CN113335915A

CN113335915A - Safety protection structure of carrying manipulator

Info

Publication number: CN113335915A
Application number: CN202110633459.5A
Authority: CN
Inventors: 胡耀增; 王龙; 李杨; 张守东; 柳宇辰
Original assignee: Qindao University Of Technology
Current assignee: Qindao University Of Technology
Priority date: 2021-06-07
Filing date: 2021-06-07
Publication date: 2021-09-03

Abstract

The invention discloses a safety protection structure of a carrying manipulator in the technical field of carrying manipulators, which comprises two mechanical clamping jaws which can be mutually closed and a clamped object serving as a carried object, wherein the two mechanical clamping jaws are distributed on the left side and the right side of the clamped object in a bilateral symmetry manner, a clamping jaw assembly is arranged on the inner side wall of the bottom end of each mechanical clamping jaw, each clamping jaw assembly comprises a clamping jaw shaft seat arranged on the inner side wall of each mechanical clamping jaw and a claw finger assembly arranged in the clamping jaw shaft seat, and the claw fingers rotate around the axis of a bolt in the clamping jaw shaft seats, so that the clamping acting force of the claw fingers on the clamped object is increased, the clamping effect of the claw fingers on the clamped object is ensured, and the clamped object is prevented from falling off the clamping of the mechanical clamping jaws.

Description

Safety protection structure of carrying manipulator

Technical Field

The invention relates to the technical field of carrying manipulators, in particular to a safety protection structure of a carrying manipulator.

Background

In industrial automatic production, no matter a single machine or a combined machine tool and an automatic production line, a manipulator is used for completing the picking and placing of workpieces. The carrying manipulator is controlled by a PLC (programmable logic controller), a touch screen and a servo motor, a frame type structure with small occupied space is adopted, the production capacity is high, and the stacking mode can adopt teaching to program.

Such as the handling robot disclosed in chinese patent application No. CN201610276506.4 and a gripping and handling robot disclosed in chinese patent application No. CN 201610421410.2.

The manipulator disclosed above clamps and carries the clamped object by two clamping blocks. However, the construction is relatively simple, and during clamping, the following may occur:

firstly, the clamping is tight, which is easy to cause the deformation of the surface of the clamped object.

And secondly, the clamped objects are loose, and the clamped objects have the risk of falling off in the carrying process.

Based on the above, the invention designs a safety protection structure of a carrying manipulator to solve the above problems.

Disclosure of Invention

The invention aims to provide a safety protection structure of a carrying manipulator, which aims to solve the problems that the clamping of a common carrying manipulator provided by the background technology to a clamped object is tight, the surface of the clamped object is easy to deform and loose due to tight clamping, and the clamped object has the risk of falling off in the carrying process.

In order to achieve the purpose, the invention provides the following technical scheme: a safety protection structure of a carrying manipulator comprises two mechanical clamping jaws which can be mutually closed and a clamped object serving as a carried object, wherein the two mechanical clamping jaws are distributed on the left side and the right side of the clamped object in a bilateral symmetry manner, a clamping jaw assembly is installed on the inner side wall of the bottom end of each mechanical clamping jaw, and the clamping jaw assembly comprises a clamping jaw shaft seat installed on the inner side wall of each mechanical clamping jaw and a claw finger assembly installed in the clamping jaw shaft seat;

the claw finger assemblies are in rolling contact with the surface of the clamped object, and the two groups of mechanical clamping jaws clamp the clamped object through the installed claw finger assemblies, wherein the clamping acting force of the claw finger assemblies on the clamped object is proportional to the weight of the clamped object;

when the clamped object slides downwards in the clamping and conveying process of the claw finger assembly on the clamped object, the clamping acting force of the claw finger assembly on the clamped object is increased along with the downward sliding of the clamped object, so that the clamped object is prevented from falling.

