WO2021017091A1

WO2021017091A1 - Product grasping device and system for industrial robot

Info

Publication number: WO2021017091A1
Application number: PCT/CN2019/103563
Authority: WO
Inventors: 何正文; 王宇智
Original assignee: 南京驭逡通信科技有限公司
Priority date: 2019-07-28
Filing date: 2019-08-30
Publication date: 2021-02-04
Also published as: CN110293547B; CN110293547A

Abstract

A product grasping device and system for an industrial robot. The grasping device comprises a base (1), a support base (2) disposed on the top of the base (1), a support rod (3) disposed on the top of the support base (2), a horizontal plate (4) disposed on the top of the support rod (3), a first movement groove (5) provided inside the horizontal plate (4), a travel motor (6) disposed inside the first movement groove (5), and a gear (7) disposed on a side of the travel motor (6). The grasping system comprises a control module (28), wherein an end of the control module (28) is connected to a power module (29), an end of the power module (29) located away from the control module (28) is connected to a moving module (32), and an end of the moving module (32) located away from the power module (29) is connected to a grasping module (33).

Description

Goods grabbing device and grabbing system for industrial robot

Technical field

The invention relates to the technical field of industrial robots, and in particular to a cargo grabbing device and grabbing system for industrial robots.

Background technique

An industrial robot is a multi-joint manipulator or a multi-degree-of-freedom machine device oriented to the industrial field. It can perform work automatically. It is a machine that realizes various functions by its own power and control capabilities. It can accept human commands or follow With pre-arranged program operation, modern industrial robots can also act according to the principles and guidelines formulated by artificial intelligence technology; the existing cargo grabbing device for industrial robots has simple structure and insufficient stability when grabbing objects, which is easy to make goods Falling, resulting in damage to the goods; at the same time, the existing industrial robot's grasping system also has certain deficiencies, unable to better control the grasping of the device, resulting in low efficiency, and thus unable to better meet the needs of people. .

In summary, how to make industrial robots better grasp the goods and better control the grasping is a technical problem that needs to be solved urgently.

technical problem

The technical task of the present invention is to address the above shortcomings and provide a cargo grasping device and grasping system for industrial robots to solve how to make industrial robots better grasp the goods and better grasp the goods. The problem of control.

Technical solutions

The technical scheme of the present invention is realized as follows:

A cargo grabbing device for industrial robots includes a base, a support base is installed on the top of the base, a support rod is mounted on the top of the support base, and a horizontal plate is mounted on the top of the support rod, the The inside of the horizontal plate is provided with movable groove one, the inside of the movable groove one is installed with a walking motor, one side of the walking motor is equipped with a gear, and the inside of the horizontal plate is opened at a position corresponding to the gear There is a tooth slot adapted to the gear, a fixed connecting rod is installed on the side of the walking motor away from the gear, and the inside of the horizontal plate is located at a side of the movable slot that is away from the tooth slot. There are two movable grooves on the side that are adapted to the fixed connecting rod. A hydraulic cylinder one is installed on the side of the fixed connecting rod away from the walking motor, and a hydraulic telescopic rod is installed at the bottom of the hydraulic cylinder one 1. A hydraulic cylinder two is installed inside the hydraulic telescopic rod one, and two hydraulic telescopic rods are installed on both sides of the hydraulic cylinder two, and the ends of the hydraulic telescopic rod two away from the hydraulic cylinder two are installed There are fixed blocks, and the bottoms of the fixed blocks are all equipped with grabbing plates, and the sides of the grabbing plates close to each other are fixedly installed with non-slip rubber plates, and between the non-slip rubber plates and the grabbing plates Pressure sensors are installed, and an infrared scanner is installed at the bottom of the second hydraulic cylinder.

Preferably, fixing bolts are installed symmetrically through both sides of the base.

Preferably, a vertical rod is installed on the top of the base and located on one side of the supporting seat, and a plurality of counterweights are movably sleeved on the outer side of the vertical rod.

Preferably, moving wheels are installed on the top and bottom of the walking motor, and the top and the bottom of the moving groove 1 are provided with wheel grooves adapted to the moving wheels at the positions corresponding to the moving wheels. .

Preferably, the inner part of the horizontal plate and the outer side of the fixed connecting rod are movable sleeves with collars, and the top and bottom of the second movable grooves are both provided with ring grooves adapted to the collars.

Preferably, both ends of the lateral plate on one side close to the fixed connecting rod are equipped with limit stoppers.

A cargo grabbing system for industrial robots, characterized by comprising a control module, one end of the control module is connected with a power module, the power module includes an electric unit and a hydraulic unit, the power module is far away from the control One end of the module is connected to a mobile module, the end of the mobile module away from the power module is connected to a grasping module, the end of the grasping module away from the mobile module is connected to an infrared detection module and a pressure sensing module, the control module A data module is also connected.

