CN113844881A

CN113844881A - Material grabbing mechanism and grabbing method for industrial robot

Info

Publication number: CN113844881A
Application number: CN202111044464.9A
Authority: CN
Inventors: 毕登科; 朱亮
Original assignee: Nanjing Fulian Micro Network Technology Co ltd
Current assignee: Nanjing Fulian Micro Network Technology Co ltd
Priority date: 2021-09-07
Filing date: 2021-09-07
Publication date: 2021-12-28

Abstract

The invention discloses a material grabbing mechanism and a grabbing method for an industrial robot, which relate to the technical field of material collection and comprise a main body of a grabbing mechanism, wherein grabbing plates for clamping and grabbing are slidably arranged at two ends below the main body, a sliding mechanism for controlling the grabbing plates to move is movably arranged in the main body, the sliding mechanism comprises sliding plates, a cam and first elastic pieces, the sliding plates are slidably arranged at the lower end of the main body, the grabbing plates are fixedly arranged below the sliding plates, the first elastic pieces are fixedly arranged between the two sliding plates, the cam is rotatably arranged between the two sliding plates, the first elastic pieces are positioned at one side of the cam, holes are formed in two sides of the main body, second elastic pieces for providing elasticity for the sliding plates are arranged in the holes, one end of each second elastic piece is fixedly arranged at one side of the sliding plates, and a sealing cover is fixedly arranged at the hole of each hole, so that the problem that the existing grabbing mechanism cannot manually adjust grabbing force is solved, so that the problem of different hardness and weight of materials cannot be better dealt with.

Description

Material grabbing mechanism and grabbing method for industrial robot

Technical Field

The invention relates to the technical field related to material collection, in particular to a material grabbing mechanism and a material grabbing method for an industrial robot.

Background

In industrial production, all production materials are called as materials, including spare part, semi-manufactured goods, leftover bits and so on, the material is indispensable for industrial production, if the material is lacked, the material is disconnected, directly can lead to the industrial production plan to change, in the material production transportation, mostly need use a material to snatch the mechanism and snatch the material, but current snatch the mechanism and can't manual regulation snatch the dynamics, so that can't better deal with the material that hardness, weight are different, for solving the above-mentioned problem, now provide industrial robot and snatch mechanism and snatch the method with the material.

Disclosure of Invention

The invention aims to provide a material grabbing mechanism and a material grabbing method for an industrial robot, and aims to solve the problems in the background technology.

In order to achieve the purpose, the invention provides the following technical scheme: material grabbing mechanism for industrial robot, including the main part of grabbing mechanism, there are grabbing plates for gripping and grabbing at both ends of the lower part of the main part, there is a sliding mechanism for controlling the grabbing plates to move in the main part, the sliding mechanism includes sliding plates, cams and first elastic parts, the sliding plates are slidably mounted at the lower end of the main part and the grabbing plates are fixedly mounted under the sliding plates, the first elastic parts are fixedly mounted between the two sliding plates, the cams are rotatably mounted between the two sliding plates and the first elastic parts are located at one side of the cams, holes are opened at both sides of the main part, second elastic parts for providing elasticity for the sliding plates are disposed in the holes, one end of the second elastic parts is fixedly mounted at one side of the sliding plates, a sealing cover for preventing the second elastic parts from sliding off is fixedly mounted at the hole of the holes, the second elastic parts are provided with supporting force by the sealing cover, the force generated by the two sliding plates approaching each other is increased by additionally mounting the second elastic parts, and then increase two and grab board centre gripping dynamics, rotate through the cam and drive and make two sliding plates slide and keep away from, make two sliding plates be close to each other through first elastic component, make two through the sliding plate and grab the board removal.

In a further embodiment, the upper end fixedly connected with of cam is used for driving cam pivoted first pivot, the lateral wall fixedly connected with of first pivot stimulates first pivot pivoted first pull rod, set up convenient gliding groove of sliding block in the lower extreme fixedly connected with sliding block of first pull rod and the main part, sliding block one end fixedly connected with stay cord, the other end fixedly connected with of stay cord is used for stimulating the straining mechanism of stay cord, draw the stay cord through the straining mechanism, the stay cord stimulates first pull rod to carry out lever motion and makes first pivot rotate, and then drive the cam and rotate.

In a further embodiment, the pulling mechanism is a telescopic rod, a groove for installing the telescopic rod is formed in the main body, one end, far away from the first pull rod, of the pull rope is fixedly connected to one end of the telescopic rod, and the pull rope is pulled through contraction of the telescopic rod to enable the pull rope to pull the first pull rod.

