CN108100659B - Robot end effector suitable for carrying bagged materials in compact space - Google Patents
Robot end effector suitable for carrying bagged materials in compact space Download PDFInfo
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- CN108100659B CN108100659B CN201810096608.7A CN201810096608A CN108100659B CN 108100659 B CN108100659 B CN 108100659B CN 201810096608 A CN201810096608 A CN 201810096608A CN 108100659 B CN108100659 B CN 108100659B
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- 239000000463 material Substances 0.000 title claims abstract description 53
- 239000012636 effector Substances 0.000 title claims abstract description 17
- 238000004804 winding Methods 0.000 claims abstract description 72
- 238000004519 manufacturing process Methods 0.000 claims abstract description 20
- 230000005540 biological transmission Effects 0.000 claims abstract description 17
- 230000009471 action Effects 0.000 claims description 13
- 239000003638 chemical reducing agent Substances 0.000 claims description 11
- 125000006850 spacer group Chemical group 0.000 claims description 10
- 238000001514 detection method Methods 0.000 claims description 3
- 230000000149 penetrating effect Effects 0.000 claims description 2
- 230000000712 assembly Effects 0.000 claims 1
- 238000000429 assembly Methods 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 9
- 230000008569 process Effects 0.000 abstract description 9
- 238000010586 diagram Methods 0.000 description 2
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0235—Containers
- B65G2201/0238—Bags
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The robot end effector suitable for carrying the bagged materials in the compact space comprises a frame body assembly, a swinging assembly, a grabbing assembly and a servo assembly, wherein the frame body assembly is used for supporting the swinging assembly, the grabbing assembly and the servo assembly, and the servo assembly and the swinging assembly drive the grabbing assembly to grab and throw; the frame body component comprises an upper fixed plate and a distance sensor; the servo assembly comprises a servo motor and a connecting shaft; the swinging group comprises a supporting plate, an air cylinder, a rack, a winding arm shaft and a clutch gear; the grabbing component comprises a swinging rod, a connecting rod grabbing tooth vertical plate grabbing tooth and a grabbing tooth transmission shaft. The advantages are that: the automatic bag material conveying device can solve the problems of labor intensity, narrow space, poor equipment adaptability, large occupied space, complex structure, low efficiency and the like in the fields of bag material production, conveying, stacking and the like, and realize the automation of the bag material conveying process; the production efficiency is improved, and the production cost is reduced; the whole process is safe, reliable, quick and efficient, and can be widely popularized to industries with narrow carrying space and heavy work.
Description
Technical Field
The invention belongs to the technical field of robot manufacturing, and particularly relates to a robot end effector suitable for carrying bagged materials in a compact space.
Background
In recent years, the industries of feed, food and the like experience unprecedented high-speed growth, but with the continuous rising of the cost of raw materials, logistics, marketing, manpower and the like, the enterprises of the industries of feed, food and the like face the challenges of cost control and product upgrading along with the improvement of the energy-saving and environment-friendly requirements at home and abroad and the acceleration of the industrial grouping, scale and internationalization process. Meanwhile, the requirements of consumers on the quality and the diversity of products are higher and higher, and the innovation of production processes and equipment is imperative. In modern industry, automation in the production process has become a prominent subject, and the automation level of each industry is higher and higher, and modern processing workshops are often provided with automation equipment to improve the production efficiency and complete work which is difficult to be completed or dangerous for workers. Especially in the process of carrying and stacking the bagged raw materials, most production lines mainly carry manually, so that the labor intensity of workers is high, the accident rate of industrial injury is high, the efficiency is low, and the production management cost of industries such as feed, food and the like is increased. In view of this, it is necessary to design a mechanical device unit adapted to the handling of bagged materials in a compact space, so as to solve the current situations of labor intensity and narrow space of the bagged materials, thereby greatly reducing the labor force, improving the production efficiency and reducing the production cost.
Disclosure of Invention
The invention aims to solve the technical problems that: overcomes the defects of the prior art and provides a robot end effector suitable for carrying bagged materials in a compact space. The automatic material grabbing device can be directly used for grabbing bagged materials on a production line, stably sends the bagged materials to a target position, is not limited by space and position, is suitable for carrying space to the greatest extent, completely replaces manual carrying, ensures that the whole process is safe, reliable, fast and efficient, and can be widely popularized and used in industries with narrow carrying space, severe working environment and heavy workload.
