CN103042534A - Multifunctional manipulator claw - Google Patents
Multifunctional manipulator claw Download PDFInfo
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- CN103042534A CN103042534A CN2013100182128A CN201310018212A CN103042534A CN 103042534 A CN103042534 A CN 103042534A CN 2013100182128 A CN2013100182128 A CN 2013100182128A CN 201310018212 A CN201310018212 A CN 201310018212A CN 103042534 A CN103042534 A CN 103042534A
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Abstract
The invention relates to a multifunctional manipulator claw which comprises a plurality of pairs of parallel left grabbing claws and right grabbing claws, left settling claws and right settling claws and front claws and back claws. The left settling claws, the right settling claws, the front claws and the back claws form a rectangular framework. All the pairs of left grabbing claws and right grabbing claws, left settling claws and right settling claws and front claws and back claws are all applicable to relative displacement. The multifunctional manipulator claw can grab and move a plurality of objects to the designated position and can settle and array the objects and then tidily place the objects. Friction sheets are arranged on the left grabbing claws and elastic components are arranged on the right grabbing claws so that friction during object grabbing can be increased, and adaptive capacity of the grabbing claws to various objects can be improved. A robot provided with the multifunctional manipulator claw can complete grabbing, settling and carrying of the plurality of objects in one time, and production efficiency of enterprises is improved.
Description
Technical field
The present invention relates to a kind of multi-functional mechanical paw, can be installed in the robot, be used for once grasping a plurality of objects, and put in order this its, reach purpose mobile and that put in order, put object.
Background technology
At production line, warehouse, harbour, the occasions such as brick field are widely used the mechanical paw of robot with block grasping body, at the mobile assigned address of putting.Owing to adopting the operation of computer control machinery paw, its process accurately and fast, than manually-operated save time, laborsaving.During mechanical paw crawl object, grasp object in vertical target object direction first, movement of objects is decontroled object behind the target location.Existing mechanical paw follows the quantity according to paw to be divided into singlehanded pawl and many paws.Singlehanded pawl once can only grasp an object, and its operating efficiency is lower, is not suitable for the crawl of voluminous object.Though many paws can once grasp a plurality of objects, but because all paws are all controlled by a cover interlinked mechanism, can be because the differences in shape of block object during a plurality of object in crawl, the clamping force that paw can not clamp simultaneously the polylith object or increase paw in order to clamp the polylith object is pressed from both sides object bad.The movement of objects of gripping need to be arrived assigned address in some occasions simultaneously, put in order and put rear packing, existing mechanical paw can't satisfy above-mentioned requirements.
Summary of the invention
Technical problem to be solved by this invention provides a kind of multi-functional mechanical paw, and this paw can once grasp and clamp a plurality of objects, and movement of objects behind assigned address, can be put in order a plurality of objects and put.
In order to solve the problems of the technologies described above, the invention provides a kind of multi-functional mechanical paw, it comprises: many left and right grabbing claws that adjacent, parallel is arranged, left and right arrangement pawl, forward and backward pawl; Each is suitable for relative displacement to left and right grabbing claw, and left and right arrangement pawl is suitable for relative displacement, and forward and backward pawl is suitable for relative displacement, and left and right arrangement pawl and forward and backward pawl are suitable for consisting of the rectangle framework.
In order to solve the problems of the technologies described above, the invention provides another kind of multi-functional mechanical paw, it comprises: skeleton, many left and right grabbing claws that adjacent, parallel is arranged, left and right arrangement pawl, forward and backward pawl, and arrange along the skeleton length direction first, second to guide rail.
The two ends, top of described left grabbing claw are slidingly fitted on described first pair of guide rail by slide block respectively, and right grabbing claw is fixed on this first pair of guide rail, and the top of each left grabbing claw is fixed on the drive link, and this drive link is connected with the piston drive of a hydraulic cylinder; The two ends, top of described left arrangement pawl are slidingly fitted on this second pair of guide rail by slide block respectively, and right arrangement pawl is fixed on second pair of guide rail, and left and right arrangement pawl parallel aligned arranges; Also be provided with the 3rd pair of guide rail that is suitable for consisting of with described second pair of guide rail rectangle on the skeleton; The two ends, top of fore paw are slidingly fitted on the 3rd pair of guide rail by slide block respectively, and rear solid end is fixed on the 3rd pair of guide rail, and fore paw is connected with the piston drive of other two hydraulic cylinders respectively with right arrangement pawl.
