CN216067446U - Quick positioning device of mobile loading robot - Google Patents

Abstract

The utility model discloses a rapid positioning device of a mobile loading robot, which comprises a frame and also comprises: first air pump, the second air pump, first clamping jaw, the second clamping jaw, the sucking disc and be used for driving first clamping jaw open with tighten up with be used for driving the second clamping jaw open with tighten up the second cylinder, first clamping jaw and second clamping jaw all articulate in the frame, first air pump, the second air pump, first cylinder and second cylinder are all established in the frame, first air pump and first cylinder intercommunication, first air pump and second cylinder intercommunication, the inboard at the clamping jaw is established to the sucking disc, sucking disc and second air pump intercommunication. The first air pump is driven to ventilate the first air cylinder and the second air cylinder, the first clamping jaw and the second clamping jaw are opened to clamp the workpiece, when the clamping jaws clamp the workpiece, the first air pump stops inflating, the second air pump is controlled to exhaust air, the sucker exhausts air to the surface of the workpiece, and the two clamping jaws are assisted to tightly suck the workpiece. This scheme can the centre gripping irregular work piece to solve the problem that the work piece dropped easily.

Description

Quick positioning device of mobile loading robot

Technical Field

The utility model relates to the technical field of robots, in particular to a quick positioning device of a mobile loading robot.

Background

A Robot (Robot) is an intelligent machine that can work semi-autonomously or fully autonomously. Historically, the earliest robots were found in puppet robots built by the inventor of Liu 25219on the basis of the image of the inventor, which have the capabilities of sitting, standing, worship, lying and the like. The robot 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 the work efficiency and quality, serves human life, and expands or extends the activity and capability range of the human beings.

The mobile loading robot, as a machine device capable of automatically executing work in an artificial intelligence product, is becoming a focus and focus of research because it can assist or replace part of the work done by human beings. In the service industry, the mobile object carrying robot needs to use a clamping device provided with the mobile object carrying robot to clamp a workpiece, the clamping device of the mobile object carrying robot is equipment for holding the workpiece and further controlling the workpiece, the clamping device can clamp and release the workpiece while executing certain actions, and the existing clamping device of the mobile object carrying robot has the problem that the workpiece, particularly an irregular workpiece, such as a gear, is clamped and dropped easily.

SUMMERY OF THE UTILITY MODEL

The purpose of the scheme is to provide a quick positioning device of a mobile object carrying robot, so that irregular workpieces are clamped, and the phenomenon that the irregular workpieces are clamped and fall easily is reduced.

In order to achieve the aim, the scheme provides a quick positioning device of a mobile loading robot, which comprises a frame; further comprising: the clamping device comprises a first air pump, a second air pump, a first clamping jaw, a second clamping jaw, a sucker, a first air cylinder and a second air cylinder, wherein the first air cylinder is used for driving the first clamping jaw to open and tighten, and the second air cylinder is used for driving the second clamping jaw to open and tighten; the first clamping jaw and the second clamping jaw are hinged on the rack; the first air pump, the second air pump, the first air cylinder and the second air cylinder are all arranged on the rack; the first air pump is communicated with the first air cylinder; the first air pump is communicated with the second air cylinder; the sucker is arranged on the inner sides of the first clamping jaw and the second clamping jaw; the sucker is communicated with the second air pump.

The principle of the scheme is as follows: the first air pump is driven to ventilate the first air cylinder and the second air cylinder, the first clamping jaw and the second clamping jaw are opened to clamp a workpiece, when the workpiece is clamped by the two clamping jaws, the first air pump stops inflating, the second air pump is controlled to exhaust air, the sucker exhausts air to the surface of the workpiece, and the two clamping jaws are assisted to tightly suck the workpiece.

The beneficial effect of this scheme: the second air pump, the sucker, the first air pump, the first air cylinder and the second air cylinder are matched with each other, so that the first clamping jaw and the second clamping jaw clamp an irregular workpiece, and the falling phenomenon of the irregular workpiece is reduced. The sucking disc and the second air pump mutually cooperate to pump air to the workpiece surface, and the auxiliary two clamping jaws tightly suck the workpiece, so that the workpiece clamping effect is better, and the phenomenon of falling is reduced.

Further, the inner sides of the first clamping jaw and the second clamping jaw are both provided with rubber pads. The rubber pad is set to reduce the friction force between the workpiece and the clamping jaw, so that the irregular workpiece can be clamped more conveniently, the possibility of sliding the workpiece is reduced, in addition, the rubber material is soft, the surface of the workpiece is not easy to damage when the workpiece is clamped, and the phenomenon of workpiece abrasion caused by the clamping jaw clamping the workpiece too tightly is reduced.

Further, slide rails are arranged on the first clamping jaw and the second clamping jaw, and clamping hooks in sliding connection are arranged on the slide rails. The clamping hook can be displaced in the horizontal direction, and the clamping hook is adjusted in the horizontal direction to clamp the lower part of a workpiece, so that the possibility that the workpiece falls off from the clamping jaw is reduced. Meanwhile, the clamping hooks in different shapes can be placed on the sliding rail to adapt to the shape of the workpiece. In addition, the clamping hook lifts the workpiece below, so that the phenomenon that the workpiece inclines and turns when the clamping jaw grabs the workpiece to move is reduced.