Preferably, the control module is connected with a running track module, and an end of the running track module away from the control module is connected with a display module.

Preferably, one end of the control module is connected to a man-machine module.

Preferably, one end of the control module is further connected with a monitoring module, and an end of the monitoring module away from the control module is connected with an alarm module.

Beneficial effect

Compared with the prior art, the advantages and positive effects of the present invention are:

1. Through the interaction of the walking motor and the gear, the hydraulic cylinder one and the hydraulic telescopic rod one, and the hydraulic cylinder two and the hydraulic telescopic rod two, the goods can be better grasped, It improves the stability of crawling and can better meet people's needs.

2. Through the interaction of the control module, the power module and the grabbing module, the grabbing of goods can be better controlled, the grabbing efficiency is improved, and people's needs can be better met .

Through the present invention, the problem of how to make industrial robots better grasp the goods and better control the grasping is well solved, so that people can better grasp the goods during use, and improve Stability ensures the safety of cargo grabbing, and at the same time facilitates better control operations, improves efficiency, and facilitates better meeting people's needs.

Description of the drawings

In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the following will briefly introduce the drawings needed in the embodiments. Obviously, the drawings in the following description are only some of the present invention. Embodiments, for those of ordinary skill in the art, without creative work, other drawings can be obtained from these drawings.

Fig. 1 is a schematic diagram of the front structure according to an embodiment of the present invention;

2 is a schematic side view of the structure according to an embodiment of the present invention;

3 is a schematic diagram of the internal side structure of the transverse plate according to the embodiment of the present invention;

4 is a schematic diagram of an enlarged structure of a grabbing plate according to an embodiment of the present invention;

Fig. 5 is a system block diagram according to an embodiment of the present invention.

In the picture:

1. Base; 2. Support seat; 3. Support rod; 4. Horizontal plate; 5. Movable slot one; 6. Traveling motor; 7. Gear; 8. Cogging; 9. Fixed connecting rod; 10. Movable slot 2. 11. Hydraulic cylinder one; 12. Hydraulic telescopic rod one; 13. Hydraulic cylinder two; 14. Hydraulic telescopic rod two; 15. Fixed block; 16. Grasping plate; 17, Anti-skid rubber plate; 18. Pressure sensor; 19 , Infrared scanner; 20, fixed bolt; 21, vertical rod; 22, counterweight; 23, movable wheel; 24, wheel groove; 25, collar; 26, ring groove; 27, limit stop; 28, Control module; 29, power module; 30, electric unit; 31, hydraulic unit; 32, mobile module; 33, grasping module; 34, infrared detection module; 35, pressure sensing module; 36, data module; 37, running track Module; 38. Display module; 39. Man-machine module; 40. Monitoring module; 41. Alarm module.

The best mode of the invention

In order to be able to understand the above objectives, features and advantages of the present invention more clearly, the present invention will be further described below in conjunction with the accompanying drawings and embodiments. It should be noted that the embodiments of the application and the features in the embodiments can be combined with each other if there is no conflict.

The present invention will be further described below in conjunction with the drawings and specific embodiments.

The first embodiment, as shown in Figs. 1-4, a cargo grasping device for industrial robots according to an embodiment of the present invention includes a base 1, and a support base 2 is mounted on the top of the base 1, and the support base A support rod 3 is installed on the top of the support rod 3, and a horizontal plate 4 is installed on the top of the support rod 3. The horizontal plate 4 is provided with a movable slot 5 inside, and a walking motor 6 is installed inside the movable slot 5 , A gear 7 is installed on one side of the walking motor 6, and a tooth groove 8 adapted to the gear 7 is opened in a position corresponding to the gear 7 inside the horizontal plate 4, and the walking A fixed connecting rod 9 is installed on the side of the motor 6 away from the gear 7, and the inside of the horizontal plate 4 is located on the side of the movable slot 5 away from the tooth slot 8 and is provided with a fixed connection The movable groove two 10 to which the rod 9 is matched, the side of the fixed connecting rod 9 away from the walking motor 6 is equipped with a hydraulic cylinder 11, and the bottom of the hydraulic cylinder 11 is equipped with a hydraulic telescopic rod 12, A hydraulic cylinder two 13 is installed inside the hydraulic telescopic rod one 12, and a hydraulic telescopic rod two 14 is installed on both sides of the hydraulic cylinder two 13, and the hydraulic telescopic rod two 14 is far away from the hydraulic cylinder two 13. A fixed block 15 is installed at one end of the fixed block 15 and a grab plate 16 is installed at the bottom of the fixed block 15, through the walking motor 6 and the gear 7, the hydraulic cylinder 11 and the hydraulic telescopic rod 12 and The interaction of the two hydraulic cylinders 13 and the hydraulic telescopic rods 14 can better grasp the goods, improve the stability of grasping, and better meet the needs of people. Non-slip rubber plates 17 are fixedly installed on the sides of the picking plates 16 close to each other, and pressure sensors 18 are installed between the non-slip rubber plates 17 and the grabbing plates 16, through which pressure sensors 18 can be used for grabbing In order to ensure stable grasping of goods, the bottom of the hydraulic cylinder 13 is equipped with an infrared scanner 19, through which the grasped goods can be scanned, so as to facilitate It can be better fetched.