The right flank of the middle and lower part of each left grabbing claw is provided with friction plate, and the left surface of the middle and lower part of right grabbing claw is provided with flexible member.
Left grabbing claw is connected with slide block, limiting plate respectively by bolt with right grabbing claw, and installation and removal are convenient, can increase or reduce according to the quantity of crawl object the number of left grabbing claw and right grabbing claw.
Be respectively equipped with for detection of left and right grabbing claw the laser sensor of the spacing of forward and backward pawl and left and right arrangement pawl at each left grabbing claw, fore paw and right arrangement pawl.
The method of work of above-mentioned multi-functional mechanical paw, it comprises:
A, move to a plurality of objects top and fall until described object is embedded in each between the left and right grabbing claw by robot control mechanical paw, then drive each left grabbing claw to corresponding right grabbing claw displacement and clamp a plurality of objects;
B, robot rise mechanical paw and move to assigned address, fall mechanical paw, and control left grabbing claw away from right grabbing claw, unclamp object, namely finish the carrying of a plurality of objects;
C, control fore paw are to the rear solid end displacement, and right arrangement pawl is put the pawl displacement left in order, described a plurality of objects are clamped in the rectangle framework of described left and right arrangement pawl and forward and backward pawl formation;
D, robot rise mechanical paw and move to be deposited or multiple package position, and puts down described a plurality of object.
The present invention provides a kind of robot in addition, and it comprises mechanical arm, is located at the mechanical paw on this mechanical arm, and this mechanical paw comprises: many left and right grabbing claws that adjacent, parallel is arranged, left and right arrangement pawl, forward and backward pawl; Each is suitable for relative displacement to left and right grabbing claw, and left and right arrangement pawl is suitable for relative displacement, and forward and backward pawl is suitable for relative displacement, and left and right arrangement pawl and forward and backward pawl are suitable for consisting of the rectangle framework.
The method of work of described robot comprises:
A, move to a plurality of objects top and fall until described object is embedded in each between the left and right grabbing claw by mechanical arm control mechanical paw, then drive each left grabbing claw grabbing claw displacement to the right and clamp a plurality of objects;
B, mechanical arm rise mechanical paw and move to assigned address, fall mechanical paw, and control left grabbing claw away from right grabbing claw, unclamp object, namely finish the carrying of a plurality of objects;
C, control fore paw are to the rear solid end displacement, and right arrangement pawl is put the pawl displacement left in order, described a plurality of objects are clamped in the rectangle framework of described left and right arrangement pawl and forward and backward pawl formation;
D, mechanical arm rise mechanical paw and move to be deposited or multiple package position, and puts down described a plurality of object.
With respect to prior art, the technique effect that the present invention has is: the multi-functional mechanical paw among (1) the present invention comprises graping chaw and arrangement paw, can grasp, mobile object is to assigned address, object can be put in order, arranged again, then puts neat; (2) the multi-functional mechanical paw comprises a plurality of graping chaws, can grasp simultaneously a plurality of objects and move to assigned address; (3) each left grabbing claw is provided with friction plate, and the frictional force in the time of can increasing the crawl object strengthens graping chaw to the adaptive capacity of various objects; (4) each right grabbing claw is provided with flexible member, can be because of the differences in shape of block object when a plurality of object of crawl, and paw can't clamp the polylith object simultaneously; The clamping force that also can not increase in order to clamp the polylith object simultaneously paw is pressed from both sides object bad; (5) adopt the robot of mechanical paw can once finish the crawl of a plurality of objects and arrangement, carrying, improved the production efficiency of enterprise.
Description of drawings
In order to clearly demonstrate innovative principle of the present invention and than the technical advantage of existing product, the below by means of accompanying drawing by using two possible embodiment of limiting examples explanation of described principle.In the drawings:
Fig. 1 is the axonometric drawing of the multi-functional mechanical paw of embodiment 1;
Fig. 2 is the trip shaft mapping of the multi-functional mechanical paw of embodiment 1;
Fig. 3 is the ground plan of the multi-functional mechanical paw of embodiment 1;
Fig. 4 is the axonometric drawing of the multi-functional mechanical paw of embodiment 2;
Fig. 5 is the trip shaft mapping of the multi-functional mechanical paw of embodiment 2;
Fig. 6 is the ground plan of the multi-functional mechanical paw of embodiment 2.