The technical scheme adopted for solving the technical problems is as follows: a robotic end effector for compact space bagged material handling, comprising: the device comprises a frame body assembly, a swinging assembly, a grabbing assembly and a servo assembly, wherein the frame body assembly is used for supporting the swinging assembly, the grabbing assembly and the servo assembly, and the servo assembly and the swinging assembly drive the grabbing assembly to grab and throw;
The frame body component comprises an upper fixing plate, a section bar, a fixing block and a distance sensor; the section bar is fixedly arranged on the upper fixing plate, so that the rigidity and the strength of the upper fixing plate are enhanced; the distance sensor is mounted on the profile;
The servo assembly comprises a servo motor, a speed reducer, a flange connecting piece, a connecting shaft, a deep groove ball bearing and a thrust ball bearing; the servo motor is fixedly connected with the speed reducer and is connected with the deep groove ball shaft and the thrust ball shaft through the connecting shaft; the deep groove ball shaft and the thrust ball shaft are arranged in the flange connecting piece, and the lower part of the flange connecting piece is fixedly arranged at the center part of the upper fixing plate; the servo motor drives a rotating unit consisting of the section bar and the upper fixing plate through the speed reducer, so that the servo motor can adapt to different actual working conditions, and can take and put materials in the directions of +/-360 degrees and can be rapidly put into production;
The swing assembly comprises a supporting plate, a tooth grabbing cylinder, a cylinder flange, a Y joint, an arm winding connecting rod, a tooth swinging cylinder, a rack guide plate, a fixed plate, an arm winding shaft, a clutch gear and an electromagnetic clutch;
The four corners on the supporting plate are vertically and fixedly provided with the fixing plate, and the upper end surface of the fixing plate is connected with the upper fixing plate in the connecting frame body assembly; the middle part of the supporting plate is provided with the tooth grabbing cylinders in a back-to-back symmetrical way, and the tooth swinging cylinders are arranged between the two tooth grabbing cylinders;
The grabbing tooth cylinder is connected to the supporting plate through the cylinder flange and has a degree of freedom capable of rotating around the cylinder flange; the two symmetrical fixing plates are penetrated with the arm winding shaft, a piston rod of the grabbing tooth cylinder is connected with the arm winding connecting rod through the Y joint, and the arm winding connecting rod is connected with the arm winding shaft; the transmission action of the arm winding shaft is controlled through the opening and closing of the grabbing tooth cylinder, so that the grabbing action of the grabbing component is driven;
The piston rods at the two ends of the oscillating tooth cylinder are respectively connected with the racks, the rack guide plates are buckled on the racks, and the upper end surfaces of the rack guide plates are connected with the upper fixing plate; one end of the rack is positioned through the rack guide plate, so that the freedom degree of the advancing direction is ensured, the rest freedom degrees are limited, the support plate is provided with a guide groove below the winding arm shaft, and the other end of the rack is positioned through the guide groove of the support plate, so that the freedom degree of the advancing direction is ensured, and the rest freedom degrees are limited;
The clutch gear is sleeved on the arm winding shaft and has a degree of freedom capable of rotating around the arm winding shaft, and is connected with the grabbing assembly through a pin hole; the gear swinging cylinder is meshed with the clutch gear through the rack, and the clutch gear is connected with the electromagnetic clutch; the electromagnetic clutch is arranged on the arm winding shaft, and the rack and the clutch gear are driven by the opening and closing of the oscillating tooth cylinder, so that the throwing action of the grabbing component is driven;
The grabbing component comprises a swing rod, a connecting rod grabbing tooth, an upper connecting beam, a lower connecting beam, a vertical plate grabbing tooth and a grabbing tooth transmission shaft; one end of the swing rod is fixed at the end part of the arm winding shaft, and the other end of the swing rod is fixedly connected with the upper connecting beam and the lower connecting beam; the clutch gear is connected with one end of the connecting rod through a pin hole, and the other end of the connecting rod is connected with the connecting rod grabbing teeth;
the connecting rod grabbing teeth and the vertical plate grabbing teeth are connected in the connecting grooves of the vertical plate through the grabbing tooth transmission shafts, and the grabbing tooth transmission shafts have a degree of freedom of rotating around the vertical plate; the vertical plates are uniformly distributed in groups and fixed on the upper connecting beam and the lower connecting beam at equal intervals, the vertical plate grabbing teeth are uniformly distributed in groups and fixed on the grabbing tooth transmission shaft at equal intervals, and the middle positions are connecting rod grabbing teeth;
The front ends of the vertical plate grabbing teeth and the connecting rod grabbing teeth are sharpened and used for guiding materials in the forward direction; the grabbing component is under the combined action of an arm winding connecting rod, a clutch gear and an electromagnetic clutch which are fixed on the arm winding shaft, so that the grabbing teeth of the connecting rod and the grabbing teeth of the vertical plate are hooked or the materials are taken and put.
