CN106426250A - Clamping and transporting manipulator - Google Patents

Abstract

The invention discloses a clamping and transporting manipulator. The clamping and transporting manipulator comprises a base, a rotary seat, a dual-arm mechanism, a vacuum pump, a finger delivery mechanism, a base arc-shaped finger library and two clamping mechanisms; the rotary seat is rotatably mounted on the base; a driving mechanism is arranged on the base and drives the rotary seat to rotate reciprocally; a supporting plate is arranged at the top of the rotary seat; the dual-arm mechanism is arranged on the supporting plate; each clamping mechanism is an electromagnetic fence clamping mechanism; each clamping mechanism comprises an upper fence, a lower fence, two supporting rods and two arc-shaped fingers; an iron core which is wound with an energized coil is arranged in each upper fence; energized wires which are insulated from one another are arranged in each lower fence. The manipulator is high in work efficiency and precision, simple and compact in structure, small in occupied space, wide in application prospect, high in reliability and convenient to maintain; a manipulator part clamps and loses safely, quickly and effectively; the clamping requirements of majority of objects with curve profiles can be met.

Description

A kind of clamping and conveying robot

Technical field

The present invention relates to mechanical hand art, refer in particular to a kind of clamping and conveying robot.

Background technology

Mechanical hand can imitate some holding functions of staff and arm, in order to capture, to carry object or operation by fixed routine The automatic pilot of instrument.Mechanical hand is the earliest industrial robot occurring, and is also the earliest modern machines people occurring, it can The heavy labor replacing people, to realize the mechanization and the automatization that produce, can operate to protect personal safety under hostile environment, Thus it is widely used in the departments such as machine-building, metallurgy, electronics, light industry and atomic energy.In recent years, with modernized society and section The development of skill, the contour shape of object also gradually by simply thickening, from square to surface blending.The finger of conventional robot Shape great majority design for clamping square solid, can not meet and contour shape is pacified for the object of curved surface The demand of full clamping.

Content of the invention

In view of this, the present invention is directed to the disappearance of prior art presence, and its main purpose is to provide a kind of clamping and carry Mechanical hand, it existing mechanical hand of effectively solving can not meet and carry out safety holding demand to contour shape for the object of curved surface Problem.

For achieving the above object, the present invention is using as purgation technical scheme：

A kind of clamping and conveying robot, include pedestal, swivel base, both arms mechanism, vacuum pump, Song Zhi mechanism, basic arc Shape finger storehouse and two clamp systems；This swivel base is rotatably installed on pedestal, and this pedestal is provided with drive mechanism, this drive Motivation structure drives swivel base to carry out back rotation, and the top of this swivel base is provided with gripper shoe, and this both arms mechanism is arranged in gripper shoe；This two Clamp system is respectively arranged at two free ends of both arms mechanism, and each clamp system is electromagnetic type fence clamp system, each Clamp system all includes fence, lower fence, two support bars and two arc fingers, arranges, upper fence about this two support bar Left and right two ends and the left and right two ends of lower fence respectively rotate with two support bars and be connected, being internally provided with of upper fence is tied with logical The iron core of electric coil, the electrified wire being internally provided with mutually insulated of lower fence, in the middle part of fence and lower fence on this Spring has been pushed, the middle part of upper fence is provided with push rod, this push rod connects the free end of both arms mechanism between portion；This vacuum pump leads to Cross vacuum trachea and connect arc finger；This Song Zhi mechanism and basic arc finger storehouse use cooperatively, and realize joining between arc finger Close and use and automatic automatic function.

As a kind of preferred version, described drive mechanism includes motor and straight spur gear pair, this stepping electricity Machine moves swivel base by straight spur gear subband and rotates.

As a kind of preferred version, described motor is located on pedestal, and this straight spur gear is secondary to be located at base interior.

As a kind of preferred version, described swivel base is rotatably installed on pedestal by bearing.

As a kind of preferred version, described both arms mechanism include support, driving gear, driven gear, motor, two Driving pulley, two driven pulleys and two swing arms, this driving gear and driven gear are symmetrical set on support, driving gear Ratcheting with driven gear, this motor is arranged in gripper shoe, and this motor drives driving gear to rotate, this two main belt Wheel is coaxially disposed with driving gear, driven gear respectively, and this two driven pulley is symmetrical set, and is located at driving gear respectively With the outside oblique upper of driven gear, this two driving pulley is connected with transmission belt with before corresponding driven pulley, this two swing arm It is individually fixed on two driven pulleys.