In a further embodiment, the pulling mechanism comprises a first sliding block, a screw rod and a motor, the motor is fixedly installed in the main body, the first sliding block is installed on the screw rod in a threaded mode, the screw rod is fixedly connected with an output shaft of the motor, one end of the pull rope is connected to one side of the first sliding block, the motor runs to drive the screw rod to rotate, and then the pull rope is pulled through movement of the first sliding block.

In a further embodiment, the grabbing plate is rotatably installed at the lower end of the sliding plate, a rotating rod used for enabling the grabbing plate to rotate is rotatably installed in the sliding plate, the grabbing plate is fixedly connected to one side of the rotating rod, the grabbing plate can rotate below the sliding plate through the rotating rod, and therefore the two grabbing plates can grab more and larger materials.

In a further embodiment, the upper end of the rotating rod is fixedly connected with a second pull rod, the lower end of the second pull rod is rotatably installed on one side of the sliding plate through the rotating rod, the upper ends of the two second pull rods are rotatably connected, the connecting part is provided with a second rotating shaft, the angle of the two second pull rods is increased through the movement of the sliding plate, the second pull rods rotate at the connecting part of the sliding plate, and then the grabbing plate is rotated through the rotating rod.

In a further embodiment, the two sides of the second rotating shaft are fixedly connected with second sliding blocks used for sliding up and down in the main body, a sliding groove matched with the second sliding blocks is formed in the main body, the sliding plate slides to drive the second rotating shaft to move, the sliding block slides to drive the second pull rod to rotate, the second rotating shaft is made to move up and down in the main body, and the second rotating shaft is made to move more stably in the sliding groove through the clamping of the second sliding blocks.

Preferably, the grabbing method based on the material grabbing mechanism for the industrial robot comprises the following steps:

a1, driving the two sliding plates to be far away from each other in the main body through the rotation of the cam, driving the two sliding plates to be close to each other through the first elastic piece, driving the grabbing plates to be attached to or separated from each other through the movement of the two sliding plates, placing the material between the two grabbing plates, and grabbing the material through the mutual close of the grabbing plates;

a2, open the hole of main part both sides through the closing cap, can increase the second elastic component in toward the main part through the hole, provide elasticity to the sliding plate through the second elastic component, and then increase the centre gripping dynamics of grabbing the board, seal the hole through the closing cap, make the one end of second elastic component can the atress.

Compared with the prior art, the invention has the beneficial effects that:

the invention relates to a material grabbing mechanism and a grabbing method for an industrial robot, wherein grabbing plates for clamping and grabbing are slidably arranged at two ends below a main body, a sliding mechanism for controlling the grabbing plates to move is movably arranged in the main body, the sliding mechanism comprises sliding plates, a cam and a first elastic part, the sliding plates are slidably arranged at the lower end of the main body, the grabbing plates are fixedly arranged below the sliding plates, the first elastic part is fixedly arranged between the two sliding plates, the cam is rotatably arranged between the two sliding plates, the first elastic part is positioned at one side of the cam, holes are formed in two sides of the main body, a second elastic part for providing elasticity for the sliding plates is arranged in each hole, one end of the second elastic part is fixedly arranged at one side of each sliding plate, a sealing cover for preventing the second elastic part from sliding off is fixedly arranged at the hole of each hole, and the force generated by the two sliding plates approaching each other is increased by additionally arranging the second elastic part, and then increase two and grab board clamping force, solved current snatch the unable manual regulation of mechanism and snatch the dynamics to the problem of the different material of unable better coping hardness, weight.

Drawings

FIG. 1 is an overall exploded view of the present invention;

FIG. 2 is an enlarged view taken at A of FIG. 1 in accordance with the present invention;

FIG. 3 is a schematic structural view of a sliding mechanism according to the present invention;

FIG. 4 is a front cross-sectional view of the body of the present invention;

FIG. 5 is a top cross-sectional view of the body of the present invention;

FIG. 6 is a cross-sectional view of the pulling mechanism of the present invention;

fig. 7 is a sectional view of embodiment 2 of the present invention.

In the figure: 1. a main body; 2. grabbing a plate; 3. a sliding mechanism; 31. a sliding plate; 32. a cam; 33. a first elastic member; 34. a second elastic member; 341. sealing the cover; 4. a first rotating shaft; 5. a first pull rod; 51. a third elastic member; 52. pulling a rope; 521. a slider; 6. a pulling mechanism; 61. a first slider; 62. a screw rod; 63. a motor; 7. a rotating rod; 71. a second pull rod; 72. a second rotating shaft; 73. and a second slider.