Preferably, the inner side wall of the bottom end of the mechanical clamping jaw is uniformly provided with threaded holes, and the clamping jaw shaft seat comprises a U-shaped frame, a bolt and a nut;

preferably, the outer side wall of a web plate of the U-shaped frame is abutted against the inner side wall of the mechanical clamping jaw, mounting holes are uniformly formed in the web plate of the U-shaped frame, and the mounting holes formed in the web plate of the U-shaped frame are aligned with threaded holes formed in the inner side wall of the mechanical clamping jaw and are fastened and connected through screws;

preferably, the outer end of the wing plate of the U-shaped frame is provided with a hinge hole, the bolt is inserted into the hinge hole cavity formed in the wing plate of the U-shaped frame from the rear of the U-shaped frame, the front end of the bolt is of a threaded column structure, the front end of the bolt is located in front of the U-shaped frame, and the nut is in threaded connection with the front end of the bolt.

Preferably, the claw finger assembly comprises a claw finger and a bearing, the bearing is mounted in an inner cavity of the claw finger, the bearing is located in a groove cavity of the U-shaped frame, and the bearing is sleeved on a rod body of the bolt.

Preferably, the claw finger comprises a sizing semi-ring and a reducing semi-ring, the inner ring of the sizing semi-ring and the outer ring of the sizing semi-ring are both in a semi-arc shape, and the outer ring of the sizing semi-ring are arranged in a concentric circle shape;

preferably, the inner ring of the reducing semi-ring is in a semi-circular arc shape, the inner ring of the reducing semi-ring and the inner ring of the sizing semi-ring form a closed-loop circle, the outer ring of the reducing semi-ring is in a semi-circular arc shape, the circle center of the outer ring of the reducing semi-ring is located under the circle center of the inner ring of the reducing semi-ring, and the width of the reducing semi-ring from the top end of the reducing semi-ring to the bottom end of the reducing semi-ring is gradually increased.

Preferably, the bearing comprises an inner ring, an outer ring, a retainer and a rolling body, the inner ring and the outer ring are arranged in a concentric circle mode, the inner ring is located in an inner cavity of the outer ring, the rolling body is uniformly installed in a frame body of the retainer, and the retainer is located in a clamping cavity formed by the inner ring and the outer ring.

Preferably, the inner ring and the outer ring are of circular ring structures, first grooves are formed in the outer ring walls of the front end and the rear end of the inner ring, second grooves are formed in the outer ring walls of the front end and the rear end of the outer ring, and the first grooves are aligned with the second grooves.

Preferably, the retainer comprises a first retainer and a second retainer which are arranged in a concentric circle, the first retainer and the second retainer are both in a circular ring structure, and the first retainer is positioned in an inner cavity of the second retainer.

Preferably, the ring body of the first retainer is uniformly provided with first embedding holes, the outer ring wall of the first retainer is uniformly connected with first installation cylinders, the ring body of the second retainer is uniformly provided with second embedding holes, the inner ring wall of the second retainer is uniformly connected with second installation cylinders, the first embedding holes are aligned with the second embedding holes, and the first installation cylinders are aligned with the second installation cylinders and are fastened and connected through screws.

Preferably, the rolling element is in a spherical shape, the rolling element is installed in a clamping cavity formed by the first embedding hole and the second embedding hole, the rolling element penetrates through the hole cavity of the first embedding hole and the hole cavity of the second embedding hole, the rolling element rolls in the groove cavity of the first groove and the groove cavity of the second groove, and the rolling element is in rolling contact with the inner side wall of a wing plate of the U-shaped frame.

Compared with the prior art, the invention has the beneficial effects that: the top end of the reducing semi-ring is connected with the bottom end of the reducing semi-ring, the ring width of the reducing semi-ring is gradually increased, the claw fingers can contact and clamp a clamped object by using a light clamping acting force, when the clamped object slides down under the action of gravity in the process of clamping and carrying the clamped object, the claw fingers rotate around the axis of the bolt in the clamping jaw shaft base, so that the clamping acting force of the claw fingers on the clamped object is increased, the effect of clamping the clamped object by the claw fingers is guaranteed, and the clamped object is prevented from being separated from the clamping of the mechanical clamping jaw due to the sliding down.