As a kind of preferred version, described swing arm includes fork, rotary electric machine and bull stick, one end of this fork with corresponding Driven pulley be fixedly connected, this rotary electric machine is fixed on the other end of fork, one end of bull stick and the output shaft of rotary electric machine Connect, the other end of bull stick is connected with aforementioned push rod.

As a kind of preferred version, described gripper shoe is provided with dynamic balancing mass, this dynamic balancing mass and driving Motor radial symmetric is arranged.

As a kind of preferred version, described Song Zhi mechanism include finger storehouse, claw, axle, gear, terminal pad, drive plate, Mobile hydraulic cylinder, tooth bar and rotational hydraulic cylinder, this claw and axle are respectively arranged at the both sides in finger storehouse, this gear, terminal pad and Drive plate may be contained within axle, and this drive plate has pin, and this mobile hydraulic cylinder is arranged at the tail end of axle, and this tooth bar is located at tooth The periphery of wheel, terminal pad and drive plate, this rotational hydraulic cylinder band carry-over bar moves left and right.

As a kind of preferred version, comprise the finger of 5 kinds of shapes in the arc finger storehouse of described basis, it is respectively：Cylinder Finger, conical surface finger, sphere finger, helicoid finger and vase face finger.

The present invention compared with prior art has clear advantage and beneficial effect, specifically, by technique scheme Understand：

First, the inside of the present invention carries the electromagnetic type fence clamp system of hot-wire coil iron core when the electricity being passed through assigned direction The iron core in upper fence can be made to the wire captivation in lower fence by controlling the change of size of current on iron core during stream Gradually change from small to big, realize hand clamping process first slowly after fast, during release process first quick and back slow, decrease finger and object it Between rigid shock, clamping force unexpected mistake when can prevent from being caught broken article and release because clamping force is excessive suddenly in the process of crawl The little phenomenon leading to article to drop occurs, and realizes handling with care.

2nd, the arc finger with flexible article for the inwall of the present invention is connected vacuum equipment and is able to ensure that in clamping and carries Body surface will not be damaged during object and drop it is ensured that body surface aesthetic property, improve device security.

3rd, the basic arc finger storehouse of the present invention and adjustable Song Zhi mechanism send finger function automatically with the use of can achieve, During gripping, can finger required for free switching, finger is used in conjunction with each other, and disclosure satisfy that great majority have curved surface wheel The clamping demand of wide object, improves work efficiency.

4th, the mechanism that the present invention uses is effective, and practicality and economy are all relatively good, and can more accurate and efficient reality The grasping body of existing curved surface class contour shape and moving process.Its both arms mechanism structure is simply compact, it is possible to reduce mechanical hand accounts for Ground area, reduces mechanical hand production cost, improves clamping and handling efficiency.

For more clearly illustrating architectural feature and effect of the present invention, come to this with specific embodiment below in conjunction with the accompanying drawings Bright it is described in detail：

Brief description

Fig. 1 is the structural representation of the preferred embodiments of the invention；

Fig. 2 is the enlarged diagram of both arms mechanism in the preferred embodiments of the invention；

Fig. 3 is the enlarged diagram of clamp system in the preferred embodiments of the invention；

Fig. 4 is the enlarged diagram of swivel base in the preferred embodiments of the invention；

Fig. 5 is the enlarged diagram of the preferred embodiments of the invention Zhong Songzhi mechanism；

Fig. 6 is each finger end surface shape of arc finger in the present invention and corresponding bus equation.

