CN110978019B - Manipulator structure capable of realizing double-mode switching of adsorption and clamping and robot - Google Patents
Manipulator structure capable of realizing double-mode switching of adsorption and clamping and robot Download PDFInfo
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- CN110978019B CN110978019B CN201911265242.2A CN201911265242A CN110978019B CN 110978019 B CN110978019 B CN 110978019B CN 201911265242 A CN201911265242 A CN 201911265242A CN 110978019 B CN110978019 B CN 110978019B
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- 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
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
- B25J15/0057—Gripping heads and other end effectors multiple gripper units or multiple end effectors mounted on a turret
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Abstract
The invention relates to the technical field of stacking robots, in particular to a manipulator structure and a robot capable of realizing switching of an adsorption mode and a clamping mode; the manipulator structure realizes the rotation of the working box through a second servo motor, the right part of the working box is provided with an adsorption assembly, the left part of the working box is provided with a clamping assembly, and the left part and the right part of the working box are switched through the rotation of the working box, so that the clamping assembly or the adsorption assembly corresponds to the screw rod box; the screw rod box is arranged, the first servo motor drives the screw rod to rotate, and the moving nut moves axially along the screw rod so as to drive the chuck to move; the first hydraulic cylinder adjusts the vertical position of the chuck and is matched with the clamping assembly or the adsorption assembly; when the clamping assembly rotates to the lower part of the screw rod box, the clamping head is adjusted to clamp the first type sliding seat II; then the position of the movable nut is adjusted, and the first type sliding seat II changes along with the movable nut, so that the distance between the clamping plates is changed, and the object clamping is realized; the adsorption component is used for enabling the negative pressure sucker to generate suction force through the negative pressure pump based on negative pressure remote, and adsorbing the articles.
Description
Technical Field
The invention relates to the technical field of stacking robots, in particular to a manipulator structure capable of realizing switching of an adsorption mode and a clamping mode and a robot.
Background
A Robot (Robot) is a machine device that automatically performs work. It can accept human command, run the program programmed in advance, and also can operate according to the principle outline action made by artificial intelligence technology. The task of which is to assist or replace human work, such as production, construction, or dangerous work.
The prior weighing robot mostly refers to a set of devices consisting of an actuating mechanism, a driving device, a detection device, a control system, complex machinery and the like.
The actuators, mostly using manipulators, are automatic operating devices that can simulate some motion functions of human hands and arms and are used to grasp, carry objects or operate tools according to fixed procedures. The robot has the characteristics that various expected operations can be completed through programming, and the advantages of the robot and the manipulator are combined in structure and performance.
The manipulator is a novel device developed in the mechanical and automatic production process. In the modern production process, the mechanical arm is widely applied to an automatic production line, the development and production of the robot become a new technology which is rapidly developed in the high-tech field, and the development of the mechanical arm is promoted, so that the mechanical arm can be organically combined with mechanization and automation better. The accuracy of the manipulator operation and the ability of completing the operation in various environments have wide development prospects in various fields of national economy.
The manipulator mainly comprises an execution unit, a driving unit and a control system. The actuator is a component for holding a workpiece (or a tool), and has various structural forms, such as a clamping type, a holding type, an adsorption type and the like, according to the shape, the size, the weight, the material and the operation requirement of the held object, and is often applied to stacking work in the industries of food, medicine, machinery, clothes, logistics and the like.
Although the manipulator is not as flexible as a human hand, it has the characteristics of repeated work and labor, no fatigue, danger resistance, and larger force for grabbing heavy objects than the human hand, so the manipulator has received attention from many departments and is more and more widely used.
The existing manipulator needs to grab articles, the mode of grabbing articles is also diversified, and the manipulator which needs to be used is also provided with different working modes, so that the manipulator is suitable for the diversity of grabbing articles.
However, most of the existing manipulators only have a single working mode, and cannot realize multi-mode working and switching, and a manipulator structure and a robot capable of realizing double-mode switching of adsorption and clamping are required to be designed.
Disclosure of Invention
Technical problem to be solved
The invention aims to overcome the defects in the prior art and provides a manipulator structure and a robot capable of realizing switching of an adsorption mode and a clamping mode.
(II) technical scheme
A manipulator structure and a robot capable of realizing double-mode switching of adsorption and clamping comprise a screw rod box and an execution unit;
the screw rod box comprises a box body, a first servo motor, a screw rod, a movable nut, a first hydraulic cylinder and a clamping head; the first servo motor is arranged on the left side wall in the box body, the output end of the first servo motor horizontally extends rightwards and is connected with a screw rod, and the right end of the screw rod is rotatably connected with the right side wall of the box body; the movable nut is screwed on the screw rod, the bottom of the movable nut is provided with a first hydraulic cylinder, and the telescopic end of the first hydraulic cylinder extends downwards out of the box body and is connected with a clamping head; the bottom of the box body is provided with a corresponding slideway corresponding to the moving path of the movable nut;
the execution unit comprises a second servo motor, a rotating shaft and a working box; the second servo motor is fixedly arranged on the right side of the screw rod box, the output end of the second servo motor is downwards connected with a rotating shaft, and the rotating shaft is fixedly connected with the working box; the left part of the working box is provided with a clamping component, the right part of the working box is provided with an adsorption component, the working box is driven by a second servo motor to rotate to switch left and right, the clamping component or the adsorption component is made to correspond to the lead screw box, and the clamping head and the clamping component or the adsorption component are matched to work.