The specific embodiment
Embodiment 1
Such as Fig. 1 and shown in Figure 2, the multi-functional mechanical paw that is installed in the robot of the present embodiment comprises: skeleton 1, the first joint 2, left grabbing claw 3, right grabbing claw 4, left arrangement pawl 5, right arrangement pawl 6, fore paw 7, rear solid end 8, laser sensor 9, friction plate 10, flexible member 11,13, the three pairs of guide rails 14 of 12, the second pairs of guide rails of first pair of guide rail, the first slide block 15, the second slide blocks 16, the three slide blocks 17, limiting plate 18, limited block 19, drive link 20, the second joints 21, the 3rd joint 22, the first hydraulic cylinder 23, the second hydraulic cylinders 24, the three hydraulic cylinders 25.
Parallel six left grabbing claws 3 and the right grabbing claw 4 of being provided with on the skeleton 1 of multi-functional mechanical paw, wherein six left grabbing claws 3 connect with corresponding the first slide block 15, the first slide block 15 is installed on first pair of guide rail 12 and can slides along it, first pair of guide rail 12 is connected with skeleton 1 by standard bolt, six right grabbing claws 4 are connected with limited block 19, limited block 19 is installed on first pair of guide rail 12 and is stuck in the groove of limiting plate 18, limited block 19 is connected with skeleton 1 by standard bolt, the right flank of left grabbing claw 3 middle and lower parts is provided with friction plate 10, the right flank of right grabbing claw 4 middle and lower parts is provided with flexible member 11, skeleton 1 is provided with the first hydraulic cylinder 23, it is by drive link 20, the first joint 2 is connected with six left grabbing claws 3, when 23 work of the first hydraulic cylinder, by drive link 20, the first joint 2 drives six left grabbing claws 3 and moves back and forth, and finishes crawl with six fixing right grabbing claws 4, discharge the action of object.
As shown in Figure 3, then utilizing the second slide block 16 to put pawl 6 to the right in order along second pair of guide rail 13 by the second hydraulic cylinder 24 by the left arrangement pawl 5 of the second joint 21 controls moves, utilize the 3rd slide block 17 to move to rear solid end 8 along the 3rd pair of guide rail 14 by the 3rd hydraulic cylinder 25 by the 3rd joint 22 control fore paws 7, right arrangement pawl 6 is fixed on second pair of guide rail 13, rear solid end 8 is fixed on the 3rd pair of guide rail 14, and a plurality of objects are clamped in the described rectangle framework.
As shown in Figure 1, be provided with laser sensor 9 at six left grabbing claws 3, be used for measuring distance between left grabbing claw and the right grabbing claw and the distance of paw and ground or object, measuring-signal is passed to the computer of robot by wire, be used for judging the spacing of left and right sides graping chaw and the distance of paw and ground or object, can realize that the robot computer is to the accurate control of left and right sides graping chaw displacement.As shown in Figure 2, on left arrangement pawl 5 and fore paw 7, also be provided with same laser sensor 9, about being used for measuring between the arrangement pawl, the spacing of front and back pawl and the distance of paw and ground or object, make things convenient for the robot computer to control.