Preferably, the swing assembly further comprises a first bearing, the first bearing is arranged in an inner hole on the fixing plate, and the winding arm shaft is arranged in the first bearing in a penetrating manner to rotate.
Preferably, the swing assembly further comprises a cylinder connecting piece, a key A and a key B; the tooth swinging cylinder is fixed on the supporting plate through the cylinder connecting piece; the arm winding connecting rod is fixed on the arm winding shaft through the key A; the key B fixes the electromagnetic clutch on the arm winding shaft.
Preferably, the swing assembly further comprises a spacer bush, a large bushing and an expansion bush, and the swing rod is fixed at the end part of the arm winding shaft through the spacer bush, the large bushing and the expansion bush; the large bushing is fixedly connected with the swing rod, the expansion sleeve is sleeved in the large bushing, the end part of the arm winding shaft is sleeved in the expansion sleeve, and the expansion sleeve is fixedly connected with the large bushing and the arm winding shaft through self-tensioning; the spacer bush is sleeved on the arm winding shaft and is used for positioning and fixing the large bushing.
Preferably, the frame assembly further comprises a distance sensor bracket, and the distance sensor is mounted on the profile through the distance sensor bracket.
Preferably, the distance sensor has three groups, installs respectively in three bights of section bar, realizes the material full detection in three direction.
Preferably, the swing assembly further includes a second bearing, and the clutch gear is connected to the arm winding shaft through the second bearing installed inside the clutch gear.
Preferably, the frame assembly further comprises a fixing block, and the fixing block is fixedly installed at the corners of the upper fixing plate and the section bar.
Compared with the prior art, the invention has the beneficial effects that: the automatic bag material conveying device can solve the problems of labor intensity, narrow space, poor equipment adaptability, large occupied space, complex structure, low efficiency and the like in the fields of bag material production, conveying, stacking and the like, and realize the automation of the bag material conveying process; the system can be directly used for grabbing bagged materials on a production line, is stably conveyed to a target position, is not limited by space and position, and is small in occupied space and high in beat efficiency due to the fact that different control modes are adopted for grabbing and releasing the materials, and meanwhile, a servo motor is mounted on the system to grab the materials in a +/-360 degree manner; the rapid carrying in a narrow space is realized, the carrying space is adapted to the maximum extent, and the manual carrying is replaced completely; the automation degree in the production process is improved, the labor condition is improved, the personal accidents are avoided, the production efficiency is improved, and the production cost is reduced; the whole process is safe, reliable, quick and efficient, and can be widely popularized and used in industries with narrow carrying space, severe working environment and heavy workload.
Drawings
FIG. 1 is a schematic perspective view of an embodiment of the present invention;
FIG. 2 is a schematic perspective view of the swing assembly and the gripper assembly of FIG. 1;
FIG. 3 is a top view of the swing assembly and gripper assembly of FIG. 2;
FIG. 4 is a schematic diagram of the present invention;
FIG. 5 is a schematic diagram of the present invention;
FIG. 6 is a schematic drawing of the discharging of the present invention.
