WO2016095676A1 - Bottle grabbing mechanical arm - Google Patents

Bottle grabbing mechanical arm Download PDF

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Publication number
WO2016095676A1
WO2016095676A1 PCT/CN2015/095490 CN2015095490W WO2016095676A1 WO 2016095676 A1 WO2016095676 A1 WO 2016095676A1 CN 2015095490 W CN2015095490 W CN 2015095490W WO 2016095676 A1 WO2016095676 A1 WO 2016095676A1
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WO
WIPO (PCT)
Prior art keywords
claw
bottle
positioning
robot
closing
Prior art date
Application number
PCT/CN2015/095490
Other languages
French (fr)
Chinese (zh)
Inventor
邓军
Original Assignee
邓军
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 邓军 filed Critical 邓军
Publication of WO2016095676A1 publication Critical patent/WO2016095676A1/en

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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
    • B25J15/08—Gripping heads and other end effectors having finger members

Definitions

  • the present invention relates to a robot, and more particularly to a bottle grabber.
  • the purpose of the present invention is to solve the deficiencies of the prior art, thereby providing a bottle grabber.
  • a bottle grabber robot comprising: a base, a left jaw, a right jaw, a stepping motor, a left jaw connector, a right jaw connector, a slide rail, a slider, a positioning piece, and a cymbal Positioning film, ⁇ detection and inspection.
  • the base is a T-shaped structure that functions as a support, a connection, and a fix.
  • the left and right claws are symmetrical with each other, and the opposite inner sides are provided with grooves, and the two grooves cooperate with each other and correspond to the shape of the bottle body.
  • the left claw is disposed on the left claw connecting member
  • the right claw is disposed on the right claw connecting member
  • the left claw is an actuator
  • the right claw is a fixing member.
  • the stepping motor is fixed on the right claw connecting piece and the output shaft is a screw rod, the lead screw passes through the right claw connecting piece and has a lead of 2 mm, and the screw rod is covered with a screw rod a nut, the lead screw nut being fixed to the left jaw connecting piece.
  • the lead screw and the lead screw nut constitute a screw nut pair.
  • the left claw connecting piece is connected to the sliding block, the sliding block is connected to the sliding rail, and the sliding rail is fixed at the bottom In the seat, the left claw connecting member drives the left claw to slide left and right on the sliding rail under the driving of the stepping motor screw nut pair.
  • the left claw is moved to the right to the robot "close” process, and the positioning accuracy of the gripping bottle by the robot "closing” process is completed by the joint positioning piece triggering and detecting the closing action, the left claw is leftward
  • the process of moving to the robot " ⁇ ” process, the positioning accuracy of the loose bottle of the robot " ⁇ ” process is completed by the triggering action of the ⁇ positioning piece, and the locating piece and the locating piece are fixed on the left claw connecting piece.
  • the detecting hook is fixed on the right claw connecting piece, and the detecting point is fixed on the side of the base.
  • the beneficial effects of the present invention are as follows: the stepping motor screw nut pair is used to drive the clamping of the claws, and the positioning piece is triggered to detect the positioning to control the positioning precision thereof, and the structure is simple and controlled. Accurate, safe and high performance, easy to popularize.
  • FIG. 1 is a structural view of the present invention.
  • a bottle grabber characterized by comprising a base 1, a left claw 2, a right claw 3, a stepping motor 4, a left jaw connecting member 5, a right claw connecting member 6, a slide rail 7, and a slide
  • the block 8 the positioning piece 9, the ⁇ positioning piece 10, the ⁇ detecting switch 11 and the detecting switch 12 are provided.
  • the base 1 has a T-shaped structure for supporting, connecting and fixing.
  • the left claw 2 and the right claw 3 are symmetrical with each other, and the opposite inner sides are provided with grooves, and the two grooves are matched with each other. Fit and correspond to the shape of the bottle.
  • the left claw 2 is disposed on the left claw connecting member 5, the right claw 3 is disposed on the right claw connecting member 6, the left claw 2 is an actuator, and the right claw 3 is fixed. Pieces.
  • the stepping motor 4 is fixed on the right claw connecting member 6 and the output shaft is a screw rod 401 which passes through the right claw connecting piece 6 and has a lead of 2 mm.
  • the screw 401 is sleeved on the 401, and the screw nut 402 is fixed on the left claw connecting member 5.
  • the screw rod 401 and the screw nut 402 constitute a screw nut pair.
  • the left claw connector 5 is connected to the slider 8, the slider 8 is connected to the slide rail 7, the slide rail 7 is fixed on the base 1, and the left claw connector 5 is The left claw 2 is slid on the slide rail 7 by the driving of the stepping motor 4 screw nut pair.
  • the left claw 2 is moved to the right to a robot "coupling" process, and the positioning accuracy of the gripping cylinder of the robot is "closed” by the positioning piece 9 to trigger the detection of the closing switch 12, the left card
  • the movement of the claw 2 to the left is a robot " ⁇ ” process, and the positioning accuracy of the loose bottle of the robot " ⁇ ” process is completed by the action of the ⁇ positioning piece 10 to trigger the detection of the ⁇ 11, the locating piece 9, the locating piece 10 It is fixed to the left jaw connecting member 5, and the closing detecting switch 12 is fixed to the right claw connecting member 6, and the click detecting switch 11 is fixed to the side of the base 1.