Detailed Description

The following will clearly and completely describe the technical solutions 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 embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Example 1

Referring to fig. 1 to 6, the present embodiment provides a material grabbing mechanism and a material grabbing method for an industrial robot, including a main body 1 of the grabbing mechanism, where the main body 1 may be connected to a telescopic column or a robot arm for movement, and the main body 1 is made to approach a material through the telescopic column or the robot arm.

The lower end of the main body 1 is provided with a groove, a sliding mechanism 3 is fixedly arranged in the groove, and the sliding mechanism 3 comprises a sliding plate 31, a cam 32 and a first elastic piece 33.

The preferable arrangement of the sliding plates 31 is two, two side walls in the groove are provided with sliding grooves which facilitate the sliding of the sliding plates 31, and the sliding plates 31 slide through the sliding grooves to prevent the sliding plates 31 from being inclined in the moving process.

The first elastic member 33 is preferably an extension spring, both ends of the first elastic member 33 are fixedly installed at one side of the two sliding plates 31, respectively, and the sliding plates 31 are close to each other by the tensile force of the first elastic member 33.

As shown in fig. 1 and 3, the cam 32 is preferably a combination of two semicylinders, the upper end of the center of the joint of the two semicylinders is fixedly connected with the first rotating shaft 4, and the cam 32 can be driven to rotate by rotating the first rotating shaft 4.

The cam 32 rotates at the center of the junction of the two semicylinders, so that the widths of both sides of the cam 32 are changed as the cam 32 rotates.

The cam 32 is rotatably installed between the two sliding plates 31, the first elastic members 33 are preferably provided in two, which are respectively located at both sides of the cam 32 and do not obstruct the rotation of the cam 32, the distance between the two sliding plates 31 is increased by the rotation of the cam 32, and the two sliding plates 31 are retracted by the first elastic members 33 after the cam 32 is reversely rotated.

Compare and adopt ordinary mechanical fixture to snatch the material among the prior art, first elastic component 33 has elasticity, and the power through the shrink of first elastic component 33 presss from both sides the material, makes the material take place to damage when can preventing that the too big material that leads to of centre gripping dynamics from snatching the material.

The lower extreme fixedly connected with of sliding plate 31 grabs board 2, it adopts sheet metal to grab board 2 preferred, move through two sliding plates 31 and drive two and grab board 2 and be close to each other, it can set up to straight board to grab board 2, it snatchs the material centre gripping to be close to each other through grabbing board 2, still can set up to scraper bowl column structure, it collects to shovel the material, it is provided with the closed angle to grab board 2's side section lower extreme preferred, when the material pile needs to be snatched, it can insert the material pile to grab board 2 in, snatch afterwards.

Compare and make through lever principle among the prior art and grab board 2 and rotate and carry out the centre gripping to the material, make through sliding plate 31 and grab the relative face of board 2 and remain parallel throughout, and then more stable when making to add and hold the material.

In order to increase the clamping force of the grabbing plate 2, holes are formed at the positions of two sides of the main body 1, which are aligned with the sliding plate 31, and second elastic pieces 34 are installed in the holes.

The second elastic member 34 is preferably a compression spring, the sliding plates 31 are provided with elastic force by the elastic force of the compression spring, the holes are provided in a plurality, and the force of the two sliding plates 31 moving close to each other is increased by increasing the number of the second elastic members 34, so as to increase the clamping force of the grabbing plate 2.

Compared with using a metal spring plate to increase the force of the sliding plate 31, the compression spring has more stability and is easier to install.

In order to prevent the second elastic member 34 from protruding from the hole, a sealing cap 341 is fixedly installed at the hole of the hole, and the sealing cap 341 and the hole are preferably connected by a screw, but not limited to the screw, and a buckle, a sliding groove, or the like may also be used.

The second elastic member 34 is supported by the cover 341 so as to provide an elastic force to the sliding plate 31.

In order to prevent the second elastic member 34 from separating from the sliding plate 31 and sliding down from the lower side of the main body 1, a connecting member is preferably provided at an end of the second elastic member 34 facing the sliding plate 31, the connecting member is preferably a hook, and the end of the second elastic member 34 is hooked on the sliding plate 31 side by contracting the grasping plate from bottom to top, and the second elastic member 34 can be connected with the cover 341, and the second elastic member 34 is fixed by the cover 341.

In order to rotate the cam 32, a first pull rod 5 is fixedly connected to one side of the first rotating shaft 4, a pull rope 52 is fixedly connected to one side of the first pull rod 5, a third elastic member 51 for providing elastic force to the first pull rod 5 is fixedly installed in the main body 1, and a pulling mechanism 6 is fixedly connected to one end of the pull rope 52 far away from the first pull rod 5.