The method of work of above-mentioned multi-functional mechanical paw comprises: at first according to the signal of laser sensor 9, pass through drive link 20 by the first hydraulic cylinder 23, the first joint 2 drives six left grabbing claws 3 and is moved along first pair of guide rail 12 by the first slide block 15, adjust itself and the distance of corresponding right grabbing claw 4, to be fit to the size of crawl object, robot control multi-functional mechanical paw moves to a plurality of objects top and falls, by the distance of laser sensor 9 perception paws and object boundary and the distance between paw and ground, when being fit to crawl, pass through drive link 20 by the first hydraulic cylinder 23, the first joint 2 drives six left grabbing claws 3, utilize the first slide block 15 to move towards six right grabbing claws 4 respectively along first pair of guide rail 12, right grabbing claw 4 is fixed on first pair of guide rail 12 by limiting plate 18 and limited block 19, left and right sides graping chaw draws in, by friction plate 10 and flexible member 11 grip objects.Then robot rises the multi-functional mechanical paw and moves to assigned address, fall the multi-functional mechanical paw, drive six left grabbing claws 3 away from six right grabbing claws 4 by the first hydraulic cylinder 23 by drive link 20, the first joint 2, unclamp the carrying that object is finished a plurality of objects.Then the robot computer position of putting according to laser sensor 9 perceptual objects of arrangement on the paw, then utilize the 3rd slide block 17 to move to rear solid end 8 along the 3rd pair of guide rail 14 by the 3rd hydraulic cylinder 25 by the 3rd joint 22 control fore paws 7, utilizing the second slide block 16 to put pawl 6 to the right in order along second pair of guide rail 13 by the second hydraulic cylinder 24 by the left arrangement pawl 5 of the second joint 21 controls moves, rear solid end 8 is fixed on the 3rd pair of guide rail 14, right arrangement pawl 6 is fixed on second pair of guide rail 13, and the motion by above-mentioned paw is clamped in a plurality of objects in the described rectangle framework.The order of placing according to object at last, moved by the 3rd joint 22 control fore paws 7 or by the left arrangement pawl 5 of the second hydraulic cylinder 24 controls by the 3rd hydraulic cylinder 25, put or pack so that a plurality of objects clampings after will put with right arrangement pawl 6 or by fore paw 7 and rear solid end 8 by left arrangement pawl 5 move to assigned address, so repeat.
The right flank of left grabbing claw 3 middle and lower parts is provided with friction plate 10, and the frictional force in the time of can increasing the crawl object strengthens graping chaw to the adaptive capacity of various objects.
The right flank of right grabbing claw 4 middle and lower parts is provided with flexible member 11, can be because of the differences in shape of block object when a plurality of object of crawl, and paw can't clamp the polylith object simultaneously; The clamping force that also can not increase in order to clamp the polylith object simultaneously paw is pressed from both sides object bad.
See Fig. 4 to 6, the multi-functional mechanical paw that the present embodiment provides is with respect to the modification part of embodiment 1:
Such as Fig. 4, shown in Figure 5, between six right grabbing claws 4 and first pair of guide rail 12, be provided with Four-slider 31, so that six right grabbing claws can be free to slide at first pair of guide rail 12.Be provided with the first hydraulic cylinder 23 at skeleton 1, six right grabbing claws 4 are connected with the 4th hydraulic cylinder 32 by the second drive link 34 and the 4th joint 33, the second drive link 34 has passed the through hole 35 of six left grabbing claws 3, when 32 work of the 4th hydraulic cylinder, six right grabbing claws 4 can move by relatively left grabbing claw 3, and its motion mode is by robot computer control.This improvement can increase the ultimate range between left grabbing claw 3 and the right grabbing claw 4, adapts to larger object; By the motion of the left grabbing claw 3 of free adjustment with right grabbing claw 4, so that crawl object process is more flexible, improved accuracy rate and the grasp speed of crawl simultaneously.
As shown in Figure 6, be provided with the 5th joint 37 at right arrangement pawl 6, rear solid end 8 is provided with the 6th joint 38.Skeleton 1 is provided with the 5th hydraulic cylinder 36 by the right arrangement pawl 6 of the 5th joint 37 controls, and it can be slided at second pair of guide rail 13 by the 5th slide block 40.Skeleton 1 is provided with the 6th hydraulic cylinder 39 by the 6th joint 38 control rear solid ends 8, and it can be slided at the 3rd pair of guide rail 14 by the 6th slide block 41.When hydraulic cylinder works, left arrangement pawl 5 can move by relatively right arrangement pawl 6, relatively fore paw 7 motions of rear solid end 8, and its motion mode can be by robot computer control.This improvement can increase left arrangement pawl 5 and the maximum spacing of right arrangement pawl 6 and the maximum spacing of fore paw 7 and rear solid end 8, to adapt to larger object; By the motion of the left and right arrangement pawl of free adjustment and forward and backward pawl, so that arrangement object process is more flexible, convenient, accuracy rate and the arrangement speed of arrangement have been improved simultaneously.