Abstract

A bottle grabbing mechanical arm, comprising a base (1), a left clamping claw (2), a right clamping claw (3), a stepper motor (4), a left clamping claw connecting member (5), a right clamping claw connecting member (6), a sliding rail (7), a sliding block (8), a closing positioning piece (9), an opening positioning piece (10), an opening detecting switch (11) and a closing detecting switch (12). The left clamping claw (2) and the right clamping claw (3) are symmetrical to each other, and the opposite inner sides thereof are both provided with a convex groove, the two convex grooves fitting together and corresponding to the shape of a bottle body. The left clamping claw (2) moving towards the right is the 'closing' process of the mechanical arm, and the positioning accuracy of grabbing a bottle during the 'closing' process of the mechanical arm is executed by means of the closing positioning piece (9) triggering the operation of the closing detecting switch (12); the left clamping claw (2) moving towards the left is the 'opening' process of the mechanical arm, and the positioning accuracy of releasing a bottle during the 'opening' process of the mechanical arm is executed by means of the opening positioning piece (10) triggering the operation of the opening detecting switch (11). The opening and closing of the clamping claws (2, 3) is driven by means of a leadscrew and nut pair of the stepper motor (4), and positioning accuracy thereof is controlled by means of the positioning pieces (9, 10) triggering the detecting switches (11, 12); the structure is simple, control is accurate, and safety performance is high.