The main body 1 is provided with a groove matched with the third elastic member 51, a sliding groove convenient for the first pull rod 5 to slide is formed in a side wall of the groove, the third elastic member 51 preferably adopts a compression spring, the pulling mechanism 6 drives the pull rope 52 to pull the first pull rod 5, so that the cam 32 rotates, and the elastic force of the third elastic member 51 and the clamping force of the sliding plate 31 enable the cam 32 to rotate and restore.

Compare in adopting the motor to drive cam 32 and rotate among the prior art, motor turned angle is wayward, lead to cam 32 turned angle too big easily, and then make and grab board 2 not shrink the centre gripping under the settlement circumstances, and motor output shaft starting dynamics is less, sliding plate 31 receives the pulling force of first elastic component 33, inwards shrink, carry out the centre gripping with cam 32, cam 32 rotates the power that needs greatly this moment, lead to the motor to start easily and be obstructed, through setting up first pull rod 5, adopt lever principle to make cam 32 rotate, the power that needs to adopt when reducing messenger's cam 32 and rotating.

The pull cord 52 is preferably a metal cord twisted from a plurality of metal wires and has high wear resistance, fire resistance and toughness, but is not limited to a metal cord, and may be a nylon cord, a chain, or the like.

Compare and make first pivot 4 rotate through the motor drive gear among the prior art, stay cord 52 makes first pivot 4 rotate more smooth, and the damage appears easily in motor many times just reversing.

The sliding block 521 is fixedly connected to the lower portion of one end, away from the first rotating shaft 4, of the first pull rod 5, one end of the pull rope 52 is fixedly connected to one side of the sliding block 521, and a sliding groove which facilitates movement of the sliding block 521 and the pull rope 52 is formed in the main body 1.

Pulling mechanism 6 sets up to the telescopic link, and the one end fixed connection that sliding block 521 was kept away from to stay cord 52 is in the one end of telescopic link, and it removes to drive stay cord 52 through the telescopic link shrink, and then stimulates first pull rod 5, and the telescopic link is preferred to adopt hydraulic stretching, compares in atmospheric pressure flexible, and the flexible precision of hydraulic stretching is higher.

Example 2

Referring to fig. 7, the difference from embodiment 1 is that:

the pulling mechanism 6 comprises a first sliding block 61, a screw rod 62 and a motor 63, wherein the first sliding block 61 is installed on the screw rod 62, and the screw rod 62 is fixedly connected to an output shaft of the motor 63. .

The motor 63 operates to drive the screw rod 62 to rotate, so that the first slider 61 slides on the screw rod 62, one end of the pull rope 52, which is far away from the sliding block 521, is fixedly connected to one side of the first slider 61, and the first slider 61 slides on the screw rod 62 to pull the pull rope 52.

Since the moving distance of the first slider 61 is limited by the length of the lead screw 62, the excessive rotation angle of the first pull rod 5 caused by the excessive pulling of the pull rope 52 is prevented.

The pulling mechanism 6 is not limited to the telescopic rod or the lead screw, and the like, and a winding roller are fixedly connected to an output shaft of the motor 63, the pull rope 52 is fixedly connected to the outer side wall of the winding roller, and the first pull rod 5 can be pulled by winding the pull rope 52 on the winding roller through the rotation of the motor 63.

Example 3

Please refer to fig. 1 and fig. 3-4, which are further improved based on embodiment 1:

in order to increase the quantity or the volume of the grabbing plates 2 for grabbing materials, the grabbing plates 2 are rotatably arranged at the lower end of the sliding plate 31, and the distance between the grabbing plates 2 is increased by opening the two grabbing plates 2 in a rotating mode, so that more and larger materials can be grabbed.

For the convenience of rotating and grabbing board 2, the breach has been seted up on one side of sliding plate 31, the upper end of grabbing board 2 is provided with the arch that matches with the breach, set up porosely in the sliding plate 31 breach, downthehole rotation installs bull stick 7, bull stick 7 stretches out from the breach, grab board 2 fixed connection in the lateral wall below of bull stick 7 projecting part, the lateral wall upper end fixedly connected with second pull rod 71 of bull stick 7, the lower extreme of second pull rod 71 passes through bull stick 7 and rotates in sliding plate 31 one side, pulling second pull rod 71 can rotate through bull stick 7 and grab board 2.

In order to make the grip plate 2 rotate and open when the two sliding plates 31 slide away from each other, the upper ends of the two second pull rods 71 are provided with second rotating shafts 72, and the two second pull rods 71 rotate with each other through the second rotating shafts 72.