Preferably, a first type of guide rod is further arranged in the screw rod box, the first type of guide rod is parallel to the screw rod, and two ends of the first type of guide rod penetrate through the movable nut and are fixedly connected with the inner wall of the box body.
Preferably, the right side of the bottom of the screw rod box is connected with a supporting plate, a rotating shaft penetrates through the supporting plate, a supporting disc is arranged at the section, located above the supporting plate, of the rotating shaft, balls are arranged at the bottom of the supporting disc, and the balls are in rolling contact with the supporting plate; the top of the working box is symmetrically provided with two openings, the middle of the top is provided with a connecting plate, and the rotating shaft is fixedly connected with the connecting plate through a flange.
Preferably, the clamping assembly comprises a sliding seat, a clamping plate and a first telescopic rod group; the left and right of the first-class sliding seat are provided with two sliding seats at intervals, and the first-class sliding seat I and the second-class sliding seat II are connected through a first telescopic rod group; the first type of sliding seat I is fixedly connected to the inner wall of the working box through a screw, and the second type of sliding seat II is connected with the inner wall of the working box in a sliding manner; the first telescopic rod group consists of hinged rod pieces and is in a parallelogram shape, wherein two ends of a diagonal line are correspondingly hinged with the first type sliding seat I and the second type sliding seat II; the bottom of the first-class sliding seat is connected with a first-class connecting rod, and the first-class connecting rod extends out of the bottom of the working box and is provided with a clamping plate; and the bottom of the working box is provided with a second type of slide way corresponding to the motion path of the first type of slide seat II.
Preferably, the bottom end of one type of connecting rod is provided with a mounting chuck, the mounting chuck is fixed with a clamping plate through a screw, and the opposite sides of the two clamping plates are also provided with rubber bulges.
Preferably, the adsorption component comprises a second type slide seat, a second telescopic rod group, a negative pressure sucker and a negative pressure pump; the left and right of the second type slide carriage are provided with three slide carriages at intervals, and the three slide carriages comprise a second type slide carriage I, a second type slide carriage II and a second type slide carriage III which are connected through a second telescopic rod group; the second type sliding seat I is fixedly connected to the inner wall of the working box through a screw, and the second type sliding seat II and the second type sliding seat III are connected with the inner wall of the working box in a sliding manner; the second telescopic rod group consists of hinged rod pieces and is a double parallelogram, the common diagonal line of the second telescopic rod group is provided with three ends, and the three ends are correspondingly hinged with the second type sliding seat I, the second type sliding seat II and the second type sliding seat III; the bottom of the second-class sliding seat is connected with a second-class connecting rod, the second-class connecting rod extends out of the bottom of the working box and is connected with a hollow mounting seat, and a plurality of negative pressure suckers are mounted on the bottom surface of the mounting seat; the mounting seat is connected with a negative pressure pump arranged on the working box through a negative pressure pipe; the bottom of the working box is also provided with a second type slide way corresponding to the motion paths of the second type slide seat II and the second type slide seat III.
Preferably, the middle of the bottom of the working box is also provided with a connecting plate, and the rotating shaft extends into the working box and is fixedly connected with the connecting plate through a flange.
Preferably, the inner wall of the rear side of the working box is provided with a convex strip in the left-right direction, the convex strip is provided with a T-shaped sliding groove, and the first-class sliding seat and the second-class sliding seat are provided with corresponding T-shaped sliding blocks.
A robot capable of realizing double-mode switching of adsorption and clamping comprises the manipulator structure.
Preferably, the device also comprises a movable bracket and a Z-axis telescopic assembly;
the movable support comprises a base, a vertical plate, a top plate and a roller, wherein the vertical plate is fixedly connected to the base, and the top plate is fixedly connected to the top end of the vertical plate; the roller is arranged below the base; a control panel is arranged on the vertical plate and used for controlling the related electric control elements;
the Z-axis telescopic component comprises a mounting plate, a second type hydraulic cylinder and a second type guide rod;
the manipulator structure is arranged on the bottom surface of the mounting plate; the second type hydraulic cylinder is arranged on the top plate, and the telescopic end of the second type hydraulic cylinder vertically penetrates through the top plate downwards and is connected with the top of the mounting plate; two vertical guide rods are further connected to two ends of the top surface of the mounting plate, and the guide rods penetrate through the top plate upwards.