Of course, it is not necessary for any product in which the invention is practiced to achieve all of the above-described advantages at the same time.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a schematic diagram of the present invention;

FIG. 2 is a schematic view of a jaw assembly of the present invention;

FIG. 3 is a schematic view of a jaw axle seat of the present invention;

FIG. 4 is a schematic view of a finger assembly of the present invention;

FIG. 5 is a schematic view of a finger structure according to the present invention;

FIG. 6 is a schematic view of a bearing structure according to the present invention;

FIG. 7 is an exploded view of the bearing structure of the present invention;

FIG. 8 is a schematic view of the inner ring structure of the present invention;

FIG. 9 is a schematic view of the outer ring structure of the present invention;

FIG. 10 is a schematic view of the cage and rolling element assembly of the present invention;

FIG. 11 is an enlarged view taken at A of FIG. 10 in accordance with the present invention;

FIG. 12 is an exploded view of the cage construction of the present invention;

FIG. 13 is a schematic view of a first retainer of the present invention;

FIG. 14 is an enlarged view taken at B of FIG. 13 in accordance with the present invention;

FIG. 15 is a schematic view of a second cage of the present invention;

FIG. 16 is an enlarged view at C of FIG. 15 in accordance with the present invention;

FIG. 17 is a top plan view of the jaw assembly of the present invention;

FIG. 18 is an enlarged view taken at D of FIG. 17 in accordance with the present invention;

FIG. 19 is a first finger grip of the present invention;

FIG. 20 is a second finger grip of the present invention;

FIG. 21 is an enlarged view at E of FIG. 20 according to the present invention.

In the drawings, the components represented by the respective reference numerals are listed below:

1-mechanical clamping jaw, 2-clamped object, 3-clamping jaw component, 31-clamping jaw shaft seat, 100-U-shaped frame, 200-bolt, 300-nut, 32-claw finger component, 400-claw finger, 410-sizing half ring, 420-reducing half ring, 500-bearing, 510-inner ring, 501-first groove, 520-outer ring, 502-second groove, 530-retainer, 531-first retainer, 503-first embedding hole, 504-first mounting cylinder, 532-second retainer, 505-second embedding hole, 506-second mounting cylinder and 540-rolling body.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-21, the present invention provides a technical solution: a safety protection structure of a carrying manipulator comprises two mechanical clamping jaws 1 which can be mutually closed, a clamped object 2 which is a carried object and two clamping jaw assemblies 3 which are respectively arranged on the mechanical clamping jaws 1.

Wherein, two mechanical clamping jaw 1 are bilateral symmetry form and distribute in the left and right sides by centre gripping thing 2, and two mechanical clamping jaw 1 draw close each other or keep away from each other through external mechanical transmission's clamping structure, and two mechanical clamping jaw 1 accomplish the clamping action to by centre gripping thing 2 at the in-process that draws close each other.

Two blind hole-shaped threaded holes which are symmetrically arranged up and down are formed in the inner side wall surface at the bottom end of the mechanical clamping jaw 1, the axis of each threaded hole is perpendicular to the inner side wall surface of the mechanical clamping jaw 1, and the threaded holes are used for installing the clamping jaw assembly 3. Wherein, the inner side wall of the mechanical clamping jaw 1 refers to the cavity wall of the clamping cavity formed by the two mechanical clamping jaws 1.

Each clamping jaw assembly 3 comprises a pair of clamping jaw shaft bases 31 and a clamping jaw finger assembly 32, and the two clamping jaw assemblies 3 are arranged symmetrically. Each pair of jaw shaft bases 31 includes a pair of U-shaped brackets 100, a bolt 200, and a nut 300. Each finger assembly 32 includes a finger 400 and a bearing 500.