Further, a rubber pad is arranged on the inner side of the clamping hook. The friction force between the workpiece and the clamping hook is reduced by setting the rubber pad, so that irregular workpieces can be clamped more conveniently, the possibility of workpiece sliding is reduced, meanwhile, the abrasion between the clamping hook and the surface of the workpiece is reduced, and the completeness of the surface of the workpiece is ensured.

Further, be equipped with the buckle in the frame, all be equipped with the draw-in groove on first clamping jaw and the second clamping jaw, the buckle all corresponds the setting with the quantity and the position of draw-in groove. When the two clamping jaws clamp the workpiece, the first air pump stops inflating to clamp the buckle on the clamping groove, so that the positions of the two clamping jaws are fixed, the slipping phenomenon of the two clamping jaws is avoided, and the clamping of the clamping jaws is more stable.

Further, all be equipped with pressure sensor on first clamping jaw and the second clamping jaw, be equipped with controller and bulb in the frame, electric connection between pressure sensor, controller and the bulb. Before clamping a workpiece, the maximum weight which can be clamped by the clamping jaw is tested by using the pressure sensor, and in the process of clamping the workpiece, if the weight of the workpiece exceeds the maximum weight, the pressure sensor sends a signal to the controller, the controller sends an instruction, and the bulb is lighted. The pressure sensor and the controller are matched with each other, so that the bulb automatically lights when the clamping jaw clamps a workpiece beyond the clamping range of the clamping jaw, a worker is reminded by using the light form, and meanwhile, the clamping jaw is protected, and the service life of the clamping jaw is longer.

Drawings

Fig. 1 is a schematic structural diagram of an embodiment of the present invention.

FIG. 2 is an enlarged view of the utility model at A in FIG. 1.

Detailed Description

The following is further detailed by the specific embodiments:

the reference numbers in the drawings of the specification include: the clamping device comprises a rack 1, a first clamping jaw 2, a second clamping jaw 3, a first air pump 4, a first air cylinder 5, a second air cylinder 6, a second supporting rod 7, a first supporting rod 8, a sliding rail 9, a clamping hook 10, a sucking disc 11 and a second air pump 12.

As shown in figures 1 and 2:

be equipped with fixed connection's first bracing piece 8 and second bracing piece 7 on frame 1, first bracing piece 8 and second bracing piece 7 welding are on frame 1, be equipped with articulated first clamping jaw 2 with it on the first bracing piece 8, be equipped with articulated second clamping jaw 3 with it on the second bracing piece 7, first clamping jaw 2 and second clamping jaw 3 are used for the centre gripping work piece, be equipped with the first cylinder 5 that is used for driving first clamping jaw 2 to open and tighten up and be used for driving second clamping jaw 3 to open and tighten up second cylinder 6 on the frame 1, be equipped with first pump 4 on the frame 1, first pump 4 and first cylinder 5 intercommunication, first pump 4 and second cylinder 6 intercommunication. And driving a first air pump 4 to ventilate a first air cylinder 5 and a second air cylinder 6, and expanding the first clamping jaw 2 and the second clamping jaw 3 to clamp the workpiece. All be equipped with sucking disc 11 on first clamping jaw 2 and the 3 inboards of second clamping jaw, be equipped with second air pump 12 in the frame 1, sucking disc 11 and second air pump 12 intercommunication, the work piece is by first clamping jaw 2 and the good back of 3 centre gripping of second clamping jaw, control second air pump 12 and bleed, sucking disc 11 bleeds to the work piece surface, supplementary two clamping jaws are inhaled the work piece tightly, sucking disc 11 makes the work piece press from both sides tight effect better with mutually supporting of second air pump 12, reduces its phenomenon that drops. Second air pump 12, sucking disc 11, first bracing piece 8, second bracing piece 7, first air pump 4, first cylinder 5 and the mutual cooperation of second cylinder 6 make first clamping jaw 2 and second clamping jaw 3 press from both sides tight anomalous work piece, reduce the phenomenon that drops of anomalous work piece, to the gear that the background art provided, first clamping jaw 2 and second clamping jaw 3 are grabbed the gear tooth periphery, and sucking disc 11 is inhaled the gear surface tightly, reduces the phenomenon of gear landing.

The rubber pads are arranged on the inner sides of the first clamping jaw 2 and the second clamping jaw 3, friction force between a workpiece and the clamping jaws is reduced due to setting of the rubber pads, irregular workpieces can be clamped more conveniently, the possibility of sliding of the workpieces is reduced, in addition, the rubber materials are soft, the surfaces of the workpieces are not easily damaged when the workpieces are clamped, and the phenomenon of workpiece abrasion caused by over-tightening of the clamping jaws for clamping the workpieces is reduced.