(III) advantageous effects
The invention provides a manipulator structure and a robot capable of realizing double-mode switching of adsorption and clamping, and the manipulator structure and the robot have the following advantages:
the manipulator structure realizes rotation of a working box through a second servo motor, an adsorption assembly is arranged at the right part of the working box, a clamping assembly is arranged at the left part of the working box, and left-right switching is carried out through rotation of the working box, so that the clamping assembly or the adsorption assembly corresponds to a screw rod box; the screw rod box is arranged, the first servo motor drives the screw rod to rotate, and the moving nut moves axially along the screw rod so as to drive the chuck to move; the first hydraulic cylinder adjusts the vertical position of the chuck and is matched with the clamping assembly or the adsorption assembly;
2, when the clamping assembly rotates to the lower part of the screw rod box, the clamping head is adjusted to clamp the first type of sliding seat II; then the position of the movable nut is adjusted, and the first type sliding seat II changes along with the movable nut, so that the distance between the clamping plates is changed, and the object clamping is realized;
3, the adsorption component is kept away based on negative pressure, and the negative pressure suction disc generates suction through the negative pressure pump to adsorb articles. The distribution of the negative pressure suckers of the adsorption assembly can be adjusted, and when the negative pressure suckers rotate to the lower part of the screw rod box, the adjusting clamp head clamps the second type sliding seat II; then adjusting the position of the movable nut, and changing the second type sliding seat II and the second type sliding seat III so as to change the distance and further change the distribution of the negative pressure suckers;
and 4, the robot adopts the hydraulic cylinder to stretch and drive the manipulator structure to move up and down, and the manipulator is matched with clamping or adsorption, so that the stacking of the articles is realized.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only for the present invention and protect some embodiments, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a structural view of a robot in the present invention;
FIG. 2 is a block diagram of the screw housing of FIG. 1;
FIG. 3 is a block diagram of the work box of FIG. 1;
FIG. 4 is a block diagram of a carriage I of the type shown in FIG. 3;
FIG. 5 is a schematic view of the second type of carriage III of FIG. 3;
FIG. 6 is a view showing the construction of a robot according to the present invention;
in the drawings, the components represented by the respective reference numerals are listed below:
1-screw box, 101-first servo motor, 102-screw, 103-moving nut, 104-class guide rod, 105-first hydraulic cylinder, 106-chuck, 107-class slideway, 108-supporting plate;
2-a second servo motor, 201-a rotating shaft, 202-a supporting disc, 203-a ball and 204-a flange;
3-work box, 301-first type slide II, 302-first type slide I, 303-first telescopic rod group, 304-first type connecting rod, 305-mounting chuck, 307-splint, 308-rubber bulge, 309-second type slide I, 310-second type slide II, 311-second type slide III, 312-second telescopic rod group, 313-second type connecting rod, 314-mounting seat, 315-negative pressure suction cup, 316-negative pressure pipe, 317-negative pressure pump, 318-sliding block, 319-sliding groove and 320-second type sliding way;
401-mounting plate, 402-second type hydraulic cylinder, 403-second type guide rod;
501-base, 502-vertical plate, 503-top plate, 504-roller and 505-control panel.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
A manipulator structure capable of realizing the switching of an adsorption mode and a clamping mode comprises a screw rod box 1 and an execution unit;
the screw rod box 1 comprises a box body, a first servo motor 101, a screw rod 102, a moving nut 103, a first hydraulic cylinder 105 and a clamping head 106; the first servo motor 101 is installed on the left side wall inside the box body, the output end of the first servo motor 101 horizontally extends rightwards and is connected with a screw rod 102, and the right end of the screw rod 102 is rotatably connected with the right side wall of the box body; the movable nut 103 is in threaded connection with the screw rod 102, the first hydraulic cylinder 105 is mounted at the bottom of the movable nut 103, and the telescopic end of the first hydraulic cylinder 105 extends out of the box body downwards and is connected with a clamping head 106; the bottom of the box body is provided with a corresponding slideway 107 corresponding to the moving path of the movable nut 103;
the execution unit comprises a second servo motor 2, a rotating shaft 201 and a working box 3; the second servo motor 2 is fixedly arranged on the right side of the screw rod box 1, the output end of the second servo motor 2 is downwards connected with a rotating shaft 201, and the rotating shaft 201 is fixedly connected with the working box 3; the left part of the working box 3 is provided with a clamping component, the right part of the working box 3 is provided with an adsorption component, the working box 3 is driven by the servo motor 2 to rotate to switch left and right, the clamping component or the adsorption component is made to correspond to the screw rod box 1, and the clamping head 106 and the clamping component or the adsorption component are matched to work.
Specifically, the first servo motor 101 drives the screw rod 102 to rotate, and the moving nut 103 moves axially along the screw rod 102, so as to drive the chuck 106 to move; the first hydraulic cylinder 105 adjusts the vertical position of the chuck 106 to match with the clamping assembly or the adsorption assembly.
Example 2
A manipulator structure capable of realizing the switching of an adsorption mode and a clamping mode comprises a screw rod box 1 and an execution unit;
the screw rod box 1 comprises a box body, a first servo motor 101, a screw rod 102, a moving nut 103, a first hydraulic cylinder 105 and a clamping head 106; the first servo motor 101 is installed on the left side wall inside the box body, the output end of the first servo motor 101 horizontally extends rightwards and is connected with a screw rod 102, and the right end of the screw rod 102 is rotatably connected with the right side wall of the box body; the movable nut 103 is in threaded connection with the screw rod 102, the first hydraulic cylinder 105 is mounted at the bottom of the movable nut 103, and the telescopic end of the first hydraulic cylinder 105 extends out of the box body downwards and is connected with a clamping head 106; the bottom of the box body is provided with a corresponding slideway 107 corresponding to the moving path of the movable nut 103;
the execution unit comprises a second servo motor 2, a rotating shaft 201 and a working box 3; the second servo motor 2 is fixedly arranged on the right side of the screw rod box 1, the output end of the second servo motor 2 is downwards connected with a rotating shaft 201, and the rotating shaft 201 is fixedly connected with the working box 3; the left part of the working box 3 is provided with a clamping component, the right part of the working box 3 is provided with an adsorption component, the working box 3 is driven by the servo motor 2 to rotate to switch left and right, the clamping component or the adsorption component is made to correspond to the screw rod box 1, and the clamping head 106 and the clamping component or the adsorption component are matched to work.