Marked in the figure as:
1. a frame assembly; 10. an upper fixing plate; 11. a section bar; 12. a fixed block; 13. a distance sensor;
14. A distance sensor holder; 15. a fixed block; 2. a swing assembly; 21. a supporting plate; 22. a tooth grabbing cylinder; 23. a cylinder flange; 24. a Y-joint; 25. an arm winding connecting rod; 26. a tooth swinging cylinder; 27. a rack; 28. a rack guide plate; 29. a fixing plate;
201. a winding arm shaft; 202. a clutch gear; 203. an electromagnetic clutch; 206. a bond A; 207. a bond B; 208. a spacer bush;
209. A large bushing; 210. expanding sleeve; 3. a grabbing component; 31. swing rod; 32. a connecting rod; 33. gripping teeth of the connecting rod;
34. an upper connecting beam; 35. a lower connection beam; 36. a vertical plate; 37. gripping teeth of the vertical plate; 38. a grab tooth transmission shaft; 4. a servo assembly; 41. a servo motor; 42. a speed reducer; 43. a flange connection; 44. and a connecting shaft.
Detailed Description
The invention is further described below with reference to the accompanying examples:
example 1
As shown in fig. 1 to 6, a robot end effector suitable for carrying bagged materials in a compact space comprises a frame assembly 1, a swinging assembly 2, a grabbing assembly 3 and a servo assembly 4, wherein the frame assembly 1 is used for supporting the swinging assembly 2, the grabbing assembly 3 and the servo assembly 4; the frame body assembly 1 comprises an upper fixing plate 10, a section bar 11, a fixing block 12, a distance sensor 13, a distance sensor bracket 14 and a fixing block 15; the swinging assembly 2 comprises a supporting plate 21, a grabbing tooth cylinder 22, a cylinder flange 23, a Y joint 24, an arm winding connecting rod 25, a swinging tooth cylinder 26, a rack 27, a rack guide plate 28, a fixing plate 29, an arm winding shaft 201, a clutch gear 202, an electromagnetic clutch 203, a first bearing, a cylinder connecting piece, a key A206, a key A, a spacer 208, a large bushing 209, an expansion sleeve 210 and a second bearing; the grabbing component 3 comprises a swinging rod 31, a connecting rod 32, a connecting rod grabbing tooth 33, an upper connecting beam 34, a lower connecting beam 35, a vertical plate 36, a vertical plate grabbing tooth 37 and a grabbing tooth transmission shaft 38; the servo assembly 4 comprises a servo motor 41, a speed reducer 42, a flange connector 43, a connecting shaft 44, a deep groove ball bearing and a thrust ball bearing;
The servo component 4 and the swinging component 2 control the transmission action around the arm shaft 201 through the opening and closing of the grabbing tooth cylinder 22, so as to drive the grabbing action of the grabbing component 3; the servo component 4 and the swinging component 2 drive the grabbing component 3 to throw through the transmission action of the rack 27 and the clutch gear 202 through the opening and closing of the swinging tooth cylinder 26; the grabbing component 3 comprises a vertical plate 36 and vertical plate grabbing teeth 37 which are uniformly distributed in groups, wherein the vertical plate 36 is connected with the connecting rod grabbing teeth 33 and the vertical plate grabbing teeth 37 by using screws, and the front ends of the connecting rod grabbing teeth 33 and the vertical plate grabbing teeth 37 are sharpened to guide materials in the forward direction; the grabbing component 3 is combined by an arm winding connecting rod 25, a clutch gear 202 and an electromagnetic clutch 203 which are fixed on an arm winding shaft 201, so that the hooking or unhooking of the connecting rod grabbing teeth 33 and the vertical plate grabbing teeth 37 is realized, and materials are fetched and put.
The section bar 11 and the fixed block 12 in the frame body assembly 1 are fixed on the upper fixed plate 10, and the upper fixed plate 10 is connected with the swinging assembly 2 through the rack guide plate 28 and the fixed plate 29; the three groups of distance sensors 14 are arranged on the section bar 11 through the distance sensor bracket 13, so that the full detection of materials in three directions is realized.