Accompanying drawing identifier declaration：

10th, pedestal 11, bearing

20th, swivel base 21, gripper shoe

22nd, dynamic balancing mass 30, both arms mechanism

31st, support 32, driving gear

33rd, driven gear 34, motor

35th, driving pulley 36, driven pulley

37th, swing arm 371, fork

372nd, rotary electric machine 373, bull stick

38th, transmission belt 40, vacuum pump

41st, vacuum trachea 50, Song Zhi mechanism

51st, finger storehouse 52, claw

53rd, axle 54, gear

55th, terminal pad 56, drive plate

561st, pin 57, mobile hydraulic cylinder

58th, tooth bar 59, rotational hydraulic cylinder

60th, clamp system 61, upper fence

62nd, lower fence 63, support bar

64th, arc finger 65, iron core

66th, spring 67, push rod

70th, drive mechanism 71, motor

72nd, straight spur gear pair

Specific embodiment

Refer to shown in Fig. 1 to Fig. 5, that show the concrete structure of the preferred embodiments of the invention, include pedestal 10th, swivel base 20, both arms mechanism 30, vacuum pump 40, Song Zhi mechanism 50, basic arc finger storehouse (not shown) and two clamping machines Structure 60.

This swivel base 20 is rotatably installed on pedestal 10, this pedestal 10 is provided with drive mechanism 70, this drive mechanism 70 drive swivel bases 20 carry out back rotation, and the top of this swivel base 20 is provided with gripper shoe 21, and specifically, described drive mechanism 70 includes There are motor 71 and straight spur gear pair 72, this motor 71 is by secondary 72 20 turns of the swivel bases of drive of straight spur gear Dynamic, described motor 71 is located on pedestal 10, and this straight spur gear secondary 72 is located inside pedestal 10, and, described swivel base 20 are rotatably installed on pedestal 10 by bearing 11.

This both arms mechanism 30 is arranged in gripper shoe 21；This two clamp system 60 be respectively arranged at the two of both arms mechanism 30 from By holding, each clamp system equal 60 is electromagnetic type fence clamp system, and each clamp system 60 all includes fence 61, lower grid Hurdle 62, two support bars 63 and two arc fingers 64, the setting of this two support bar 63 about, the left and right two ends of upper fence 61 and lower fence 62 left and right two ends respectively with two support bar 63 rotate be connected, upper fence 61 be internally provided with the iron core being tied with hot-wire coil 65, the electrified wire (not shown) being internally provided with mutually insulated of lower fence 62, the middle part of fence 61 and lower fence on this Spring 66 has been pushed, the middle part of upper fence 61 is provided with push rod 67, this push rod 67 connects both arms mechanism 30 between 62 middle part Free end.

Specifically, described both arms mechanism 30 include support 31, driving gear 32, driven gear 33, motor 34, Two driving pulleys 35, two driven pulleys 36 and two swing arms 37, this driving gear 32 and driven gear 33 be symmetrical set in On frame 31, driving gear 32 is ratcheting with driven gear 33, and this motor 34 is arranged in gripper shoe 21, and this motor 34 carries Dynamic driving gear 32 rotates, and this two driving pulley 35 is coaxially disposed with driving gear 32, driven gear 33 respectively, this two driven belt Wheel 36 is symmetrical set, and is located at the outside oblique upper of driving gear 32 and driven gear 33, this two driving pulley 35 respectively It is connected with transmission belt 38 with before corresponding driven pulley 36, this two swing arm 37 is individually fixed on two driven pulleys 36.At this In embodiment, described swing arm 37 includes fork 371, rotary electric machine 372 and bull stick 373, one end of this fork 371 with corresponding Driven pulley 36 is fixedly connected, and this rotary electric machine 372 is fixed on the other end of fork 371, one end of bull stick 373 and rotary electric machine 372 output shaft connects, and the other end of bull stick 373 is connected with aforementioned push rod 67, and, is provided with dynamic flat in described gripper shoe 21 Weighing apparatus mass 22, this dynamic balancing mass 22 and the setting of motor 34 radial symmetric.

This vacuum pump 40 connects arc finger 64 by vacuum trachea 41.

This Song Zhi mechanism 50 and basic arc finger storehouse use cooperatively, realize between arc finger 64 with the use of and automatically Automatic function.As shown in figure 5, described Song Zhi mechanism 50 include finger storehouse 51, claw 52, axle 53, gear 54, terminal pad 55, Drive plate 56, mobile hydraulic cylinder 57, tooth bar 58 and rotational hydraulic cylinder 59, this claw 52 and axle 53 are respectively arranged at finger storehouse 51 Both sides, this gear 54, terminal pad 55 and drive plate 56 may be contained within axle 53, and this drive plate 56 has pin 561, this mobile liquid Cylinder pressure 57 is arranged at the tail end of axle 53, and this tooth bar 58 is located at the periphery of gear 54, terminal pad 55 and drive plate 56, this rotational hydraulic Cylinder 59 band carry-over bar 58 moves left and right.