Description

说明书 发明名称：一种抓瓶机械手  Manual Title: A bottle grabber
技术领域  Technical field
[0001] 本实用新型涉及一种机械手， 尤其涉及一种抓瓶机械手。  [0001] The present invention relates to a robot, and more particularly to a bottle grabber.
背景技术  Background technique
[0002] 近年来， 在食品、 药品等灌装领域， 瓶子的传递、 旋转等动作都是通过机械手 操作完成的， 如中国专利文献 CN 103786158 A公幵一种"抓瓶机械手"， 其抓瓶 子卡爪的幵合及精度是通过齿轮和齿条的啮合来完成的， 这种结构的抓瓶机械 手， 对齿轮和齿条的精度要求很高， 因此在加工制作过程中， 相对难度较大， 成本也高， 不利用在市场上推广使用。  [0002] In recent years, in the field of food, medicine, and the like, the transfer, rotation, and the like of the bottle are all performed by a robotic operation, such as the Chinese patent document CN 103786158 A, which discloses a "catching robot" that grasps the bottle. The clamping and precision of the claws are achieved by the meshing of the gears and the racks. The gripping robot of this structure requires high precision for the gears and racks, so it is relatively difficult in the process of manufacturing. The cost is also high, and it is not used in the market.
技术问题  technical problem
[0003] 本实用新型的目的是在于解决现有技术所存在的不足， 从而提供一种抓瓶机械 手。  [0003] The purpose of the present invention is to solve the deficiencies of the prior art, thereby providing a bottle grabber.
问题的解决方案  Problem solution
技术解决方案  Technical solution
[0004] 本实用新型解决其技术问题所采取的技术方案是： [0004] The technical solution adopted by the utility model to solve the technical problems thereof is:
[0005] 一种抓瓶机械手， 其特征在于包括底座、 左卡爪、 右卡爪、 步进电机、 左卡爪 连接件、 右卡爪连接件、 滑轨、 滑块、 合定位片、 幵定位片、 幵检测幵关及合 检测幵关。  [0005] A bottle grabber robot, comprising: a base, a left jaw, a right jaw, a stepping motor, a left jaw connector, a right jaw connector, a slide rail, a slider, a positioning piece, and a cymbal Positioning film, 幵 detection and inspection.
[0006] 所述底座为 T形结构， 起支撑、 连接及固定作用。  [0006] The base is a T-shaped structure that functions as a support, a connection, and a fix.
[0007] 所述左卡爪与右卡爪相互对称， 且相对的内侧均设有凹槽， 两个凹槽相互配合 ， 并与瓶身的形状相对应。 所述左卡爪设与左卡爪连接件上， 所述右卡爪设与 右卡爪连接件上， 所述左卡爪为执行件， 所述右卡爪为固定件。  [0007] The left and right claws are symmetrical with each other, and the opposite inner sides are provided with grooves, and the two grooves cooperate with each other and correspond to the shape of the bottle body. The left claw is disposed on the left claw connecting member, the right claw is disposed on the right claw connecting member, the left claw is an actuator, and the right claw is a fixing member.
[0008] 所述步进电机固定在右卡爪连接件上且输出轴为丝杆， 所述丝杆穿过右卡爪连 接件且导程为 2毫米， 所述丝杆上套有丝杆螺母， 所述丝杆螺母固定在左卡爪连 接件上。 所述丝杆与丝杆螺母构成丝杆螺母副。  [0008] The stepping motor is fixed on the right claw connecting piece and the output shaft is a screw rod, the lead screw passes through the right claw connecting piece and has a lead of 2 mm, and the screw rod is covered with a screw rod a nut, the lead screw nut being fixed to the left jaw connecting piece. The lead screw and the lead screw nut constitute a screw nut pair.
[0009] 所述左卡爪连接件与滑块相连接， 所述滑块与滑轨相连接， 所述滑轨固定在底 座上， 所述左卡爪连接件在步进电机丝杆螺母副的驱动下带动左卡爪在滑轨上 左右滑动。 [0009] the left claw connecting piece is connected to the sliding block, the sliding block is connected to the sliding rail, and the sliding rail is fixed at the bottom In the seat, the left claw connecting member drives the left claw to slide left and right on the sliding rail under the driving of the stepping motor screw nut pair.