Wherein, a first class guide rod 104 is also arranged in the screw rod box 1, the first class guide rod 104 is parallel to the screw rod 102, and two ends of the first class guide rod pass through the movable nut 103 and are fixedly connected with the inner wall of the box body, thus limiting the rotation of the movable nut 103.
The right side of the bottom of the screw rod box 1 is connected with a supporting plate 108, a rotating shaft 201 penetrates through the supporting plate 108, a supporting disc 202 is fixedly connected to the upper section of the rotating shaft 201, which is positioned above the supporting plate 108, a ball 203 is rotated at the bottom of the supporting disc 202, and the ball 203 is in rolling contact with the supporting plate 108 to provide support for the rotating shaft 201; the symmetrical processing in 3 tops of work box has two openings, is equipped with even board in the middle of the top, and pivot 201 passes through flange and this even board fixed connection, provides connection stability.
Example 3
A manipulator structure capable of realizing the switching of an adsorption mode and a clamping mode comprises a screw rod box 1 and an execution unit;
the screw rod box 1 comprises a box body, a first servo motor 101, a screw rod 102, a moving nut 103, a first hydraulic cylinder 105 and a clamping head 106; the first servo motor 101 is installed on the left side wall inside the box body, the output end of the first servo motor 101 horizontally extends rightwards and is connected with a screw rod 102, and the right end of the screw rod 102 is rotatably connected with the right side wall of the box body; the movable nut 103 is in threaded connection with the screw rod 102, the first hydraulic cylinder 105 is mounted at the bottom of the movable nut 103, and the telescopic end of the first hydraulic cylinder 105 extends out of the box body downwards and is connected with a clamping head 106; the bottom of the box body is provided with a corresponding slideway 107 corresponding to the moving path of the movable nut 103;
the execution unit comprises a second servo motor 2, a rotating shaft 201 and a working box 3; the second servo motor 2 is fixedly arranged on the right side of the screw rod box 1, the output end of the second servo motor 2 is downwards connected with a rotating shaft 201, and the rotating shaft 201 is fixedly connected with the working box 3; the left part of the working box 3 is provided with a clamping component, the right part of the working box 3 is provided with an adsorption component, the working box 3 is driven by the servo motor 2 to rotate to switch left and right, the clamping component or the adsorption component is made to correspond to the screw rod box 1, and the clamping head 106 and the clamping component or the adsorption component are matched to work.
Wherein, a first class guide rod 104 is also arranged in the screw rod box 1, the first class guide rod 104 is parallel to the screw rod 102, and two ends of the first class guide rod pass through the movable nut 103 and are fixedly connected with the inner wall of the box body, thus limiting the rotation of the movable nut 103.
The right side of the bottom of the screw rod box 1 is connected with a supporting plate 108, a rotating shaft 201 penetrates through the supporting plate 108, a supporting disc 202 is fixedly connected to the upper section of the rotating shaft 201, which is positioned above the supporting plate 108, a ball 203 is rotated at the bottom of the supporting disc 202, and the ball 203 is in rolling contact with the supporting plate 108; the top of the working box 3 is symmetrically provided with two openings, the middle of the top is provided with a connecting plate, and the rotating shaft 201 is fixedly connected with the connecting plate through a flange.
Wherein, the clamping assembly comprises a sliding seat, a clamping plate 307 and a first telescopic rod group 303; the left and right of the first sliding seat are arranged at intervals, and the first sliding seat comprises a first sliding seat I302 and a first sliding seat II 301 which are connected through a first telescopic rod group 303; the first-class sliding seat I302 is fixedly connected to the inner wall of the working box 3 through a screw, and the second-class sliding seat II 301 is connected with the inner wall of the working box 3 in a sliding manner; the first telescopic rod group 303 is composed of hinged rod pieces and is in a parallelogram shape, wherein two ends of a diagonal line are correspondingly hinged with the first sliding seat I302 and the second sliding seat II 301; the bottom of the first type slide carriage is connected with a first type connecting rod 304, and the first type connecting rod 304 extends out of the bottom of the working box 3 and is provided with a clamping plate 305; the bottom of the working box 3 is provided with a second type slide rail 320 corresponding to the motion path of the first type slide seat II.
Thus, when the clamping assembly rotates to the lower part of the screw rod box 1, the adjusting chuck 106 clamps the first type sliding seat II 302; then the position of the movable nut 103 is adjusted, and the first type sliding seat II 302 is changed, so that the distance between the clamping plates 307 is changed, and the object is clamped.
Wherein, the bottom end of one type of connecting rod 304 is provided with a mounting clip 305, the mounting clip 305 is fixed with a clamping plate 307 through a screw, and the opposite sides of the two clamping plates 307 are also provided with rubber bulges.