The lateral wall of the web department of U type frame 100 and the inside wall butt of mechanical clamping jaw 1, wherein, the total trilateral chamber wall of vallecular cavity of U type frame 100, have one side chamber wall to be located the web of this U type frame 100 in the trilateral chamber wall, the chamber wall that is located on the web of this U type frame 100 is the inside wall of this web, the wall that parallels with this inside wall in this web is the lateral wall of this web, remaining two sides chamber wall is the inside wall of two pterygoid laminas of this U type frame 100 respectively in the trilateral chamber wall. Two through hole-shaped mounting holes which are symmetrically arranged up and down are formed in a web plate body of the U-shaped frame 100, the mounting holes penetrate through the inner side wall and the outer side wall of the web plate of the U-shaped frame 100, and the mounting holes formed in the web plate of the U-shaped frame 100 are aligned with threaded holes formed in the inner side wall of the mechanical clamping jaw 1 and are tightly connected through screws.

The outer ends of the two wing plates of the U-shaped frame 100 are respectively provided with a round through hole-shaped hinge hole penetrating through the front wall and the rear wall of the U-shaped frame, and the outer ends of the wing plates are far away from the web plate in the wing plates of the U-shaped frame 100. The bolt 200 is inserted into the reaming hole cavities formed in the two wing plates of the U-shaped frame 100 in sequence from the rear of the U-shaped frame 100, the front end of the bolt 200 is of a threaded column structure, the front end of the bolt 200 is located in front of the U-shaped frame 100, and the nut 300 is in threaded connection with the front end of the bolt 200.

Each of the fingers 400 is a rubber member formed by injection molding using an integral molding process, and a main body of the finger 400 is divided into two parts, which are a sizing half ring 410 and a reducing half ring 420. The inner ring of the sizing half ring 410 and the outer ring of the sizing half ring 410 are both in a semicircular arc shape, and the outer ring of the sizing half ring 410 are arranged in a concentric circle. The inner ring of the reducing half ring 420 is in a semicircular arc shape, the inner ring of the reducing half ring 420 and the inner ring of the sizing half ring 410 form a closed-loop circle, the outer ring of the reducing half ring 420 is in a semicircular arc shape, the circle center of the outer ring of the reducing half ring 420 is positioned right below the circle center of the inner ring of the reducing half ring 420, and the ring width is gradually increased from the top end of the reducing half ring 420 to the bottom end of the reducing half ring 420.

Each bearing 500 comprises an inner ring 510 with a circular ring structure, an outer ring 520 with a circular ring structure, two groups of retainers 530 and a plurality of rolling bodies 540 with spherical balls, and the bearing 500 is positioned in a groove cavity of the U-shaped frame 100.

The inner ring 510 and the outer ring 520 are both circular ring structures, the inner ring 510 and the outer ring 520 are arranged in a concentric circle, and the inner ring 510 is located in the inner cavity of the outer ring 520. The outer ring walls of the front end and the rear end of the inner ring 510 are respectively provided with a first groove 501, the outer ring walls of the front end and the rear end of the outer ring 520 are respectively provided with a second groove 502, the two first grooves 501 are respectively aligned with the two second grooves 502, a plurality of rolling bodies 540 are uniformly distributed in a channel formed by the first grooves 501 and the second grooves 502, and the rolling bodies 540 roll in the channel. Fingers 400 are fixedly secured to outer ring 520 and inner ring 510 is fixedly secured to the shank of bolt 200.

The two sets of cages 530 are respectively located in the clamping cavities formed by the inner race 510 and the outer race 520, and the two sets of cages 530 are respectively located in cavities at the front and rear ends of the clamping cavities. Each group of the retainers 530 includes a first retainer 531 of an annular structure and a second retainer 532 of an annular structure, the first retainer 531 and the second retainer 532 are arranged in concentric circles, and the first retainer 531 is located in an inner cavity of the second retainer 532.