[0010] 所述左卡爪向右移为机械手 "合"过程， 机械手 "合"过程抓瓶子的定位精度是通 过合定位片触发合检测幵关动作来完成的， 所述左卡爪向左移为机械手 "幵"过程 ， 机械手 "幵"过程松瓶子的定位精度是通过幵定位片触发幵检测幵关动作来完成 的， 所述合定位片、 幵定位片固定在左卡爪连接件上， 所述合检测幵关固定在 右卡爪连接件上， 所述幵检测幵关固定在底座侧面上。  [0010] The left claw is moved to the right to the robot "close" process, and the positioning accuracy of the gripping bottle by the robot "closing" process is completed by the joint positioning piece triggering and detecting the closing action, the left claw is leftward The process of moving to the robot "幵" process, the positioning accuracy of the loose bottle of the robot "幵" process is completed by the triggering action of the 幵 positioning piece, and the locating piece and the locating piece are fixed on the left claw connecting piece. The detecting hook is fixed on the right claw connecting piece, and the detecting point is fixed on the side of the base.
发明的有益效果  Advantageous effects of the invention
有益效果  Beneficial effect
[0011] 对比现有技术， 本发明的有益效果是： 通过步进电机丝杆螺母副来带动卡爪的 幵合， 并通过定位片触发检测幵关来控制其定位精度， 其结构简单、 控制准确 、 安全性能高， 便于普及推广。  [0011] Compared with the prior art, the beneficial effects of the present invention are as follows: the stepping motor screw nut pair is used to drive the clamping of the claws, and the positioning piece is triggered to detect the positioning to control the positioning precision thereof, and the structure is simple and controlled. Accurate, safe and high performance, easy to popularize.
对附图的简要说明  Brief description of the drawing
附图说明  DRAWINGS
[0012] 图 1是本实用新型的结构图八。  1 is a structural view of the present invention.
[0013] 图 2是本实用新型的结构图^ 2 is a structural view of the utility model ^
[0014] 其中： 1、 底座， 2、 左卡爪， 3、 右卡爪， 4、 步进电机， 401、 丝杆， 402、 丝 杆螺母， 5、 左卡爪连接件， 6、 右卡爪连接件， 7、 滑轨， 8、 滑块， 9、 合定位 片， 10、 幵定位片， 11、 幵检测幵关， 12、 合检测幵关。  [0014] wherein: 1, base, 2, left jaw, 3, right jaw, 4, stepper motor, 401, screw, 402, screw nut, 5, left jaw connector, 6, right card Claw connector, 7, slide rail, 8, slider, 9, positioning tab, 10, 幵 positioning tab, 11, 幵 detection ,, 12, combined detection.
本发明的实施方式 Embodiments of the invention
[0015] 下面结合附图和实施例对本实用新型进一步说明。 [0015] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.
[0016] 一种抓瓶机械手， 其特征在于包括底座 1、 左卡爪 2、 右卡爪 3、 步进电机 4、 左 卡爪连接件 5、 右卡爪连接件 6、 滑轨 7、 滑块 8、 合定位片 9、 幵定位片 10、 幵检 测幵关 11及合检测幵关 12。  [0016] A bottle grabber, characterized by comprising a base 1, a left claw 2, a right claw 3, a stepping motor 4, a left jaw connecting member 5, a right claw connecting member 6, a slide rail 7, and a slide The block 8, the positioning piece 9, the 幵 positioning piece 10, the 幵 detecting switch 11 and the detecting switch 12 are provided.
[0017] 所述底座 1为 T形结构， 起支撑、 连接及固定作用。  [0017] The base 1 has a T-shaped structure for supporting, connecting and fixing.