Example 4
A manipulator structure capable of realizing the switching of an adsorption mode and a clamping mode comprises a screw rod box 1 and an execution unit;
the screw rod box 1 comprises a box body, a first servo motor 101, a screw rod 102, a moving nut 103, a first hydraulic cylinder 105 and a clamping head 106; the first servo motor 101 is installed on the left side wall inside the box body, the output end of the first servo motor 101 horizontally extends rightwards and is connected with a screw rod 102, and the right end of the screw rod 102 is rotatably connected with the right side wall of the box body; the movable nut 103 is in threaded connection with the screw rod 102, the first hydraulic cylinder 105 is mounted at the bottom of the movable nut 103, and the telescopic end of the first hydraulic cylinder 105 extends out of the box body downwards and is connected with a clamping head 106; the bottom of the box body is provided with a corresponding slideway 107 corresponding to the moving path of the movable nut 103;
the execution unit comprises a second servo motor 2, a rotating shaft 201 and a working box 3; the second servo motor 2 is fixedly arranged on the right side of the screw rod box 1, the output end of the second servo motor 2 is downwards connected with a rotating shaft 201, and the rotating shaft 201 is fixedly connected with the working box 3; the left part of the working box 3 is provided with a clamping component, the right part of the working box 3 is provided with an adsorption component, the working box 3 is driven by the servo motor 2 to rotate to switch left and right, the clamping component or the adsorption component is made to correspond to the screw rod box 1, and the clamping head 106 and the clamping component or the adsorption component are matched to work.
Wherein, a first class guide rod 104 is also arranged in the screw rod box 1, the first class guide rod 104 is parallel to the screw rod 102, and two ends of the first class guide rod pass through the movable nut 103 and are fixedly connected with the inner wall of the box body, thus limiting the rotation of the movable nut 103.
The right side of the bottom of the screw rod box 1 is connected with a supporting plate 108, a rotating shaft 201 penetrates through the supporting plate 108, a supporting disc 202 is fixedly connected to the upper section of the rotating shaft 201, which is positioned above the supporting plate 108, a ball 203 is rotated at the bottom of the supporting disc 202, and the ball 203 is in rolling contact with the supporting plate 108; the top of the working box 3 is symmetrically provided with two openings, the middle of the top is provided with a connecting plate, and the rotating shaft 201 is fixedly connected with the connecting plate through a flange.
Wherein, the clamping assembly comprises a sliding seat, a clamping plate 307 and a first telescopic rod group 303; the left and right of the first sliding seat are arranged at intervals, and the first sliding seat comprises a first sliding seat I302 and a first sliding seat II 301 which are connected through a first telescopic rod group 303; the first-class sliding seat I302 is fixedly connected to the inner wall of the working box 3 through a screw, and the second-class sliding seat II 301 is connected with the inner wall of the working box 3 in a sliding manner; the first telescopic rod group 303 is composed of hinged rod pieces and is in a parallelogram shape, wherein two ends of a diagonal line are correspondingly hinged with the first sliding seat I302 and the second sliding seat II 301; the bottom of the first type slide carriage is connected with a first type connecting rod 304, and the first type connecting rod 304 extends out of the bottom of the working box 3 and is provided with a clamping plate 305; the bottom of the working box 3 is provided with a second type slide rail 320 corresponding to the motion path of the first type slide seat II.
Wherein, the bottom end of one type of connecting rod 304 is provided with a mounting clip 305, the mounting clip 305 is fixed with a clamping plate 307 through a screw, and the opposite sides of the two clamping plates 307 are also provided with rubber bulges.
Wherein, the adsorption component comprises a second type slide seat, a second telescopic rod group 312, a negative pressure suction cup 315 and a negative pressure pump 317; the left and right of the second type slide seat are provided with three slide seats at intervals, and the three slide seats comprise a second type slide seat I309, a second type slide seat II 310 and a second type slide seat III 311 which are connected through a second telescopic rod group 312; the second type sliding seat I309 is fixedly connected to the inner wall of the working box 3 through a screw, and the second type sliding seat II 310 and the second type sliding seat III 311 are connected with the inner wall of the working box 3 in a sliding manner; the second telescopic rod group 312 is composed of hinged rod pieces, is in a double parallelogram shape, and has three ends on a common diagonal line, wherein the three ends are correspondingly hinged with a second type sliding seat I309, a second type sliding seat II 310 and a second type sliding seat III 311; the bottom of the second type sliding seat is connected with a second type connecting rod 313, the second type connecting rod 313 extends out of the bottom of the working box 3 and is connected with a hollow mounting seat 314, and a plurality of negative pressure suckers 315 are mounted on the bottom surface of the mounting seat 314; the mounting base 314 is connected to a negative pressure pump 317 attached to the work box 3 through a negative pressure pipe 316; the bottom of the working box 3 is also provided with a second type slide way corresponding to the motion path of the second type slide seat II 310 and the second type slide seat III 311.
Thus, the negative pressure pump 317 is activated, and the negative pressure suction cup 315 generates suction force to suck the article. The distribution of the vacuum cups 315 should also be adjustable to account for variations in the size of the articles. The adjustment mode is similar to that of the clamping assembly, and when the adsorption assembly rotates to the lower part of the screw rod box 1, the adjustment chuck 106 clamps the second type sliding seat II 310; then the position of the movable nut 103 is adjusted, and the second type sliding seat II 310 and the second type sliding seat III 311 are changed, so that the distance is changed, and the distribution of the negative pressure suction cups 315 is changed.