Further, fixing bolts 20 are installed symmetrically through the two sides of the base 1; the base 1 can be fixed by the fixing bolts 20, so as to ensure that the overall device can achieve good stability, thereby facilitating more Good to grab the goods.

Further, a vertical rod 21 is installed on the top of the base 1 and on one side of the support base 2, and a plurality of counterweights 22 are movably sleeved on the outer side of the vertical rod 21; The counterweight 22 is placed, and under the action of the vertical rod 21 and the counterweight 22, a good balance can be achieved when the cargo is grasped, so as to facilitate better cargo handling. The grabbing operation is also convenient to better meet people's needs.

Further, moving wheels 23 are installed on the top and bottom of the walking motor 6, and the top and bottom of the movable slot 5 are provided at positions corresponding to the moving wheels 23. Adapted wheel groove 24; through the interaction of the moving wheel 23 and the wheel groove 24, the walking motor 6 can be better moved, and the wheel groove 24 is locked while moving It can also have a certain fixed effect, which can better satisfy people's use.

Further, the inner part of the horizontal plate 4 and the outer side of the fixed connecting rod 9 are movably sleeved with a collar 25, and the top and bottom of the movable groove 10 are both provided with a collar 25 corresponding to the collar 25. Equipped with ring groove 26; through the collar 25 and the ring groove 26, the fixed connecting rod 9 can be made to move better, to ensure that the structure can achieve good activities, which can facilitate better alignment Cargo grabbing operation can better meet people's needs.

Further, both ends of the horizontal plate 4 close to the fixed connecting rod 9 are equipped with limit stops 27; the limit stops 27 can make the fixed connecting rod 9 receive a certain amount of Limit, so that the device can better carry out the cargo grasping operation.

The second embodiment, as shown in FIG. 5, a cargo grasping system for industrial robots according to an embodiment of the present invention includes a control module 28, one end of which is connected with a power module 29, and the power module 29 includes an electric unit 30 and a hydraulic unit 31. The end of the power module 29 away from the control module 28 is connected to a moving module 32, and the end of the moving module 32 away from the power module 29 is connected to a grabbing module 33. An infrared detection module 34 and a pressure sensing module 35 are connected to the end of the grasping module 33 away from the moving module 32. The control module 28 is also connected to a data module 36. The control module 28 is connected to the power module 29 and The interaction of the grabbing modules 33 can better control the grabbing of goods, improve the efficiency of grabbing, and better meet the needs of people.

Further, the control module 28 is connected to a running track module 37, and an end of the running track module 37 away from the control module 28 is connected to a display module 38; through the running track module 37 and the display module 38, The path trajectory of the grasping operation is set and displayed, which can facilitate an intuitive inspection by people and facilitate better grasping of the goods.

Further, one end of the control module 28 is connected to a man-machine module 39; through the man-machine module 39, people can better operate the system and can be used by people better.

Further, one end of the control module 28 is also connected to a monitoring module 40, and one end of the monitoring module 40 away from the control module 28 is connected to an alarm module 41; the monitoring module 40 can be used in the grasping control process The grasping operation is monitored, and when a fault or error occurs, the alarm module 41 is used to give an alarm in time, so that people can adjust the grasping operation and repair the fault in time, so as to better meet the needs of people.

In order to facilitate the understanding of the above technical solutions of the present invention, the working principle or operation mode of the present invention in the actual process will be described in detail below.

In actual application, the operation of the grabbing device is controlled by the grabbing system. The electric unit 30 in the power module 29 corresponds to the walking motor 6 in the device. The function of the control module 28 is Next, the walking motor 6 is controlled to operate. Under the action of the gear 7 and the cogging 8, the connection of the fixed connecting rod 9 drives the hydraulic cylinder 11 to move, so that the The hydraulic cylinder 13 moves above the cargo, and then the infrared detection module 34 in the control system, that is, the infrared scanner in the device, scans the presence of the cargo, and then controls the hydraulic unit 31 The hydraulic cylinder one 11 and the hydraulic cylinder two 13 are operated, and the hydraulic cylinder one 11 operates so that the hydraulic telescopic rod 12 pushes the hydraulic cylinder two 13 to move down to the top of the cargo. At the same time, the hydraulic cylinder Cylinder two 13 drives the hydraulic telescopic rod two 14 to extend, so that the grabbing plate 16 moves to both sides of the cargo, and then the hydraulic cylinder two 13 drives the hydraulic telescopic rod two 14 to retract, The cargo is clamped under the action of the non-slip rubber plate 17, and the clamping force can be adjusted due to the action of the pressure sensor 18, thereby further improving the stability of the grasping. After the grasping is completed, The hydraulic cylinder 11 in the system control device drives the hydraulic telescopic rod 12 to retract, and through the action of the walking motor 6 and the gear 7, drives the goods to move along the horizontal plate 4 to Place the point, and then grab the next cargo; in general, people can better grab the cargo when using it, improve stability, ensure the safety of cargo grabbing, and facilitate better The control operation improves efficiency and facilitates better meeting people’s needs.