The servo motor 41 is fixedly connected with the speed reducer 42, and the speed reducer 42 is connected with the deep groove ball shaft 45 and the thrust ball shaft 46 through the connecting shaft 44; the deep groove ball shaft 45 and the thrust ball shaft 46 are arranged in the flange connecting piece 43, and the lower part of the flange connecting piece 43 is fixedly arranged at the central part of the upper fixing plate 10 in the frame body assembly 1; the servo motor 41 drives a rotating unit consisting of the section bar 11 and the upper fixing plate 10 through the speed reducer 42, so that the device can adapt to different actual working conditions, and can take and put materials in the directions of +/-360 degrees, and can be rapidly put into production.
The four fixing plates 29 in the swinging assembly 2 are arranged, the upper end surface and the lower end surface of the fixing plates 29 are respectively connected with the frame body assembly 1 and the swinging assembly 2, and the first bearings are arranged in the inner holes of the fixing plates 29; are symmetrically arranged outside the pallet 21 along the central axis around the arm axis 201, both ends of which are positioned by the fixing plate 29, and have a degree of freedom rotatable around the fixing plate 29 around the arm axis 201.
The grabbing tooth cylinders 22 are symmetrically arranged along the central axis, are connected to the supporting plate 21 through cylinder flanges 23, and have a degree of freedom capable of rotating around the cylinder flanges 23; the swing tooth cylinder 26 is fixed on the supporting plate 21 through a cylinder connecting piece, the front end of a piston rod of the grabbing tooth cylinder 22 is connected with the arm winding connecting rod 25 through a Y joint 24, and the arm winding connecting rod 25 is fixed on the arm winding shaft 201 through a key A206; a key B fixes the electromagnetic clutch 203 on the arm winding shaft 201; the front ends of the piston rods at the left end and the right end of the oscillating tooth cylinder 26 are respectively connected with racks 27; one end of the oscillating tooth cylinder 26 is positioned through a rack guide plate 28 connected with the upper fixing plate 10 in the frame body assembly 1, so that the freedom degree of the advancing direction of the oscillating tooth cylinder is ensured, and the other freedom degrees are limited; the other end of the oscillating tooth cylinder 26 ensures the freedom degree of the advancing direction through a guide groove on the supporting plate 21 and limits the other freedom degrees.
The clutch gear 202 is meshed with the rack 27, a second bearing is arranged in the clutch gear 202, the clutch gear 202 is sleeved with the arm winding shaft 201 through the second bearing, and the clutch gear 202 has a degree of freedom capable of rotating around the arm winding shaft 201; the clutch gear 202 is connected with the connecting rod 32 in the grabbing assembly 3 through a pin hole on the clutch gear 202, and the clutch gear 202 has a degree of freedom capable of rotating around a connecting shaft of the connecting rod 35; the clutch gear 202 and the electromagnetic clutch 203 are combined into a linkage assembly, and the electromagnetic clutch 203 is fixed on the arm winding shaft 201.
When the material is required to be grabbed, the clutch gear 202 and the electromagnetic clutch 203 are locked, and the connecting rod 32, the clutch gear 202, the electromagnetic clutch 203 and the winding arm shaft 201 in the grabbing assembly 3 are relatively fixed to form a rigid body; the swing tooth cylinder 26 is freely scaled, the grabbing tooth cylinder 22 drives the grabbing component 3 to grab materials, and at the moment, the end effector forms the grabbing component 3 into an integral rigid system through the electromagnetic clutch 203;
When materials need to be put in, the clutch gear 202 and the electromagnetic clutch 203 are opened, the connecting rod 32, the clutch gear 202, the electromagnetic clutch 203 and the winding arm shaft 201 in the grabbing component 3 rotate relatively, the grabbing tooth cylinder 22 keeps an extending state, the swinging tooth cylinder 26 drives the clutch gear 202 to drive the connecting rod 32 to rotate, the vertical plate grabbing teeth 37 are independently opened, rapid material putting in is achieved, putting in space is saved, and at the moment, the end effector forms the grabbing component 3 into a flexible independent system through the electromagnetic clutch 203, so that the structure is compact, and grabbing is stable and reliable.
The swing rod 31 in the grabbing assembly 3 is fixed at the end part of the arm winding shaft 201 through the spacer bush 208, the large bushing 209 and the expansion sleeve 210, the large bushing 209 is fixedly connected with the swing rod 31, the expansion sleeve 210 is sleeved in the large bushing 209, the end part of the arm winding shaft 201 is sleeved in the expansion sleeve 210, and the expansion sleeve 210 is fixedly connected with the large bushing 209 and the arm winding shaft 201 through self-tensioning action; the spacer 208 is sleeved on the arm winding shaft 201, and the large bushing 209 is positioned and fixed.