First embedding holes 503 are uniformly formed in a ring body of the first retainer 531, second embedding holes 505 are uniformly formed in a ring body of the second retainer 532, the first embedding holes 503 are aligned with the second embedding holes 505, the rolling body 540 is installed in a clamping cavity formed by the first embedding holes 503 and the second embedding holes 505 and can roll in the clamping cavity formed by the first embedding holes 503 and the second embedding holes 505, and the rolling body 540 penetrates through the hole cavities of the first embedding holes 503 and the second embedding holes 505.

The outer annular wall of the first retainer 531 is uniformly connected with a first mounting cylinder 504, the inner annular wall of the second retainer 532 is uniformly connected with a second mounting cylinder 506, and the first mounting cylinder 504 and the second mounting cylinder 506 are aligned and fastened and connected through screws.

The rolling elements 540 of the front bearing 500 are in rolling contact with the inner wall of the blade in front of the U-shaped frame 100, and the rolling elements 540 of the rear bearing 500 are in rolling contact with the inner wall of the blade in rear of the U-shaped frame 100.

In the gripping and conveying process of the finger assembly 32 for the object 2 to be gripped, the finger assembly 32 is in contact with the surface of the object 2 to be gripped by the outer circumferential wall of the finger 400. When the clamped object 2 slides downwards, the fingers 400 rotate around the axis of the bolt 200, the heavier the weight of the clamped object 2 is, the larger the downward sliding distance of the clamped object 2 is, the larger the rotating angle of the fingers 400 is, the larger the loop width of the fingers 400 between the bolt 200 and the clamped object 2 is, and further the clamping acting force of the fingers 400 on the clamped object 2 is increased, so that the purpose of preventing the clamped object 2 from continuously sliding downwards is achieved, and the clamped object 2 is prevented from falling off in the clamping and carrying process.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "disposed" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; may be mechanically coupled, may be directly coupled, or may be indirectly coupled through an intermediary. To those of ordinary skill in the art, the specific meanings of the above terms in the present invention are understood according to specific situations. In the description herein, references to the description of "one embodiment," "an example," "a specific example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. The utility model provides a safety protection structure of transport manipulator, includes that two can draw close each other mechanical clamping jaw (1) and as by the centre gripping thing (2) of transported object, its characterized in that: the two mechanical clamping jaws (1) are distributed on the left side and the right side of the clamped object (2) in a bilateral symmetry mode, clamping jaw assemblies (3) are mounted on the inner side walls of the bottom ends of the mechanical clamping jaws (1), and each clamping jaw assembly (3) comprises a clamping jaw shaft base (31) mounted on the inner side walls of the mechanical clamping jaws (1) and a claw finger assembly (32) mounted in the clamping jaw shaft base (31);

the finger assemblies (32) are in rolling contact with the surface of the clamped object (2), two groups of mechanical clamping jaws (1) clamp the clamped object (2) through the mounted finger assemblies (32), and the clamping force of the finger assemblies (32) on the clamped object (2) is proportional to the weight of the clamped object (2);

when the clamped object (2) slides downwards during clamping and conveying of the clamped object (2) by the finger assembly (32), the clamping acting force of the finger assembly (32) on the clamped object (2) is increased along with the downward sliding of the clamped object, so that the clamped object (2) is prevented from falling.

2. The safety shield structure of a handling robot of claim 1, wherein: the inner side wall of the bottom end of the mechanical clamping jaw (1) is uniformly provided with threaded holes, and the clamping jaw shaft seat (31) comprises a U-shaped frame (100), a bolt (200) and a nut (300);

the outer side wall of a web plate of the U-shaped frame (100) is abutted against the inner side wall of the mechanical clamping jaw (1), mounting holes are uniformly formed in the web plate of the U-shaped frame (100), and the mounting holes formed in the web plate of the U-shaped frame (100) are aligned with threaded holes formed in the inner side wall of the mechanical clamping jaw (1) and are fixedly connected through screws;

the outer end of a wing plate of the U-shaped frame (100) is provided with a hinge hole, the bolt (200) is inserted into a hinge hole cavity formed in the wing plate of the U-shaped frame (100) from the rear of the U-shaped frame (100), the front end of the bolt (200) is of a threaded column structure, the front end of the bolt (200) is located in front of the U-shaped frame (100), and the nut (300) is in threaded connection with the front end of the bolt (200).