[0018] 所述左卡爪 2与右卡爪 3相互对称， 且相对的内侧均设有凹槽， 两个凹槽相互配 合， 并与瓶身的形状相对应。 所述左卡爪 2设与左卡爪连接件 5上， 所述右卡爪 3 设与右卡爪连接件 6上， 所述左卡爪 2为执行件， 所述右卡爪 3为固定件。 [0018] The left claw 2 and the right claw 3 are symmetrical with each other, and the opposite inner sides are provided with grooves, and the two grooves are matched with each other. Fit and correspond to the shape of the bottle. The left claw 2 is disposed on the left claw connecting member 5, the right claw 3 is disposed on the right claw connecting member 6, the left claw 2 is an actuator, and the right claw 3 is fixed. Pieces.
[0019] 所述步进电机 4固定在右卡爪连接件 6上且输出轴为丝杆 401， 所述丝杆 401穿过 右卡爪连接件 6且导程为 2毫米， 所述丝杆 401上套有丝杆螺母 402， 所述丝杆螺 母 402固定在左卡爪连接件 5上， 所述丝杆 401与丝杆螺母 402构成丝杆螺母副。  [0019] The stepping motor 4 is fixed on the right claw connecting member 6 and the output shaft is a screw rod 401 which passes through the right claw connecting piece 6 and has a lead of 2 mm. The screw 401 is sleeved on the 401, and the screw nut 402 is fixed on the left claw connecting member 5. The screw rod 401 and the screw nut 402 constitute a screw nut pair.
[0020] 所述左卡爪连接件 5与滑块 8相连接， 所述滑块 8与滑轨 7相连接， 所述滑轨 7固 定在底座 1上， 所述左卡爪连接件 5在步进电机 4丝杆螺母副的驱动下带动左卡爪 2在滑轨 7上左右滑动。  [0020] The left claw connector 5 is connected to the slider 8, the slider 8 is connected to the slide rail 7, the slide rail 7 is fixed on the base 1, and the left claw connector 5 is The left claw 2 is slid on the slide rail 7 by the driving of the stepping motor 4 screw nut pair.
[0021] 所述左卡爪 2向右移动为机械手"合"过程， 机械手 "合"过程抓瓶子的定位精度 是通过合定位片 9触发合检测幵关 12动作来完成的， 所述左卡爪 2向左移动为机 械手"幵"过程， 机械手 "幵"过程松瓶子的定位精度是通过幵定位片 10触发幵检测 幵关 11动作来完成的， 所述合定位片 9、 幵定位片 10固定在左卡爪连接件 5上， 所述合检测幵关 12固定在右卡爪连接件 6上， 所述幵检测幵关 11固定在底座 1侧 面上。  [0021] The left claw 2 is moved to the right to a robot "coupling" process, and the positioning accuracy of the gripping cylinder of the robot is "closed" by the positioning piece 9 to trigger the detection of the closing switch 12, the left card The movement of the claw 2 to the left is a robot "幵" process, and the positioning accuracy of the loose bottle of the robot "幵" process is completed by the action of the 幵 positioning piece 10 to trigger the detection of the 幵11, the locating piece 9, the locating piece 10 It is fixed to the left jaw connecting member 5, and the closing detecting switch 12 is fixed to the right claw connecting member 6, and the click detecting switch 11 is fixed to the side of the base 1.
[0022] 以上仅仅以一个实施方式来说明本实用新型的设计思路， 在系统允许的情况下 ， 本实用新型还可以扩展为同吋外接更多的功能模块， 从而最大限度扩展其功 能。  [0022] The above design concept of the utility model is described in only one embodiment. When the system allows, the utility model can be extended to externally connect more functional modules, thereby maximizing the function.
[0023] 以上结合具体实施例描述了本实用新型的技术原理。 这些描述只是为了解释本 实用新型的原理， 而不能以任何方式解释为对本实用新型保护范围的限制。 基 于此处的解释， 本领域的技术人员不需要付出创造性的劳动即可联想到本实用 新型的其它具体实施方式， 这些方式都将落入本实用新型的保护范围之内。  [0023] The technical principles of the present invention have been described above in connection with specific embodiments. These descriptions are merely illustrative of the principles of the invention and are not to be construed as limiting the scope of the invention. Based on the explanation herein, those skilled in the art can associate other embodiments of the present invention without departing from the scope of the present invention, and all of them fall within the scope of the present invention.