Through the above specific embodiments, those skilled in the technical field can easily implement the present invention. However, it should be understood that the present invention is not limited to the specific embodiments described above. Based on the disclosed embodiments, those skilled in the technical field can arbitrarily combine different technical features to realize different technical solutions.

Claims

A cargo grabbing device for industrial robots, characterized in that it comprises a base (1), a support base (2) is installed on the top of the base (1), and a support is installed on the top of the support base (2) Rod (3), and a horizontal plate (4) is installed on the top of the support rod (3), and a movable groove (5) is opened inside the horizontal plate (4). A walking motor (6) is installed inside, a gear (7) is installed on one side of the walking motor (6), and a position corresponding to the gear (7) is provided inside the horizontal plate (4) A cogging (8) adapted to the gear (7), a fixed connecting rod (9) is installed on the side of the walking motor (6) away from the gear (7), and the horizontal plate ( 4) The inside of the movable groove one (5) is located on the side away from the tooth groove (8) is provided with movable groove two (10) adapted to the fixed connecting rod (9), and the fixed A hydraulic cylinder (11) is installed on the side of the connecting rod (9) away from the walking motor (6), and a hydraulic telescopic rod (12) is installed at the bottom of the hydraulic cylinder (11), and the hydraulic telescopic rod Two hydraulic cylinders (13) are installed inside the first rod (12), and two hydraulic telescopic rods (14) are installed on both sides of the second hydraulic cylinder (13), and the second hydraulic telescopic rod (14) is far away A fixed block (15) is installed at one end of the second hydraulic cylinder (13), and a grab board (16) is installed at the bottom of the fixed block (15). The grab boards (16) are close to each other An anti-skid rubber plate (17) is fixedly installed on one side, and a pressure sensor (18) is installed between the anti-skid rubber plate (17) and the grabbing plate (16), and the second hydraulic cylinder (13) An infrared scanner (19) is installed at the bottom of the device.
The cargo grasping device for industrial robots according to claim 1, characterized in that, fixing bolts (20) are installed symmetrically through both sides of the base (1).
The cargo grasping device for industrial robots according to claim 1, characterized in that, a vertical rod (21) is installed on the top of the base (1) and on one side of the support base (2) And a plurality of counterweights (22) are arranged on the outer side of the vertical rod (21).
The cargo grabbing device for industrial robots according to claim 1, characterized in that, moving wheels (23) are installed on both the top and bottom of the walking motor (6), and the movable groove is one ( 5) The top and bottom positions corresponding to the moving wheel (23) are provided with wheel grooves (24) adapted to the moving wheel (23).
The cargo grasping device for industrial robots according to claim 1, characterized in that, the inner part of the horizontal plate (4) and the outer side of the fixed connecting rod (9) is provided with a collar. (25), and the top and bottom of the second movable groove (10) are provided with ring grooves (26) adapted to the collar (25).
The cargo grabbing device for industrial robots according to claim 1, characterized in that, both ends of the lateral plate (4) close to the fixed connecting rod (9) are equipped with limit stoppers (27).
A cargo grabbing system for industrial robots, characterized by comprising a control module (28), one end of the control module (28) is connected with a power module (29), and the power module (29) includes an electric unit (30) and a hydraulic unit (31), the power module (29) is connected to a mobile module (32) at one end away from the control module (28), and the mobile module (32) is far away from the power module (29) One end of the grabbing module (33) is connected to the grabbing module (33), and one end of the grabbing module (33) away from the moving module (32) is connected with an infrared detection module (34) and a pressure sensing module (35), the control module (28) ) A data module (36) is also connected.
The cargo grasping system for industrial robots according to claim 7, characterized in that the control module (28) is connected with a running track module (37), and the running track module (37) is far away A display module (38) is connected to one end of the control module (28).
The cargo grabbing system for industrial robots according to claim 7, characterized in that one end of the control module (28) is connected to the man-machine module (39).
The cargo grabbing system for industrial robots according to claim 7, wherein one end of the control module (28) is also connected with a monitoring module (40), and the monitoring module (40) is far away One end of the control module (28) is connected to the alarm module (41).