Field

The utility model relates to a robot equipment technical field specifically is a multirobot cooperation grabbing device.

Background

The robot is an intelligent machine capable of working semi-autonomously or fully autonomously, has basic characteristics of perception, decision, execution and the like, can assist or even replace human beings to finish dangerous, heavy and complex work, improves working efficiency and quality, serves human life, expands or extends the activity and capacity range of the human beings, has a wide application range, is more suitable for industrial application at present, and is very popular in industrial robot application.

Industrial robots on the market often can be used with grabbing devices when in use, wherein partial objects need to be grabbed by a plurality of robots in a coordinated manner, when the robots are grabbed by an ordinary grabbing device in a coordinated manner, due to different grabbing positions of the robots, the grabbing positions are fixed, the problem of movement tracks of the robots moving simultaneously needs to be considered, and the workers are inconvenient to debug at the moment, so that the multi-robot coordinated grabbing device is provided for solving the problem.

SUMMERY OF THE UTILITY MODEL

Technical problem to be solved

Not enough to prior art, the utility model provides a multirobot cooperation grabbing device possesses advantages such as the debugging of being convenient for, has solved the inconvenient problem of debugging.

(II) technical scheme

For the purpose of realizing the aforesaid debugging of being convenient for, the utility model provides a following technical scheme: a multi-robot cooperative grabbing device comprises a mounting plate, wherein a moving groove is formed in the front side of the mounting plate, a hollow cavity is formed in the mounting plate, a threaded rod penetrating through the hollow cavity and extending into the moving groove is movably connected in the hollow cavity, a moving block matched with the threaded rod and extending to the front side of the mounting plate is sleeved outside the threaded rod, a stabilizing spring sleeved outside the threaded rod and connected with the bottom wall in the moving groove is fixedly connected at the bottom of the moving block, a rotating rod is movably connected between the left side wall and the right side wall in the hollow cavity, a worm sleeve is sleeved outside the rotating rod, a worm sleeve matched with the worm sleeve is sleeved outside the threaded rod, a rotating motor with an output shaft connected with the rotating rod is fixedly connected in the mounting plate, two connecting plates connected with the moving block are movably connected in the front side of the mounting plate, two the direct swing joint of connecting plate has the power roller that quantity is two, two the power roller passes through the driving belt transmission and connects, the front side swing joint of mounting panel has the driven voller that quantity is two, controls two the driven voller is through connecting belt transmission and connecting.

Preferably, the number of the moving grooves is two, the moving grooves are symmetrically distributed and are rectangular, and the width of the front side in the moving groove is smaller than that of the rear side in the moving groove.

Preferably, the number of the moving blocks is two, the two moving blocks and the two moving grooves are in one-to-one correspondence, the moving blocks are rectangular moving blocks, and the width of the front side of each moving block is smaller than that of the rear side of each moving block.

Preferably, the number of the threaded rods is two, the two threaded rods are symmetrically distributed, and the two threaded rods and the two moving grooves are in one-to-one correspondence.

Preferably, the two power rollers are symmetrically distributed, and the distance between the two power rollers is equal to the distance between the two driven rollers.

Preferably, the number of the worm gear sleeves is two, and the two worm gear sleeves are symmetrically distributed.

(III) advantageous effects

Compared with the prior art, the utility model provides a multirobot cooperation grabbing device possesses following beneficial effect:

this multirobot cooperation grabbing device, through will rotating motor circular telegram and rotate, thereby make dwang and worm sleeve rotate, the threaded rod rotates under worm sleeve and the telescopic combined action of worm, thereby make the movable block upwards or move down will treat the work piece that snatchs and snatch, snatch the back and rotate through circular telegram with the power roller, thereby make the driving belt motion, the work piece that is snatched this moment is moved left or right under driving belt's drive, the work piece of treating processing can be convenient for other robots after removing and assist and snatch, and the device makes the work piece snatch the back position and still can change through a series of mechanical structure, make the staff avoid the too near that a plurality of robots leaned on when the debugging, thereby can be more convenient when making the staff debug.

Drawings

FIG. 1 is a schematic structural view of the present invention;

fig. 2 is a rear sectional view of the structure of the present invention.