Claims

权利要求书 Claim
[权利要求 1] 一种抓瓶机械手， 包括底座 （1) 、 左卡爪 （2) 、 右卡爪 （3) 、 步 进电机 （4) 、 丝杆 （401) 、 丝杆螺母 （402) 、 左卡爪连接件 （5) 、 右卡爪连接件 （6) 、 滑轨 （7) 、 滑块 （8) 、 合定位片 （9) 、 幵 定位片 （10) 、 幵检测幵关 （11) 及合检测幵关 （12) ， 其特征在于 ： 所述底座 （1) 为 T形结构， 所述左卡爪 （2) 与右卡爪 （3) 相互 对称， 所述步进电机 （4) 固定在右卡爪连接件 （6) 上， 所述左卡爪 连接件 （5) 与滑块 （8) 相连接， 所述滑块 （8) 与滑轨 （7) 相连接 ， 所述滑轨 （7) 固定在底座 （1) 上， 所述左卡爪连接件 （5) 在步 进电机 （4) 丝杆螺母副的驱动下带动左卡爪 （2) 在滑轨 （7) 上左 右滑动。 [Claim 1] A bottle grabbing robot comprising a base (1), a left jaw (2), a right jaw (3), a stepping motor (4), a screw (401), a screw nut (402) , left jaw connector (5), right jaw connector (6), slide rail (7), slider (8), positioning tab (9), 幵 positioning tab (10), 幵 detection ( ( 11) The detection detection switch (12) is characterized in that: the base (1) is a T-shaped structure, and the left claw (2) and the right claw (3) are symmetrical with each other, the stepping motor ( 4) fixed on the right jaw connecting piece (6), the left claw connecting piece ( 5 ) is connected with the slider (8), and the sliding block ( 8 ) is connected with the sliding rail (7) The slide rail (7) is fixed on the base (1), and the left claw connecting piece (5) drives the left claw (2) on the slide rail under the driving of the stepping motor (4) screw nut pair (7) ) Slide up and down.
[权利要求 2] 根据权利要求 1所述的一种抓瓶机械手， 其特征在于： 所述左卡爪 (2  [Claim 2] A bottle grabber robot according to claim 1, wherein: said left jaw (2
) 与右卡爪 （3) 相对的内侧均设有凹槽， 两个凹槽相互配合， 并与 瓶身的形状相对应。 所述左卡爪 （2) 为执行件， 所述右卡爪 （3) 为 固定件。  ) The inner side opposite to the right claw (3) is provided with a groove, and the two grooves cooperate with each other and correspond to the shape of the bottle body. The left claw (2) is an actuator, and the right claw (3) is a fixing member.
[权利要求 3] 根据权利要求 1所述的一种抓瓶机械手， 其特征在于： 所述步进电机  [Claim 3] A bottle grabber robot according to claim 1, wherein: the stepping motor
(4) 输出轴为丝杆 （401) ， 所述丝杆 （401) 穿过右卡爪连接件 （6 ) 且导程为 2毫米， 所述丝杆 （401) 上套有丝杆螺母 （402) ， 所述 丝杆螺母 （402) 固定在左卡爪连接件 （5) 上， 所述丝杆 （401) 与 丝杆螺母 （402) 构成丝杆螺母副。  (4) The output shaft is a screw (401), the lead screw (401) passes through the right jaw connecting member (6) and has a lead of 2 mm, and the lead screw (401) is sheathed with a screw nut ( 402), the lead screw nut (402) is fixed on the left claw connecting piece (5), and the lead screw (401) and the lead screw nut (402) constitute a screw nut pair.
[权利要求 4] 根据权利要求 1所述的一种抓瓶机械手， 其特征在于： 所述左卡爪 (2  [Claim 4] A bottle grabber robot according to claim 1, wherein: said left jaw (2
) 向右移动为机械手"合"过程， 机械手 "合"过程抓瓶子的定位精度是 通过合定位片 （9) 触发合检测幵关 （12) 动作来完成的， 所述左卡 爪 （2) 向左移动为机械手"幵"过程， 机械手 "幵"过程松瓶子的定位 精度是通过幵定位片 （10) 触发幵检测幵关 （11) 动作来完成的。  Moving to the right for the robot "close" process, the positioning accuracy of the gripping process of the robot is "closed" by the positioning piece (9) triggering the detection and closing (12) action, the left claw (2) Moving to the left for the robot "幵" process, the positioning accuracy of the loose bottle of the robot "幵" process is accomplished by triggering the 幵 positioning piece (10) to trigger the 幵 detection (11) action.
PCT/CN2015/095490 2014-12-19 2015-11-25 Bottle grabbing mechanical arm WO2016095676A1 (en)

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CN104626178A (en) * 2014-12-19 2015-05-20 邓军 Mechanical arm for grabbing bottle
CN204382287U (en) * 2014-12-19 2015-06-10 邓军 A kind of bottle catching mechanical hand
CN108622594A (en) * 2018-05-18 2018-10-09 广西联壮科技股份有限公司 New ceramics production line conveying robot arm
CN110217410B (en) * 2019-05-30 2021-09-03 北京控制工程研究所 Docking ring capturing and locking mechanism and capturing and locking method

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