The grabbing components 3 are two groups, and the two groups are back-symmetrical along the central axis; the vertical plates 36 are uniformly distributed in groups, the vertical plate grabbing teeth 37 are uniformly distributed in groups and fixed on the upper connecting beam 34 and the lower connecting beam 35 in an equidistant manner, the connecting rod grabbing teeth 33 are arranged at the middle positions and connected in the connecting grooves of the vertical plates 36 through the grabbing teeth transmission shafts 38, the grabbing teeth transmission shafts 38 have a degree of freedom of rotating around the vertical plates 36, and the swinging rods 34 are fixedly connected with the upper connecting beam 37 and the lower connecting beam 38.
The working principle and working process of the invention are as follows:
As shown in fig. 1 to 6, the material grabbing process: the robot end effector is arranged above the bagged materials, the electromagnetic clutch 203 in an initial state is locked, the grabbing component 3 forms an integral mechanism, the connecting rod 32, the clutch gear 202, the electromagnetic clutch 203 and the winding arm shaft 201 are relatively fixed to form a rigid body, the vertical plate 36, the connecting rod grabbing teeth 33 and the vertical plate grabbing teeth 37 are in 90-degree rigid connection, the swinging tooth cylinder 26 is freely scaled, and the grabbing component 3 is driven to grab the materials by the grabbing tooth cylinder 22 to integrally rotate.
And (3) material removal: as shown in fig. 5 and 6, when the material is put in, the electromagnetic clutch 203 is opened, the grabbing component 3 forms two flexible independent systems, the vertical plate 36 and the connecting rod grabbing teeth 33 have rotational degrees of freedom, the grabbing teeth cylinder 22 keeps an extending state, the vertical plate 36 is static, the swinging teeth cylinder 26 independently drives the rack 27 to drive the clutch gear 202 to rotate, the connecting rod 32 is gradually opened to drive the connecting rod grabbing teeth 33 to rotate until the connecting rod grabbing teeth 33 are 180 degrees with the vertical plate 36, the connecting rod grabbing teeth 33 and the vertical plate grabbing teeth 37 independently swing to put in the material, and then the next round of action is performed, so that the quick material putting in is realized, and the putting space is saved.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the invention in any way, and any person skilled in the art may make modifications or alterations to the disclosed technical content to the equivalent embodiments. However, any simple modification, equivalent variation and variation of the above embodiments according to the technical substance of the present invention still fall within the protection scope of the technical solution of the present invention.
Claims (5)
1. A robotic end effector for compact space bagged material handling, comprising: the device comprises a frame body assembly, a swinging assembly, a grabbing assembly and a servo assembly, wherein the frame body assembly is used for supporting the swinging assembly, the grabbing assembly and the servo assembly, and the servo assembly and the swinging assembly drive the grabbing assembly to grab and throw;
The frame body component comprises an upper fixing plate, a section bar, a fixing block and a distance sensor; the section bar is fixedly arranged on the upper fixing plate, so that the rigidity and the strength of the upper fixing plate are enhanced; the distance sensor is mounted on the profile;
The servo assembly comprises a servo motor, a speed reducer, a flange connecting piece, a connecting shaft, a deep groove ball bearing and a thrust ball bearing; the servo motor is fixedly connected with the speed reducer and is connected with the deep groove ball shaft and the thrust ball shaft through the connecting shaft; the deep groove ball shaft and the thrust ball shaft are arranged in the flange connecting piece, and the lower part of the flange connecting piece is fixedly arranged at the center part of the upper fixing plate; the servo motor drives a rotating unit consisting of the section bar and the upper fixing plate through the speed reducer, so that the servo motor can adapt to different actual working conditions, and can take and put materials in the directions of +/-360 degrees and can be rapidly put into production;
The swing assembly comprises a supporting plate, a tooth grabbing cylinder, a cylinder flange, a Y joint, an arm winding connecting rod, a tooth swinging cylinder, a rack guide plate, a fixed plate, an arm winding shaft, a clutch gear and an electromagnetic clutch;
