CN217372390U - Pole battle array self-adaptation sucking disc formula robot hand - Google Patents

Abstract

The utility model discloses a pole battle array self-adaptation sucking disc formula robot hand belongs to the robotechnology field. The robot hand includes: the base is used for bearing the structure of the whole robot hand; the action component is arranged on the base in a relatively movable manner and is used for grabbing the object to be taken; a gas supply part for supplying gas to the action part to provide suction force; and the locking component is fixed on the base, arranged opposite to the action component and used for locking the action component. The shape adaptive chuck has strong shape adaptive capacity and can lock the adaptive shape, so that the carrying of a plurality of objects which have large surface height difference and cannot be stacked in a relative motion way among the objects can be realized, the suction chuck frame does not need to be specially designed for the objects with different shapes, the stability and the adaptive capacity of the existing tail end suction chuck are improved, and the tail end suction chuck has wider applicability.

Description

Rod array self-adaptive sucker type robot hand

Technical Field

The utility model belongs to the technical field of the robot hand, more specifically says, relates to a pole battle array self-adaptation sucking disc formula robot hand.

Background

In industrial production, an end effector with a single or a plurality of suckers is widely adopted at the tail end of a mechanical arm to carry objects, although part of the existing end effectors adapt to non-planar objects by means of deformation of the suckers, for a plurality of objects which have large surface height difference and cannot be relatively moved and stacked in the carrying process, for example, a framework made of square tubes is placed on one plate, the framework and the plate are required to be lifted together, the positioning accuracy of the framework and the plate is required to be ensured in the carrying process, and the end effectors cannot be used under the working conditions.

In order to solve the problems, through search, chinese patent publication No. CN111452065A discloses a fluid-driven membrane contraction rod array adaptive robot hand device; chinese patent publication No. CN111300458A discloses an orthogonal tooth arrangement slide bar array adaptive robot hand device; chinese patent publication No. CN108638098A discloses an omni-directional staggered swinging rod array adaptive robot hand device.

Through the structure to above-mentioned patent analysis, current end effector adapts to the non-planar object with the help of the flexible of the deformation of sucking disc or sucking disc pole, and the deformation of sucking disc can't guarantee to have sufficient stroke to adapt to the height drop, consequently current end effector also can't guarantee to exert the lifting force on each object simultaneously also can't guarantee that each object is static relatively in the handling. Therefore, with different application scenes, more required robot hands need to be developed.

Disclosure of Invention

1. Problems to be solved

To foretell problem, the utility model provides a pole battle array self-adaptation sucking disc formula robot hand solves the big and transport problem of a plurality of objects that will guarantee in the handling that can not take place relative motion and stack between each object of surface height difference.

2. Technical scheme

In order to solve the above problem, the utility model discloses the technical scheme who adopts as follows:

the utility model discloses a pole battle array self-adaptation sucking disc formula robot hand, include:

the base is used for bearing the structure of the whole robot hand;

the action component is arranged on the base in a relatively movable manner and is used for grabbing the object to be taken;

a gas supply part for supplying gas to the action part to provide suction force;

and the locking component is fixed on the base, is opposite to the action component and is used for locking the action component.

In a possible embodiment of the present invention, the gas supply part includes a gas supply main and a plurality of branch pipes, the plurality of branch pipes are connected and communicated with the gas supply main, and the branch pipes are connected to the action part.

In a possible embodiment of the present invention, the action member includes a sliding rod, a sucker and a spring, the sliding rod is hollow, the upper end of the sliding rod is provided with a connector and the matching of the branch pipe, the base is provided with a through hole for the sliding rod to extend out, and the free end of the sliding rod is connected with the sucker after the spring is installed.

In a possible embodiment of the present invention, the locking component includes a cylinder, a pull rod, a rotating seat and a locking plate, the cylinder is fixed on the side surface of the base, and a telescopic rod of the cylinder is connected to the pull rod; the rotating seat is fixed on the base, and the locking plate is rotationally fixed with the rotating seat; the pull rod is sequentially connected with the plurality of locking plates in a rotating mode.

In a possible embodiment of the present invention, a vacuum relief valve is disposed on the bronchus.

In a possible embodiment of the present invention, the suction cup is an organ suction cup.

In a possible embodiment of the present invention, the middle upper portion of the sliding rod is provided with a limiting ring.