Example 5
A manipulator structure capable of realizing the switching of an adsorption mode and a clamping mode comprises a screw rod box 1 and an execution unit;
the screw rod box 1 comprises a box body, a first servo motor 101, a screw rod 102, a moving nut 103, a first hydraulic cylinder 105 and a clamping head 106; the first servo motor 101 is installed on the left side wall inside the box body, the output end of the first servo motor 101 horizontally extends rightwards and is connected with a screw rod 102, and the right end of the screw rod 102 is rotatably connected with the right side wall of the box body; the movable nut 103 is in threaded connection with the screw rod 102, the first hydraulic cylinder 105 is mounted at the bottom of the movable nut 103, and the telescopic end of the first hydraulic cylinder 105 extends out of the box body downwards and is connected with a clamping head 106; the bottom of the box body is provided with a corresponding slideway 107 corresponding to the moving path of the movable nut 103;
the execution unit comprises a second servo motor 2, a rotating shaft 201 and a working box 3; the second servo motor 2 is fixedly arranged on the right side of the screw rod box 1, the output end of the second servo motor 2 is downwards connected with a rotating shaft 201, and the rotating shaft 201 is fixedly connected with the working box 3; the left part of the working box 3 is provided with a clamping component, the right part of the working box 3 is provided with an adsorption component, the working box 3 is driven by the servo motor 2 to rotate to switch left and right, the clamping component or the adsorption component is made to correspond to the screw rod box 1, and the clamping head 106 and the clamping component or the adsorption component are matched to work.
Wherein, a first class guide rod 104 is also arranged in the screw rod box 1, the first class guide rod 104 is parallel to the screw rod 102, and two ends of the first class guide rod pass through the movable nut 103 and are fixedly connected with the inner wall of the box body, thus limiting the rotation of the movable nut 103.
The right side of the bottom of the screw rod box 1 is connected with a supporting plate 108, a rotating shaft 201 penetrates through the supporting plate 108, a supporting disc 202 is fixedly connected to the upper section of the rotating shaft 201, which is positioned above the supporting plate 108, a ball 203 is rotated at the bottom of the supporting disc 202, and the ball 203 is in rolling contact with the supporting plate 108; the top of the working box 3 is symmetrically provided with two openings, the middle of the top is provided with a connecting plate, and the rotating shaft 201 is fixedly connected with the connecting plate through a flange.
Wherein, the clamping assembly comprises a sliding seat, a clamping plate 307 and a first telescopic rod group 303; the left and right of the first sliding seat are arranged at intervals, and the first sliding seat comprises a first sliding seat I302 and a first sliding seat II 301 which are connected through a first telescopic rod group 303; the first-class sliding seat I302 is fixedly connected to the inner wall of the working box 3 through a screw, and the second-class sliding seat II 301 is connected with the inner wall of the working box 3 in a sliding manner; the first telescopic rod group 303 is composed of hinged rod pieces and is in a parallelogram shape, wherein two ends of a diagonal line are correspondingly hinged with the first sliding seat I302 and the second sliding seat II 301; the bottom of the first type slide carriage is connected with a first type connecting rod 304, and the first type connecting rod 304 extends out of the bottom of the working box 3 and is provided with a clamping plate 305; the bottom of the working box 3 is provided with a second type slide rail 320 corresponding to the motion path of the first type slide seat II.
Wherein, the bottom end of one type of connecting rod 304 is provided with a mounting clip 305, the mounting clip 305 is fixed with a clamping plate 307 through a screw, and the opposite sides of the two clamping plates 307 are also provided with rubber bulges.
Wherein, the adsorption component comprises a second type slide seat, a second telescopic rod group 312, a negative pressure suction cup 315 and a negative pressure pump 317; the left and right of the second type slide seat are provided with three slide seats at intervals, and the three slide seats comprise a second type slide seat I309, a second type slide seat II 310 and a second type slide seat III 311 which are connected through a second telescopic rod group 312; the second type sliding seat I309 is fixedly connected to the inner wall of the working box 3 through a screw, and the second type sliding seat II 310 and the second type sliding seat III 311 are connected with the inner wall of the working box 3 in a sliding manner; the second telescopic rod group 312 is composed of hinged rod pieces, is in a double parallelogram shape, and has three ends on a common diagonal line, wherein the three ends are correspondingly hinged with a second type sliding seat I309, a second type sliding seat II 310 and a second type sliding seat III 311; the bottom of the second type sliding seat is connected with a second type connecting rod 313, the second type connecting rod 313 extends out of the bottom of the working box 3 and is connected with a hollow mounting seat 314, and a plurality of negative pressure suckers 315 are mounted on the bottom surface of the mounting seat 314; the mounting base 314 is connected to a negative pressure pump 317 attached to the work box 3 through a negative pressure pipe 316; the bottom of the working box 3 is also provided with a second type slide way corresponding to the motion path of the second type slide seat II 310 and the second type slide seat III 311.
Wherein, also be equipped with even board in the middle of the work box 3 bottom, pivot 201 stretches into in the work box 3 and through flange and this even board fixed connection, further improves connection stability.
Wherein, the inner wall of the rear side of the work box 3 is provided with a convex strip in the left-right direction, the convex strip is processed with a T-shaped sliding groove 319, and the first-class sliding seat and the second-class sliding seat are connected with a corresponding T-shaped sliding block 318, so that the sliding seats are ensured not to fall off when sliding.
Example 6
The robot capable of achieving the double-mode switching of adsorption and clamping comprises the manipulator structure, so that the double-mode switching of adsorption and clamping can be achieved.