The four corners on the supporting plate are vertically and fixedly provided with the fixing plate, and the upper end surface of the fixing plate is connected with the upper fixing plate in the connecting frame body assembly; the middle part of the supporting plate is provided with the tooth grabbing cylinders in a back-to-back symmetrical way, and the tooth swinging cylinders are arranged between the two tooth grabbing cylinders;
The grabbing tooth cylinder is connected to the supporting plate through the cylinder flange and has a degree of freedom capable of rotating around the cylinder flange; the two symmetrical fixing plates are penetrated with the arm winding shaft, a piston rod of the grabbing tooth cylinder is connected with the arm winding connecting rod through the Y joint, and the arm winding connecting rod is connected with the arm winding shaft; the transmission action of the arm winding shaft is controlled through the opening and closing of the grabbing tooth cylinder, so that the grabbing action of the grabbing component is driven;
The fixing plate is four in number, and the upper end face and the lower end face of the fixing plate are respectively connected with the frame body component and the swinging component; the arm winding shaft is symmetrically arranged outside the supporting plate along the central shaft, two ends of the arm winding shaft are positioned by the fixing plate, and the arm winding shaft has a degree of freedom capable of rotating around the fixing plate;
The piston rods at the two ends of the oscillating tooth cylinder are respectively connected with the racks, the rack guide plates are buckled on the racks, and the upper end surfaces of the rack guide plates are connected with the upper fixing plate; one end of the rack is positioned through the rack guide plate, so that the freedom degree of the advancing direction is ensured, the rest freedom degrees are limited, the support plate is provided with a guide groove below the winding arm shaft, and the other end of the rack is positioned through the guide groove of the support plate, so that the freedom degree of the advancing direction is ensured, and the rest freedom degrees are limited;
The clutch gear is sleeved on the arm winding shaft and has a degree of freedom capable of rotating around the arm winding shaft, and is connected with the grabbing assembly through a pin hole; the gear swinging cylinder is meshed with the clutch gear through the rack, and the clutch gear is connected with the electromagnetic clutch; the electromagnetic clutch is arranged on the arm winding shaft, and the rack and the clutch gear are driven by the opening and closing of the oscillating tooth cylinder, so that the throwing action of the grabbing component is driven;
the two grabbing assemblies are in back symmetry along the central axis, and each grabbing assembly comprises a swing rod, a connecting rod, connecting rod grabbing teeth, an upper connecting beam, a lower connecting beam, a vertical plate, vertical plate grabbing teeth and grabbing tooth transmission shafts; one end of the swing rod is fixed at the end part of the arm winding shaft, and the other end of the swing rod is fixedly connected with the upper connecting beam and the lower connecting beam; the clutch gear is connected with one end of the connecting rod through a pin hole, and the other end of the connecting rod is connected with the connecting rod grabbing teeth;
the connecting rod grabbing teeth and the vertical plate grabbing teeth are connected in the connecting grooves of the vertical plate through the grabbing tooth transmission shafts, and the grabbing tooth transmission shafts have a degree of freedom of rotating around the vertical plate; the vertical plates are uniformly distributed in groups and fixed on the upper connecting beam and the lower connecting beam at equal intervals, the vertical plate grabbing teeth are uniformly distributed in groups and fixed on the grabbing tooth transmission shaft at equal intervals, and the middle positions are connecting rod grabbing teeth;
The front ends of the vertical plate grabbing teeth and the connecting rod grabbing teeth are sharpened and used for guiding materials in the forward direction; the grabbing component is under the combined action of an arm winding connecting rod, a clutch gear and an electromagnetic clutch which are fixed on an arm winding shaft, so that the grabbing teeth of the connecting rod and the grabbing teeth of the vertical plate are hooked or the materials are taken and placed by taking up the hooks;
The swing assembly further comprises a first bearing, the first bearing is arranged in an inner hole on the fixed plate, and the winding arm shaft is arranged in the first bearing in a penetrating manner to rotate;