In a possible embodiment of the present invention, the branch pipe is a rubber hose or a plastic hose.

In a possible embodiment of the present invention, the base is fitted with a housing, and the gas supply header is fixed to the housing.

3. Advantageous effects

Compared with the prior art, the beneficial effects of the utility model are that:

the utility model discloses a rod array self-adaptation sucking disc formula robot hand has stronger shape adaptability and can lock the shape after the adaptation, consequently can realize that the surface height difference is big and will guarantee the transport of a plurality of objects that relative motion stacked that can not take place between each object in handling, need not the special design sucking disc frame to the object that the shape is different, improves the stability and the self-adaptability of current terminal sucking disc, makes it possess wider suitability.

Drawings

FIG. 1 is a schematic view of the structure of a rod array adaptive sucker type robot hand of the present invention;

FIG. 2 is a schematic view of FIG. 1 with the housing removed;

FIG. 3 is a schematic view of a partial structure of a rod array adaptive sucker type robot hand according to the present invention;

FIG. 4 is a schematic view of a part of a lever array adaptive sucker type robot hand locking part of the present invention;

fig. 5 is a schematic view of the use state of the rod array adaptive sucker type robot hand of the present invention.

Labeled as:

100. a base; 110. a through hole; 120. a housing;

200. an operation member; 210. a slide bar; 211. a connector; 212. a limiting ring; 220. a suction cup; 230. a spring;

300. a gas supply part; 310. a gas supply main pipe; 320. a bronchus; 321. a vacuum relief valve;

400. a locking member; 410. a cylinder; 420. a pull rod; 430. a rotating seat; 440. a locking plate;

500. the object is to be taken.

Detailed Description

Exemplary embodiments of the present invention are described in detail below. Although these exemplary embodiments are described in sufficient detail to enable those skilled in the art to practice the invention, it should be understood that other embodiments may be realized and that various changes to the invention may be made without departing from the spirit and scope of the present invention. The following more detailed description of the embodiments of the present invention is not intended to limit the scope of the invention, as claimed, but is presented for purposes of illustration only and not limitation to provide the best mode contemplated for carrying out the invention and to enable any person skilled in the art to practice the invention. Accordingly, the scope of the invention is to be limited only by the following claims.

As shown in fig. 1 to 5, the bar array adaptive chuck type robot hand of the present embodiment includes:

a base 100 for carrying the structure of the entire robot hand;

an action part 200 which is arranged on the base 100 in a relatively movable manner and is used for grabbing a to-be-taken object 500;

the air supply part 300 is used for supplying air to the action part 200 so as to provide suction force, and the suction force is determined by the weight of the object 500 to be taken and can be preset according to specific conditions;

and a locking member 400 fixed to the base 100 and disposed opposite to the operating member 200, for locking the operating member 200.

Specifically, in this embodiment, the gas supply part 300 includes a gas supply main 310 and a plurality of gas branch pipes 320, the gas branch pipes 320 are connected and communicated with the gas supply main 310, and the gas branch pipes 320 are connected to the action part 200. The base 100 is matched with the shell 120, the gas supply main 310 is fixed on the shell 120, the gas supply main 310 is provided with a gas inlet extending out of the shell 120, and the gas inlet is connected with an external gas source.

As shown in fig. 2, the actuating member 200 includes a sliding rod 210, a suction cup 220 and a spring 230, the sliding rod 210 is hollow, a connector 211 is disposed at an upper end of the sliding rod and is matched with the branch pipe 320, a through hole 110 is disposed on the base 100 for the sliding rod 210 to extend out, the free end of the sliding rod 210 is sleeved with the spring 230 and then is connected and communicated with the suction cup 220, and a limiting ring 212 is disposed at an upper middle portion of the sliding rod 210 to prevent the sliding rod 210 from sliding down under the action of gravity. Further, the branch air tube 320 is a rubber hose or a plastic hose, the branch air tube 320 is connected to the sliding rod 210, when the sliding rod 210 slides up and down, the branch air tube 320 can be bent, and meanwhile, a notch is formed in the shell 120 to allow the branch air tube 320 to be bent.

In this embodiment, the suction cup 220 is an organ type suction cup, the end of the rod array is provided with the organ type suction cup, and when the rod array approaches the object 500 to be taken, the surface of the object is well attached under the action of elastic force, so that self-adaptation is realized.