3. The safety guard structure of a handling robot as claimed in claim 2, wherein: the claw finger assembly (32) comprises a claw finger (400) and a bearing (500), the bearing (500) is installed in an inner cavity of the claw finger (400), the bearing (500) is located in a groove cavity of the U-shaped frame (100), and the bearing (500) is sleeved on a rod body of the bolt (200).

4. A handling robot safety shield structure as recited in claim 3, wherein: the claw finger (400) comprises a sizing semi-ring (410) and a reducing semi-ring (420), the inner ring of the sizing semi-ring (410) and the outer ring of the sizing semi-ring (410) are both in a semi-arc shape, and the outer ring of the sizing semi-ring (410) are arranged in a concentric circle manner;

the inner circle of reducing semi-ring (420) is the semicircle arcuation, the inner circle of reducing semi-ring (420) with the circle of a closed loop is constituteed to the inner circle of sizing semi-ring (410), the outer lane of reducing semi-ring (420) is the semicircle arcuation, the centre of a circle of reducing semi-ring (420) outer lane is located under the centre of a circle of reducing semi-ring (420) inner circle, from the top of reducing semi-ring (420) to its ring width in bottom of reducing semi-ring (420) increases gradually.

5. The safety shield structure of a handling robot of claim 4, wherein: the bearing (500) comprises an inner ring (510), an outer ring (520), a retainer (530) and rolling bodies (540), wherein the inner ring (510) and the outer ring (520) are arranged in a concentric circle mode, the inner ring (510) is located in an inner cavity of the outer ring (520), the rolling bodies (540) are uniformly installed in a frame body of the retainer (530), and the retainer (530) is located in a clamping cavity formed by the inner ring (510) and the outer ring (520).

6. The safety shield structure of a handling robot of claim 5, wherein: the inner ring (510) and the outer ring (520) are both of a circular ring structure, first grooves (501) are formed in the outer ring walls of the front end and the rear end of the inner ring (510), second grooves (502) are formed in the outer ring walls of the front end and the rear end of the outer ring (520), and the first grooves (501) are aligned with the second grooves (502).

7. The safety shield structure of a handling robot of claim 6, wherein: the retainer (530) comprises a first retainer (531) and a second retainer (532) which are arranged in a concentric circle mode, the first retainer (531) and the second retainer (532) are both in a circular ring structure, and the first retainer (531) is located in an inner cavity of the second retainer (532).

8. The safety shield structure of a handling robot of claim 7, wherein: first embedding holes (503) are uniformly formed in a ring body of the first retainer (531), a first installation barrel (504) is uniformly connected to the outer ring wall of the first retainer (531), second embedding holes (505) are uniformly formed in a ring body of the second retainer (532), a second installation barrel (506) is uniformly connected to the inner ring wall of the second retainer (532), the first embedding holes (503) are aligned with the second embedding holes (505), and the first installation barrel (504) is aligned with the second installation barrel (506) and is fixedly connected through screws.

9. The safety shield structure of a handling robot of claim 8, wherein: the rolling body (540) is in a spherical shape, the rolling body (540) is installed in a clamping cavity formed by the first embedding hole (503) and the second embedding hole (505), the rolling body (540) penetrates through the hole cavities of the first embedding hole (503) and the second embedding hole (505), the rolling body (540) rolls in the groove cavity of the first groove (501) and the groove cavity of the second groove (502), and the rolling body (540) is in rolling contact with the inner side wall of a wing plate of the U-shaped frame (100).