The modification part of the present embodiment is: replace described the first hydraulic cylinder 23 with six individual cylinder, the second hydraulic cylinder 24, the 3rd hydraulic cylinder 25, the four hydraulic cylinders, 32, the five hydraulic cylinders 36 and the 6th hydraulic cylinder 39, be provided with small air pump and high pressure tank at skeleton 1, utilize air pressure as the power source of mechanical paw, control rate is faster, and line arrangement is convenient, convenient kind according to object is regulated air accumulator air pressure, changes the grasp of mechanical paw.
Embodiment 4
The modification part of this example is: no longer be provided with hydraulic cylinder and drive link on the skeleton 1, by six tooth bars of different length respectively with left grabbing claw, right grabbing claw, left arrangement pawl, right arrangement pawl, fore paw, the top of rear solid end is fixedly connected with, be provided with six servomotors at skeleton 1, the motor rotor head is provided with pinion, pinion respectively with above-mentioned six tooth bar engagement fit, when servomotor is worked, rotor drives the pinion rotation, pinion band carry-over bar moves, its moving direction turns to relevant with servo motor rotor, can change the tooth bar move left and right by the rotating of control servomotor, displacement was determined by the servomotor working time.This scheme is utilized the motion of servomotor control mechanical paw, and control procedure is sensitive, can accurately control the displacement of paw, and is adaptable for the object that crawl is had relatively high expectations.
Above-mentioned explanation for the embodiment that uses innovative principle of the present invention is for the limiting examples of described principle is provided in the exclusive authority scope that here requires.For example can be according to the position of the adjusted size hydraulic cylinder of paw body, adjust the position of drive link and joint according to the position of graping chaw, adjust the position of slide block and guide rail according to the position of arrangement paw, on left and right graping chaw, all arrange friction plate or flexible member, on four arrangement paws, all arrange friction plate or flexible member, according to the difference increase of application scenario or the number of minimizing graping chaw and arrangement paw etc.
Claims (7)
1. a multi-functional mechanical paw is characterized in that comprising: many left and right grabbing claws that adjacent, parallel is arranged, left and right arrangement pawl, forward and backward pawl; Each is suitable for relative displacement to left and right grabbing claw, and left and right arrangement pawl is suitable for relative displacement, and forward and backward pawl is suitable for relative displacement, and left and right arrangement pawl and forward and backward pawl are suitable for consisting of the rectangle framework.
2. multi-functional mechanical paw is characterized in that comprising: skeleton, many left and right grabbing claws that adjacent, parallel is arranged, left and right arrangement pawl, forward and backward pawl, and arrange along the skeleton length direction first, second to guide rail;
The two ends, top of described left grabbing claw are slidingly fitted on described first pair of guide rail by slide block respectively, and right grabbing claw is fixed on this first pair of guide rail, and the top of each left grabbing claw is fixed on the drive link, and this drive link is connected with the piston drive of a hydraulic cylinder;
The two ends, top of described left arrangement pawl are slidingly fitted on second pair of guide rail by slide block respectively, and right arrangement pawl is fixed on this second pair of guide rail, and left and right arrangement pawl parallel aligned arranges;
Also be provided with the 3rd pair of guide rail that is suitable for consisting of with described second pair of guide rail rectangle on the skeleton; The two ends, top of fore paw are slidingly fitted on the 3rd pair of guide rail by slide block respectively, and rear solid end is fixed on the 3rd pair of guide rail, and fore paw is connected with the piston drive of other two hydraulic cylinders respectively with right arrangement pawl.
3. multi-functional mechanical paw according to claim 2, its feature comprises: the right flank of the middle and lower part of each left grabbing claw is provided with friction plate, and the left surface of the middle and lower part of right grabbing claw is provided with flexible member.
4. multi-functional mechanical paw according to claim 2, its feature comprises: be respectively equipped with for detection of left and right grabbing claw the laser sensor of the spacing of forward and backward pawl and left and right arrangement pawl at each left grabbing claw, fore paw and right arrangement pawl.
5. the method for work of multi-functional mechanical paw according to claim 2, its feature comprises the steps:
A, move to a plurality of objects top and fall until described object is embedded in each between the left and right grabbing claw by robot control mechanical paw, then drive each left grabbing claw to corresponding right grabbing claw displacement and clamp a plurality of objects;
B, robot rise mechanical paw and move to assigned address, fall mechanical paw, and control left grabbing claw away from right grabbing claw, unclamp object, namely finish the carrying of a plurality of objects;
C, control fore paw are to the rear solid end displacement, and right arrangement pawl is put the pawl displacement left in order, described a plurality of objects are clamped in the rectangle framework of described left and right arrangement pawl and forward and backward pawl formation;
D, robot rise mechanical paw and move to be deposited or multiple package position, and puts down described a plurality of object.