The finger of 5 kinds of shapes is comprised, it is respectively in the arc finger storehouse of described basis：Cylinder finger, conical surface finger, sphere Finger, helicoid finger and vase face finger.

By end face, arcuately bus scanning forms arc finger, and each finger end surface shape and bus equation are as shown in Figure 6： During work, motor 71 imparts power to swivel base 20 and gripper shoe 21 by straight spur gear pair 72, thus realizing machine Tool handss waist joint rotates.The motor 34 of both arms mechanism 30 drives driving gear 32 to rotate, connected by gear pair drive from Moving gear 33 rotates, and driving gear 32 and driven gear 33 are all connected by the axle that spline is located with two driving pulley 35, work as drive When galvanic electricity machine 34 drives driving gear 32 and driven gear 33 to rotate, two driving pulleys 35 rotate, and drive driven pulley 36 simultaneously Rotate, swing arm 37 can swing simultaneously up or down.Rotary electric machine 372 in swing arm 37 drives bull stick 373 to rotate.When upper fence Coil in 61 is contrary with the sense of current on the wire in lower fence 62, and that is, one is that another is counterclockwise clockwise During direction, the wire in lower fence 62 can receive Ampere force in the magnetic field that upper fence 61 hot-wire coil produces and deviate from fence 61 Mobile, mechanical hand grip objects, the clamping force size between upper and lower fence is controlled by the size controlling electric current on iron core 65, real Existing clamping process is first rear fast slowly, prevents from being caught broken article because clamping force is excessive suddenly during clamping process.It is to avoid upper and lower grid simultaneously The impact that hurdle produces between mutually moving, the spring 66 increasing auxiliary is in order to buffer.

When mechanical hand needs to change finger, driven pulley 36 rotates and for both arms to maintain horizontal level, mobile hydraulic cylinder 57 right chamber leads to pressure oil, and piston rod impeller-hub 53 is moved to the left, and the drive plate 56 being simultaneously connected with axle 53 is moved to the left, and passes Pin 561 on Moving plate 56 inserts in the pin-and-hole of terminal pad 55, and terminal pad is connected by screw with gear 54, when finger storehouse 51 is arrived Reach move on to change finger position when, rotational hydraulic cylinder 59 works, band carry-over bar 58 move left and right, by gear 54, terminal pad 55, transmission Power is passed to axle 53 by disk 56, so that required finger in finger storehouse 51 is gone to and changes finger position, claw 52 is connected with finger inwall Connect, after electromagnetic type fence clamp system is connected with finger and terminates, mobile hydraulic cylinder 57 drives finger storehouse 51 to return to home position, Complete to send finger operation, there is left and right two in Song Zhi mechanism 50, and substantially symmetrical about its central axis with regard to mechanical hand swivel base 20, the present invention is only with right side Illustrate as a example Song Zhi mechanism 50.

Arc finger 64 inwall carries aperture, and when finger closes up grip objects from both sides, vacuum pump 40 works, by finger Air between inner surface and held object passes through finger inner surface aperture and discharges, and by pressure principle, object is attracted to On finger inner surface, prevent object tilt from dropping.Understand for simplicity of exposition, only dissipated with vase face finger gripping LED lamp cup herein As a example hot body.LED lamp cup radiator profile is shape wide at the top and narrow at the bottom, and it is right now only to be can achieve from vase face finger The gripping of LED lamp cup radiator, when finger closes up, upper back round mouth position is wider, and bottom round mouth position is narrower, and radiator will not Vertically landing, when held object reaches specified location, vacuum equipment cuts out, and adds with wire to the coil in upper and lower fence Upper direction identical electric current, the direction that fence 61 upwards understood by lower fence 62 is moved, and mechanical hand discharges object, with clamping process principle Identical, first quick and back slow, when preventing from discharging, clamping force is too small suddenly leads to article to drop to release process.