The swing assembly also comprises an air cylinder connecting piece, a key A and a key B; the tooth swinging cylinder is fixed on the supporting plate through the cylinder connecting piece; the arm winding connecting rod is fixed on the arm winding shaft through the key A; the key B fixes the electromagnetic clutch on the arm winding shaft;
The swing assembly further comprises a spacer bush, a large bushing and an expansion bush, and the swing rod is fixed at the end part of the arm winding shaft through the spacer bush, the large bushing and the expansion bush; the large bushing is fixedly connected with the swing rod, the expansion sleeve is sleeved in the large bushing, the end part of the arm winding shaft is sleeved in the expansion sleeve, and the expansion sleeve is fixedly connected with the large bushing and the arm winding shaft through self-tensioning; the spacer bush is sleeved on the arm winding shaft and is used for positioning and fixing the large bushing;
when the material is required to be grabbed, the clutch gear and the electromagnetic clutch are locked, and a connecting rod, the clutch gear, the electromagnetic clutch and the winding arm shaft in the grabbing assembly are relatively fixed to form a rigid body; the swing tooth cylinder is freely scaled, the grabbing tooth cylinder drives the whole body to rotate to drive the grabbing component to grab materials, and at the moment, the end effector forms the grabbing component into a whole rigid system through an electromagnetic clutch;
When materials need to be put in, the clutch gear and the electromagnetic clutch are opened, the connecting rod, the clutch gear, the electromagnetic clutch and the winding arm shaft in the grabbing component rotate relatively, the grabbing tooth cylinder keeps in an extending state, the swinging tooth cylinder drives the clutch gear to drive the connecting rod to rotate, the vertical plate grabbing teeth are independently opened, the materials are quickly put in, the putting space is saved, and at the moment, the end effector forms the grabbing component into a flexible independent system through the electromagnetic clutch.
2. The robotic end effector for accommodating compact space bagged material handling of claim 1, wherein: the frame body assembly further comprises a distance sensor bracket, and the distance sensor is mounted on the section bar through the distance sensor bracket.
3. The robotic end effector for accommodating compact space bagged material handling of claim 2, wherein: the distance sensors are arranged in three groups and are respectively arranged at three corners of the section bar, so that the full detection of materials in three directions is realized.
4. The robotic end effector for accommodating compact space bagged material handling of claim 3, wherein: the swing assembly further comprises a second bearing, and the clutch gear is connected with the arm winding shaft through the second bearing arranged in the clutch gear.
5. The robotic end effector for compact space bag material handling according to claim 4, wherein: the frame body assembly further comprises a fixing block, the fixing block is fixedly installed at the corner of the upper fixing plate and the corner of the section bar, and the upper fixing plate is connected with the swing assembly through a rack guide plate and a fixing plate.
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| CN108516343A (en) * | 2018-06-14 | 2018-09-11 | 广州云厦智能设备有限公司 | One kind grabbing brick device |
| CN109775390B (en) * | 2018-12-24 | 2020-07-14 | 台州高知科技有限公司 | Bagged material transfer device end effector |
| CN111605959B (en) * | 2019-02-25 | 2024-02-09 | 北京京东乾石科技有限公司 | Automatic warehousing system, warehousing logistics system and automatic warehousing method |
| CN109623799A (en) * | 2019-02-28 | 2019-04-16 | 上海应用技术大学 | A kind of mechanical handing device |
| CN110281264B (en) * | 2019-07-29 | 2024-06-18 | 常熟智造激光装备研究院有限公司 | Adjustable composite mechanical arm gripper |
| CN110788476B (en) * | 2019-12-17 | 2024-04-26 | 常熟大众机器人研究院有限公司 | Workpiece clamping jaw opening and closing execution device of automatic workpiece transferring manipulator |
| US11858137B2 (en) | 2020-12-15 | 2024-01-02 | Ford Global Technologies, Llc | Mechanical grasping end effector with horizontal and vertical movement |
| CN114506505B (en) * | 2022-03-07 | 2022-08-05 | 青岛宝佳智能装备股份有限公司 | Be applied to package transfer mechanism of formula production line that directly goes out of premix |
| CN116788873B (en) * | 2023-06-28 | 2024-01-05 | 中储恒科物联网***有限公司 | Automatic unloader suitable for box freight bags |
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