Further, in this embodiment, the locking component 400 includes an air cylinder 410, a pull rod 420, a rotating seat 430 and a locking plate 440, the air cylinder 410 is fixed on the side surface of the base 100, and an expansion link of the air cylinder 410 is connected to the pull rod 420; the rotating base 430 is fixed on the base 100, and the locking plate 440 is fixed with the rotating base 430 in a rotating manner; the pull rod 420 is rotatably connected with a plurality of locking plates 440 in turn. The locking part 400 can lock each sliding rod 210 in the rod array on the base 100 of the robot hand, and after the rod array is attached to the surface of an object, the locking mechanism is started to lock the current shape of the rod array, so that the workpieces (objects to be taken) are prevented from swinging or moving relatively to each other due to the movement of the rod array in the carrying process.

In addition, the locking plate 440 has a locking slope or a locking notch, and a locking function can be well performed by the locking slope or the locking notch being engaged with the sliding rod 210.

Considering that the suction cup 220 leaks air when the robot hand is attached to a workpiece because the suction cup 220 covers a position outside the surface of the workpiece or a hole position of the workpiece, the vacuum safety valve 321 is arranged on each of the branch pipes 320, and an air path of the suction cup 220 is sealed when air leakage occurs, so that the vacuum degree of the system is not affected, and therefore the vacuum safety valves 321 arranged on the branch pipes 320 can play a good protection role.

It should be noted that the robot hand of the present invention is a basic design concept, and the structural design thereof can basically accomplish the purpose of this patent, although there are some detail problems to be improved, such as the control of the action of the locking component 400, the control of the suction force of the action component 200, etc., which are not the core innovation points of the present invention.

It should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention and not for limiting the technical solutions, and it should be noted that, for those skilled in the art, a plurality of modifications or equivalent substitutions can be made without departing from the principle of the present invention, and the spirit and scope of the technical solutions should be covered by the claims of the present invention.

Claims (9)

1. The utility model provides a pole battle array self-adaptation sucking disc formula robot hand which characterized in that includes:

a base (100) for carrying the structure of the entire robot hand;

an action member (200) which is arranged on the base (100) in a relatively movable manner and is used for grabbing a to-be-picked object (500);

a gas supply part (300) for supplying gas to the action part (200) to provide suction force;

and a locking member (400) fixed to the base (100), disposed opposite to the operating member (200), and configured to lock the operating member (200).

2. The stick array adaptive chuck robotic hand of claim 1, wherein the gas supply section (300) comprises a gas supply main (310) and a plurality of gas branch pipes (320), the plurality of gas branch pipes (320) are in connected communication with the gas supply main (310), and the gas branch pipes (320) are connected to the action section (200).

3. The rod array self-adaptive sucker-type robot hand according to claim 2, wherein the action part (200) comprises a sliding rod (210), a sucker (220) and a spring (230), the sliding rod (210) is hollow, a connector (211) is arranged at the upper end of the sliding rod to be matched with the bronchus (320), a through hole (110) is formed in the base (100) for the sliding rod (210) to extend out, and the free end of the sliding rod (210) is sleeved with the spring (230) and then is communicated with the sucker (220).

4. The rod array adaptive sucker-type robot hand according to claim 3, wherein the locking component (400) comprises a cylinder (410), a pull rod (420), a rotating seat (430) and a locking plate (440), the cylinder (410) is fixed on the side surface of the base (100), and a telescopic rod of the cylinder (410) is connected with the pull rod (420); the rotating seat (430) is fixed on the base (100), and the locking plate (440) is rotationally fixed with the rotating seat (430); the pull rod (420) is sequentially connected with a plurality of locking plates (440) in a rotating manner.

5. The rod array adaptive sucker-type robotic hand of claim 2, wherein the bronchus (320) is provided with a vacuum relief valve (321).

6. The bar array adaptive sucker-type robotic hand of claim 3, wherein the sucker (220) is an organ sucker.

7. The rod array adaptive sucker-type robot hand according to claim 6, wherein the middle upper part of the sliding rod (210) is provided with a limiting ring (212).

8. The bar array adaptive sucker-type robotic hand of claim 2, wherein the bronchus (320) is a rubber hose or a plastic hose.

9. The stick array adaptive chuck robotic hand of claim 2, wherein the base (100) has a housing (120) fitted thereon, and the gas manifold (310) is secured to the housing (120).

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