The above, be only presently preferred embodiments of the present invention, not the technical scope of the present invention imposed any restrictions, Therefore any trickle amendment, equivalent variations and modification that every technical spirit according to the present invention is made to above example, all still Belong in the range of technical solution of the present invention.

Claims (9)

1. a kind of clamping and conveying robot it is characterised in that：Include pedestal, swivel base, both arms mechanism, vacuum pump, send finger machine Structure, basic arc finger storehouse and two clamp systems；This swivel base is rotatably installed on pedestal, and this pedestal is provided with driving Mechanism, this drive mechanism drives swivel base to carry out back rotation, and the top of this swivel base is provided with gripper shoe, and this both arms mechanism is arranged at support On plate；This two clamp system is respectively arranged at two free ends of both arms mechanism, and each clamp system is the clamping of electromagnetic type fence Mechanism, each clamp system all includes fence, lower fence, two support bars and two arc fingers, sets about this two support bar Put, the left and right two ends of the left and right two ends of upper fence and lower fence are respectively rotated with two support bars and are connected, and the inside of upper fence sets Be equipped with the iron core being tied with hot-wire coil, the electrified wire being internally provided with mutually insulated of lower fence, on this middle part of fence with Spring has been pushed, the middle part of upper fence is provided with push rod, this push rod connects the free end of both arms mechanism between the middle part of lower fence； This vacuum pump connects arc finger by vacuum trachea；This Song Zhi mechanism and basic arc finger storehouse use cooperatively, and realize arc Between finger with the use of and automatic automatic function.

2. a kind of clamping according to claim 1 and conveying robot it is characterised in that：Described drive mechanism includes step Stepper motor and straight spur gear pair, this motor moves swivel base by straight spur gear subband and rotates.

3. a kind of clamping according to claim 2 and conveying robot it is characterised in that：Described motor is located at pedestal On, this straight spur gear is secondary to be located at base interior.

4. a kind of clamping according to claim 1 and conveying robot it is characterised in that：Described swivel base can be turned by bearing It is installed on pedestal dynamicly.

5. a kind of clamping according to claim 1 and conveying robot it is characterised in that：Described both arms mechanism includes props up Frame, driving gear, driven gear, motor, two driving pulleys, two driven pulleys and two swing arms, this driving gear and driven Gear is symmetrical set on support, and driving gear is ratcheting with driven gear, and this motor is arranged in gripper shoe, this drive Galvanic electricity machine drives driving gear to rotate, and this two driving pulley is coaxially disposed with driving gear, driven gear respectively, this two driven belt Wheel is symmetrical set, and is located at the outside oblique upper of driving gear and driven gear respectively, this two driving pulley with corresponding It is connected with transmission belt, this two swing arm is individually fixed on two driven pulleys before driven pulley.

6. a kind of clamping according to claim 5 and conveying robot it is characterised in that：Described swing arm include fork, Rotary electric machine and bull stick, one end of this fork is fixedly connected with corresponding driven pulley, and this rotary electric machine is fixed on the another of fork One end, one end of bull stick is connected with the output shaft of rotary electric machine, and the other end of bull stick is connected with aforementioned push rod.

7. a kind of clamping according to claim 5 and conveying robot it is characterised in that：It is provided with dynamic in described gripper shoe Balance mass block, this dynamic balancing mass is arranged with motor radial symmetric.

8. a kind of clamping according to claim 1 and conveying robot it is characterised in that：Described Song Zhi mechanism includes handss Refer to storehouse, claw, axle, gear, terminal pad, drive plate, mobile hydraulic cylinder, tooth bar and rotational hydraulic cylinder, this claw and axle set respectively It is placed in the both sides in finger storehouse, this gear, terminal pad and drive plate may be contained within axle, this drive plate has pin, this mobile liquid Cylinder pressure is arranged at the tail end of axle, and this tooth bar is located at the periphery of gear, terminal pad and drive plate, and this rotational hydraulic cylinder band carry-over bar is left Move right.

9. a kind of clamping according to claim 1 and conveying robot it is characterised in that：In the arc finger storehouse of described basis Comprise the finger of 5 kinds of shapes, it is respectively：Cylinder finger, conical surface finger, sphere finger, helicoid finger and vase face finger.