Specifically, the device also comprises a movable bracket and a Z-axis telescopic assembly;
the movable support comprises a base 501, a vertical plate 502, a top plate 503 and a roller 504, wherein the vertical plate 502 is fixedly connected to the base 501, and the top plate 503 is fixedly connected to the top end of the vertical plate 502; the roller 504 is installed below the base 501; a control panel 505 is arranged on the vertical plate 502 and used for controlling related electric elements;
the Z-axis telescopic component comprises a mounting plate 401, a second type hydraulic cylinder 402 and a second type guide rod 403;
the manipulator structure is arranged on the bottom surface of the mounting plate 401; the second type hydraulic cylinder 402 is arranged on the top plate 503, and the telescopic end of the second type hydraulic cylinder 402 vertically penetrates through the top plate 503 downwards and is connected with the top of the mounting plate 401; two vertical guide rods 403 are further connected to two ends of the top surface of the mounting plate 401, and the guide rods 403 upwardly penetrate through the top plate 503, so that the manipulator structure can be guided when the second hydraulic cylinder 402 stretches and retracts to drive the manipulator structure to ascend and descend.
It should be noted that the electrical components are all provided with power supplies, and the control method is the prior art, and is generally described herein for avoiding the redundancy of the description.
In the description herein, references to the description of "one embodiment," "an example," "a specific example," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise forms disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.
Claims (8)
1. A manipulator structure capable of realizing dual-mode switching of adsorption and clamping is characterized by comprising a screw rod box (1) and an execution unit;
the lead screw box (1) comprises a box body, a first servo motor (101), a lead screw (102), a movable nut (103), a first hydraulic cylinder (105) and a clamping head (106); the first servo motor (101) is installed on the left side wall inside the box body, the output end of the first servo motor (101) horizontally extends rightwards and is connected with a screw rod (102), and the right end of the screw rod (102) is rotatably connected with the right side wall of the box body; the movable nut (103) is in threaded connection with the screw rod (102), a first hydraulic cylinder (105) is arranged at the bottom of the movable nut (103), and the telescopic end of the first hydraulic cylinder (105) extends downwards out of the box body and is connected with a clamping head (106); a corresponding slideway (107) is arranged at the bottom of the box body corresponding to the moving path of the moving nut (103);
the execution unit comprises a second servo motor (2), a rotating shaft (201) and a working box (3); the second servo motor (2) is fixedly arranged on the right side of the screw rod box (1), the output end of the second servo motor (2) is downwards connected with a rotating shaft (201), and the rotating shaft (201) is fixedly connected with the working box (3); the left part of the working box (3) is provided with a clamping component, the right part of the working box is provided with an adsorption component, the working box (3) is driven by a second servo motor (2) to rotate for left-right switching, so that the clamping component or the adsorption component corresponds to the screw rod box (1), and the chuck (106) and the clamping component or the adsorption component work in a matched mode;
the clamping assembly comprises a sliding seat, a clamping plate (307) and a first telescopic rod group (303); the two first-class sliding seats are arranged at the left side and the right side at intervals and comprise a first-class sliding seat I (302) and a first-class sliding seat II (301) which are connected through a first telescopic rod group (303); the first-class sliding seat I (302) is fixedly connected to the inner wall of the working box (3) through a screw, and the second-class sliding seat II (301) is connected to the inner wall of the working box (3) in a sliding manner; the first telescopic rod group (303) is composed of hinged rod pieces and is in a parallelogram shape, wherein two ends of a diagonal line are correspondingly hinged with a first type sliding seat I (302) and a second type sliding seat II (301); the bottom of the first-class sliding seat is connected with a first-class connecting rod (304), and the first-class connecting rod (304) extends out of the bottom of the working box (3) and is provided with a clamping plate (307); the bottom of the working box (3) is provided with a second type slide way (320) corresponding to the motion path of the first type slide seat II (301);
the adsorption component comprises a second type sliding seat, a second telescopic rod group (312), a negative pressure sucker (315) and a negative pressure pump (317); the left and right of the second type sliding seat are provided with three sliding seats at intervals, and the three sliding seats comprise a second type sliding seat I (309), a second type sliding seat II (310) and a second type sliding seat III (311) which are connected through a second telescopic rod group (312); the second type sliding seat I (309) is fixedly connected to the inner wall of the working box (3) through a screw, and the second type sliding seat II (310) and the second type sliding seat III (311) are connected with the inner wall of the working box (3) in a sliding manner; the second telescopic rod group (312) consists of hinged rod pieces and is a double parallelogram, the common diagonal line of the second telescopic rod group has three ends, and the three ends are correspondingly hinged with a second type sliding seat I (309), a second type sliding seat II (310) and a second type sliding seat III (311); the bottom of the second type sliding seat is connected with a second type connecting rod (313), the second type connecting rod (313) extends out of the bottom of the working box (3) and is connected with a hollow mounting seat (314), and a plurality of negative pressure suckers (315) are mounted on the bottom surface of the mounting seat (314); the mounting seat (314) is connected with a negative pressure pump (317) arranged on the working box (3) through a negative pressure pipe (316); and the bottom of the working box (3) is also provided with a second type slide way (320) corresponding to the motion paths of the second type slide seat II (310) and the second type slide seat III (311).
2. The manipulator structure capable of realizing the switching of the absorption mode and the clamping mode as claimed in claim 1, wherein a guide rod (104) of the same type is further arranged in the screw rod box (1), the guide rod (104) of the same type is parallel to the screw rod (102), and two ends of the guide rod penetrate through the movable nut (103) and are fixedly connected with the inner wall of the box body.