6. robot, it comprises mechanical arm, is located at the mechanical paw on this mechanical arm, it is characterized in that this mechanical paw comprises: many left and right grabbing claws that adjacent, parallel is arranged, left and right arrangement pawl, forward and backward pawl;
Each is suitable for relative displacement to left and right grabbing claw, and left and right arrangement pawl is suitable for relative displacement, and forward and backward pawl is suitable for relative displacement, and left and right arrangement pawl and forward and backward pawl are suitable for consisting of the rectangle framework.
7. the method for work of robot according to claim 6 is characterized in that comprising:
A, move to a plurality of objects top and fall until described object is embedded in each between the left and right grabbing claw by mechanical arm control mechanical paw, then drive each left grabbing claw grabbing claw displacement to the right and clamp a plurality of objects;
B, mechanical arm rise mechanical paw and move to assigned address, fall mechanical paw, and control left grabbing claw away from right grabbing claw, unclamp object, namely finish the carrying of a plurality of objects;
C, control fore paw are to the rear solid end displacement, and right arrangement pawl is put the pawl displacement left in order, described a plurality of objects are clamped in the rectangle framework of described left and right arrangement pawl and forward and backward pawl formation;
D, mechanical arm rise mechanical paw and move to be deposited or multiple package position, and puts down described a plurality of object.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310018212.8A CN103042534B (en) | 2013-01-18 | 2013-01-18 | Multifunctional manipulator claw |
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| CN201310018212.8A CN103042534B (en) | 2013-01-18 | 2013-01-18 | Multifunctional manipulator claw |
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| CN103042534A true CN103042534A (en) | 2013-04-17 |
| CN103042534B CN103042534B (en) | 2015-07-22 |
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| CN103264397B (en) * | 2013-06-05 | 2015-07-29 | 南通通机股份有限公司 | Multifunctional robot palletizer gripper |
| CN103264397A (en) * | 2013-06-05 | 2013-08-28 | 南通通用机械制造有限公司 | Multifunctional robot palletizer gripper |
| CN103481284B (en) * | 2013-09-24 | 2017-06-23 | 江苏云涌电子科技股份有限公司 | A kind of manipulator |
| CN103481284A (en) * | 2013-09-24 | 2014-01-01 | 江苏云涌电子科技有限公司 | Manipulator |
| CN105119009A (en) * | 2015-08-18 | 2015-12-02 | 深圳吉阳智云科技有限公司 | Battery core cladding manufacturing method |
| CN105119009B (en) * | 2015-08-18 | 2018-04-10 | 深圳吉阳智云科技有限公司 | The manufacture method of battery bag |
| CN105984743A (en) * | 2015-12-11 | 2016-10-05 | 北京航天斯达科技有限公司 | Automatic putting device and method for hundreds of financial products |
| CN106743596A (en) * | 2017-03-22 | 2017-05-31 | 大连智云自动化装备股份有限公司 | Bolt feeding template mechanism |
| CN106743596B (en) * | 2017-03-22 | 2022-07-15 | 大连智云自动化装备股份有限公司 | Bolt material taking template mechanism |
| CN107053227A (en) * | 2017-03-28 | 2017-08-18 | 东莞职业技术学院 | A kind of light-duty arrangement fixture |
| CN107414485A (en) * | 2017-09-22 | 2017-12-01 | 中核（天津）机械有限公司 | Stock work-piece auto-feeding device |
| CN108176924A (en) * | 2018-02-07 | 2018-06-19 | 苏州司巴克自动化设备股份有限公司 | It is a kind of it is interchangeable away from oil nozzle gripping body |
| CN112792253A (en) * | 2020-12-16 | 2021-05-14 | 格力电器（武汉）有限公司 | Automatic bending device |
| CN114310843A (en) * | 2021-12-02 | 2022-04-12 | 黄正威 | Industrial manipulator |
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|---|---|
| CN103042534B (en) | 2015-07-22 |
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