In the figure: the device comprises a mounting plate 1, a moving groove 2, a hollow cavity 3, a threaded rod 4, a moving block 5, a stabilizing spring 6, a worm gear sleeve 7, a rotating rod 8, a worm gear sleeve 9, a rotating motor 10, a connecting plate 11, a power roller 12, a driven roller 13, a connecting belt 14 and a transmission belt 15.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1-2, a multi-robot cooperative gripping device comprises a mounting plate 1, wherein two moving grooves 2 are formed in the front side of the mounting plate 1, the moving grooves 2 are symmetrically distributed, the moving grooves 2 are rectangular grooves, the groove width of the front side in the groove of each moving groove 2 is smaller than the groove width of the rear side in the groove of each moving groove 2, a hollow cavity 3 is formed in the mounting plate 1, threaded rods 4 penetrating through the hollow cavity 3 and extending into the moving grooves 2 are movably connected in the hollow cavity 3, the threaded rods 4 are symmetrically distributed, the two threaded rods 4 are in one-to-one correspondence with the two moving grooves 2, moving blocks 5 matched with the threaded rods 4 and extending into the front side of the mounting plate 1 are sleeved outside the threaded rods 4, the number of the moving blocks 5 is two, and the two moving blocks 5 are in one-to-one correspondence with the two moving grooves 2, the moving block 5 is a rectangular moving block, the width of the front side of the moving block 5 is smaller than that of the rear side of the moving block 5, the bottom of the moving block 5 is fixedly connected with a stabilizing spring 6 which is sleeved outside a threaded rod 4 and connected with the bottom wall in the groove of the moving groove 2, rotating rods 8 are movably connected between the left side wall and the right side wall in the cavity of the hollow cavity 3, worm sleeves 9 are sleeved outside the rotating rods 8, worm sleeves 7 matched with the worm sleeves 9 are sleeved outside the threaded rod 4, the number of the worm sleeves 7 is two, the two worm sleeves 7 are symmetrically distributed, a rotating motor 10 with an output shaft connected with the rotating rods 8 is fixedly connected inside the mounting plate 1, the model number of the rotating motor 10 can be YE2, the front side of the mounting plate 1 is movably connected with two connecting plates 11 which are connected with the moving block 5, and the two connecting plates 11 are directly and movably connected, the model of the power roller 12 can be XH-12A, the two power rollers 12 are symmetrically distributed, the distance between the two power rollers 12 is equal to the distance between the two driven rollers 13, the two power rollers 12 are in transmission connection through a transmission belt 15, the front side of the mounting plate 1 is movably connected with the two driven rollers 13, the left driven roller 13 and the right driven roller 13 are in transmission connection through a connection belt 14, the rotating motor 10 is electrified to rotate, so that the rotating rod 8 and the worm sleeve 9 rotate, at the moment, the threaded rod 4 rotates under the combined action of the worm sleeve 7 and the worm sleeve 9, so that the moving block 5 moves upwards or downwards to grab a workpiece to be grabbed, the power rollers 12 are electrified to rotate after grabbing, so that the transmission belt 15 moves, at the moment, the grabbed workpiece is driven by the transmission belt 15 to move leftwards or rightwards, and the workpiece to be machined can be conveniently grabbed by other robots after moving, and the position of the workpiece can still be changed after the workpiece is grabbed through a series of mechanical structures, so that the situation that a plurality of robots are too close to each other is avoided when workers debug, and the workers can debug more conveniently.

In summary, the multi-robot cooperative gripping apparatus, by turning the rotary motor 10 electrically, so that the rotating rod 8 and the worm sleeve 9 rotate, at the moment, the threaded rod 4 rotates under the combined action of the worm sleeve 7 and the worm sleeve 9, so that the moving block 5 moves upwards or downwards to grab the workpiece to be grabbed, and after the workpiece is grabbed, the power roller 12 is electrified and rotated, thereby the transmission belt 15 moves, the gripped workpiece moves leftwards or rightwards under the drive of the transmission belt 15, the workpiece to be processed can be conveniently gripped by other robots after moving, the position of the workpiece can still be changed after the workpiece is grabbed by the device through a series of mechanical structures, so that the situation that a plurality of robots are too close to each other is avoided when a worker debugs the workpiece, therefore, the debugging of the working personnel is more convenient, and the problem of inconvenient debugging is solved.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. A multi-robot cooperative gripping device comprises a mounting plate (1), and is characterized in that: the front side of the mounting plate (1) is provided with a movable groove (2), the mounting plate (1) is internally provided with a hollow cavity (3), the interior of the hollow cavity (3) is movably connected with a threaded rod (4) which penetrates through the hollow cavity (3) and extends into the movable groove (2), the exterior of the threaded rod (4) is sleeved with a movable block (5) which is matched with the threaded rod (4) and extends to the front side of the mounting plate (1), the bottom of the movable block (5) is fixedly connected with a stabilizing spring (6) which is sleeved outside the threaded rod (4) and connected with the bottom wall in the groove of the movable groove (2), a rotating rod (8) is movably connected between the left side wall and the right side wall in the cavity of the hollow cavity (3), the exterior of the rotating rod (8) is sleeved with a worm sleeve (9), the exterior of the threaded rod (4) is sleeved with a worm wheel sleeve (7), the rotation motor (10) that the inside fixedly connected with output shaft of mounting panel (1) is connected with dwang (8), the front side swing joint of mounting panel (1) has connecting plate (11) that quantity is two and is connected with movable block (5), two the direct swing joint of connecting plate (11) has power roller (12) that quantity is two, two power roller (12) are connected through driving belt (15) transmission, the front side swing joint of mounting panel (1) has driven voller (13) that quantity is two, controls two driven voller (13) are connected through connecting belt (14) transmission.

2. The multi-robot cooperative gripping device according to claim 1, wherein: the movable grooves (2) are two in number, the movable grooves (2) are symmetrically distributed, the movable grooves (2) are rectangular grooves, and the groove width of the front side in the groove of the movable grooves (2) is smaller than the groove width of the rear side in the groove of the movable grooves (2).

3. The multi-robot cooperative gripping device according to claim 2, wherein: the number of the moving blocks (5) is two, the two moving blocks (5) and the two moving grooves (2) are in one-to-one correspondence, the moving blocks (5) are rectangular moving blocks, and the width of the front side of each moving block (5) is smaller than that of the rear side of each moving block (5).

4. The multi-robot cooperative gripping device according to claim 2, wherein: the number of the threaded rods (4) is two, the two threaded rods (4) are symmetrically distributed, and the two threaded rods (4) and the two moving grooves (2) are in one-to-one correspondence.

5. The multi-robot cooperative gripping device according to claim 1, wherein: the two power rollers (12) are symmetrically distributed, and the distance between the two power rollers (12) is equal to the distance between the two driven rollers (13).

6. The multi-robot cooperative gripping device according to claim 1, wherein: the number of the worm wheel sleeves (7) is two, and the two worm wheel sleeves (7) are symmetrically distributed.