All be equipped with slide rail 9 on the first clamping jaw 2 and on the second clamping jaw 3, be equipped with sliding connection's clamp hook 10 on the slide rail 9, the clamp hook 10 can carry out the displacement on the horizontal direction, and the regulation clamp hook 10 in the horizontal direction makes it carry out the centre gripping to the below of work piece, reduces the possibility that the work piece drops the clamping jaw. Meanwhile, clamping hooks 10 with different shapes can be placed on the slide rail 9 to adapt to the shape of the workpiece. In addition, the clamping hook 10 lifts the workpiece below, so that the phenomenon that the workpiece tilts and turns when the clamping jaw grabs the workpiece to move is reduced. The rubber pads are arranged on the inner sides of the clamping hooks 10, friction force between the workpiece and the clamping hooks 10 is reduced due to the arrangement of the rubber pads, irregular workpieces can be clamped conveniently, the possibility of sliding of the workpieces is reduced, meanwhile, abrasion between the clamping hooks 10 and the surfaces of the workpieces is reduced, and the completeness of the surfaces of the workpieces is guaranteed. Be equipped with the buckle on the frame 1, all be equipped with the draw-in groove on first clamping jaw 2 and the second clamping jaw 3, the buckle all corresponds the setting with the quantity and the position of draw-in groove, works as two clamping jaws centre gripping work pieces, and first air pump 4 stops to aerify, blocks the buckle on the draw-in groove for the position of two clamping jaws is fixed, reduces the phenomenon of skidding of two clamping jaws, makes clamping jaw centre gripping more steady. All be equipped with pressure sensor on first clamping jaw 2 and the second clamping jaw 3, be equipped with controller and bulb in the frame 1, electric connection between pressure sensor, controller and the bulb. Before clamping a workpiece, the maximum weight which can be clamped by the clamping jaw is tested by using the pressure sensor, and in the process of clamping the workpiece, if the weight of the workpiece exceeds the maximum weight, the pressure sensor sends a signal to the controller, the controller sends an instruction, and the bulb is lighted. The pressure sensor and the controller are matched with each other, so that the bulb automatically lights when the clamping jaw clamps a workpiece beyond the clamping range of the clamping jaw, a worker is reminded by using the light form, and meanwhile, the clamping jaw is protected, and the service life of the clamping jaw is longer.

In the specific operation: the maximum weight that can the centre gripping of clamping jaw is tested with pressure sensor, the maximum weight that the recording clamping jaw can the centre gripping, drive first air pump 4 and ventilate to first cylinder 5 and second cylinder 6, first clamping jaw 2 and second clamping jaw 3 open the centre gripping work piece, when two clamping jaws grasp the work piece, first air pump 4 stops aerifing, with the buckle card on the draw-in groove for the position of two clamping jaws is fixed, adjusts clamping hook 10 at the horizontal direction, makes it carry out the centre gripping to the below of work piece. And controlling a second air pump 12 to pump air, pumping air to the surface of the workpiece by the sucker 11, and assisting the two clamping jaws to tightly suck the workpiece.

If the weight of the workpiece exceeds the maximum weight, the pressure sensor sends a signal to the controller, the controller sends an instruction, and the bulb is lighted.

The foregoing is merely an example of the present invention and common general knowledge of known specific structures and features of the embodiments is not described herein in any greater detail. It should be noted that, for those skilled in the art, without departing from the structure of the present invention, several changes and modifications can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent. The scope of the claims of the present application shall be determined by the contents of the claims, and the description of the embodiments and the like in the specification shall be used to explain the contents of the claims.

Claims (6)

1. A fast positioning apparatus of a mobile carrier robot, comprising: a frame;

it is characterized by also comprising: the clamping device comprises a first air pump, a second air pump, a first clamping jaw, a second clamping jaw, a sucker, a first air cylinder and a second air cylinder, wherein the first air cylinder is used for driving the first clamping jaw to open and tighten, and the second air cylinder is used for driving the second clamping jaw to open and tighten;

the first clamping jaw and the second clamping jaw are hinged on the rack;

the first air pump, the second air pump, the first air cylinder and the second air cylinder are all arranged on the rack; the first air pump is communicated with the first air cylinder; the first air pump is communicated with the second air cylinder;

the sucker is arranged on the inner sides of the first clamping jaw and the second clamping jaw; the sucker is communicated with the second air pump.

2. The device of claim 1, wherein the first and second jaws are provided with rubber pads on their inner sides.

3. The fast positioning device of claim 1, wherein the first jaw and the second jaw are provided with slide rails, and the slide rails are provided with slidably connected clamping hooks.

4. The device of claim 3, wherein a rubber pad is disposed inside the clamp hook.

5. The fast positioning device of claim 1, wherein the frame is provided with a buckle, the first clamping jaw and the second clamping jaw are provided with a slot, and the number and the position of the buckle and the slot are corresponding.

6. The fast positioning device of claim 1, wherein the first jaw and the second jaw are each provided with a pressure sensor, the frame is provided with a controller and a bulb, and the pressure sensors, the controller and the bulb are electrically connected.

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