3. The manipulator structure capable of realizing the switching of the adsorption mode and the clamping mode as claimed in claim 2, wherein a support plate (108) is connected to the right side of the bottom of the screw rod box (1), a rotating shaft (201) penetrates through the support plate (108), a support disc (202) is arranged at the upper section of the rotating shaft (201) above the support plate (108), a ball (203) is arranged at the bottom of the support disc (202), and the ball (203) is in rolling contact with the support plate (108); two openings are symmetrically arranged at the top of the working box (3), a connecting plate is arranged in the middle of the top, and the rotating shaft (201) is fixedly connected with the connecting plate through a flange (204).
4. The manipulator structure capable of realizing the switching between the absorption mode and the clamping mode according to claim 1, wherein a mounting chuck (305) is arranged at the bottom end of the connecting rod (304) of one type, a clamping plate (307) is fixed on the mounting chuck (305) through a screw, and rubber bulges (308) are further arranged on the opposite sides of the two clamping plates (307).
5. The manipulator structure capable of realizing the switching between the adsorption mode and the clamping mode as claimed in claim 1, wherein a connecting plate is also arranged in the middle of the bottom of the working box (3), and the rotating shaft (201) extends into the working box (3) and is fixedly connected with the connecting plate through a flange (204).
6. The manipulator structure capable of realizing the switching of the absorption mode and the clamping mode as claimed in claim 5, wherein the inner wall of the rear side of the working box (3) is provided with a convex strip in the left-right direction, the convex strip is provided with a T-shaped sliding groove (319), and the first type sliding seat and the second type sliding seat are provided with corresponding T-shaped sliding blocks (318).
7. A robot capable of realizing switching between an adsorption mode and a gripping mode, which is characterized by comprising the manipulator structure of any one of claims 1 to 6.
8. The robot capable of realizing the dual-mode switching of the adsorption and clamping as claimed in claim 7, further comprising a moving support and a Z-axis telescopic assembly;
the movable support comprises a base (501), a vertical plate (502), a top plate (503) and a roller (504), wherein the vertical plate (502) is fixedly connected to the base (501), and the top plate (503) is fixedly connected to the top end of the vertical plate (502); the roller (504) is arranged below the base (501); a control panel (505) is arranged on the vertical plate (502) and used for controlling a related electric control element;
the Z-axis telescopic assembly comprises a mounting plate (401), a second type hydraulic cylinder (402) and a second type guide rod (403);
the manipulator structure is arranged on the bottom surface of the mounting plate (401); the second type of hydraulic cylinder (402) is installed on the top plate (503), and the telescopic end of the second type of hydraulic cylinder (402) vertically penetrates through the top plate (503) downwards and is connected with the top of the installation plate (401); two vertical guide rods (403) are further connected to two ends of the top surface of the mounting plate (401), and the guide rods (403) upwards penetrate through the top plate (503).
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| CN201911265242.2A CN110978019B (en) | 2019-12-11 | 2019-12-11 | Manipulator structure capable of realizing double-mode switching of adsorption and clamping and robot |
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| CN201911265242.2A CN110978019B (en) | 2019-12-11 | 2019-12-11 | Manipulator structure capable of realizing double-mode switching of adsorption and clamping and robot |
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| CN112320332A (en) * | 2020-10-26 | 2021-02-05 | 安徽鼎聚焊接科技有限公司 | Automatic snatch material loading robot |
| CN113070898B (en) * | 2021-03-31 | 2022-07-15 | 郑州工业应用技术学院 | Three-dimensional visual sense sensing control device based on multi-sense organ fusion |
| CN113714965B (en) * | 2021-11-01 | 2022-04-29 | 杭州巍枫减速机械有限公司 | Clamping device for intelligent power battery of new energy automobile |
| CN114192894A (en) * | 2022-01-27 | 2022-03-18 | 重庆市星极齿轮有限责任公司 | Intelligent tooth broaching machine |
| CN116902602B (en) * | 2023-09-12 | 2023-11-21 | 常州市正文印刷有限公司 | Carton aligning and stacking device |
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| CN104551905A (en) * | 2013-10-12 | 2015-04-29 | 富鼎电子科技(嘉善)有限公司 | Polishing mechanism |
| CN105666502B (en) * | 2016-04-12 | 2018-07-24 | 山东国兴智能科技有限公司 | A kind of unmanned gas station complete autonomous oiling service robot and oiling method of servicing |
| CN107253189A (en) * | 2017-07-25 | 2017-10-17 | 芜湖超源力工业设计有限公司 | A kind of transfer robot with sucked type handgrip |
| US10780590B2 (en) * | 2017-10-14 | 2020-09-22 | Facebook, Inc. | Apparatus, system, and method for relocating data-center modules |
| CN107901034A (en) * | 2017-11-09 | 2018-04-13 | 无锡百禾工业机器人有限公司 | A kind of four axis robots |
| CN208916277U (en) * | 2018-10-17 | 2019-05-31 | 蓝思智能机器人(长沙)有限公司 | A kind of glass reclaimer robot |
| CN209256975U (en) * | 2018-12-04 | 2019-08-16 | 东莞理工学院 | A kind of industrial collaboration grabbing device convenient for adjusting spacing |
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