When the two sliding plates 31 move away from each other through the cam 32, the angle formed between the two second pull rods 71 becomes larger, the second pull rods 71 rotate inside one side of the sliding plates 31, and the rotating rod 7 rotates the grasping plate 2 to open.

Because the angle formed by the two second pull rods 71 is enlarged and the second rotating shaft 72 moves downwards, in order to make the second rotating shaft 72 move more stably, the two sides of the second rotating shaft 72 are fixedly connected with second sliding blocks 73, and the inside of the main body 1 is provided with sliding grooves matched with the second sliding blocks 73.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. Industrial robot snatchs mechanism with material, including main part (1) of snatching the mechanism, the below both ends slidable mounting of main part (1) has and is used for the centre gripping to snatch grabs board (2), its characterized in that: the inner part of the main body (1) is movably provided with a sliding mechanism (3) used for controlling the movement of the grabbing plate (2), the sliding mechanism (3) comprises a sliding plate (31), a cam (32) and a first elastic piece (33), the sliding plate (31) is slidably arranged at the lower end of the main body (1), the grabbing plate (2) is fixedly arranged below the sliding plate (31), the first elastic piece (33) is fixedly arranged between the two sliding plates (31), the cam (32) is rotatably arranged between the two sliding plates (31), and the first elastic piece (33) is positioned on one side of the cam (32);

holes are formed in two sides of the main body (1), a second elastic piece (34) used for providing elastic force for the sliding plate (31) is placed in each hole, one end of each second elastic piece (34) is fixedly installed on one side of the sliding plate (31), and a sealing cover (341) for preventing the second elastic pieces (34) from sliding off is fixedly installed at a hole of each hole.

2. The material gripping mechanism for an industrial robot according to claim 1, characterized in that: the upper end fixedly connected with of cam (32) is used for driving first pivot (4) of cam (32) pivoted, the lateral wall fixedly connected with pulling first pivot (4) pivoted first pull rod (5) of first pivot (4), fixed mounting has third elastic component (51) that is used for keeping away from first pivot (4) one end to first pull rod (5) in main part (1), set up in the lower extreme fixedly connected with sliding block (521) of first pull rod (5) and main part (1) and make things convenient for gliding groove of sliding block (521), sliding block (521) one end fixedly connected with stay cord (52), the other end fixedly connected with of stay cord (52) is used for pulling the straining mechanism (6) of stay cord (52).

3. The material gripping mechanism for an industrial robot according to claim 2, characterized in that: the pulling mechanism (6) is arranged to be a telescopic rod, a groove for installing the telescopic rod is formed in the main body (1), and one end, far away from the first pull rod (5), of the pull rope (52) is fixedly connected to one end of the telescopic rod.

4. The material gripping mechanism for an industrial robot according to claim 2, characterized in that: the pulling mechanism (6) comprises a first sliding block (61), a screw rod (62) and a motor (63), the motor (63) is fixedly installed in the main body (1), the first sliding block (61) is installed on the screw rod (62) in a threaded mode, the screw rod (62) is fixedly connected to an output shaft of the motor (63), and one end of the pull rope (52) is connected to one side of the first sliding block (61).

5. The material gripping mechanism for an industrial robot according to claim 1, characterized in that: the grabbing plate (2) is rotatably installed at the lower end of the sliding plate (31), a rotating rod (7) used for enabling the grabbing plate (2) to rotate is rotatably installed on the sliding plate (31), and the grabbing plate (2) is fixedly connected to one side of the rotating rod (7).

6. The material gripping mechanism for an industrial robot according to claim 5, characterized in that: the upper end of the rotating rod (7) is fixedly connected with a second pull rod (71), the lower end of the second pull rod (71) is rotatably installed on one side of the sliding plate (31) through the rotating rod (7), and the upper ends of the two second pull rods (71) are rotatably connected and the connecting part is provided with a second rotating shaft (72).

7. The material gripping mechanism for an industrial robot according to claim 6, wherein: and the two sides of the second rotating shaft (72) are fixedly connected with second sliding blocks (73) which are used for sliding up and down in the main body (1), and sliding grooves matched with the second sliding blocks (73) are formed in the main body (1).

8. The method for grabbing the material grabbing mechanism for the industrial robot is characterized by comprising the following steps of:

a1, the two sliding plates (31) are driven to be away from each other in the main body (1) through the rotation of the cam (32), the two sliding plates (31) are driven to be close to each other through the first elastic piece (33), the grabbing plates (2) are driven to be attached to or separated from each other through the movement of the two sliding plates (31), materials are placed between the two grabbing plates (2), and the materials can be grabbed through the mutual close of the grabbing plates (2);

a2, opening the holes on the two sides of the main body (1) through the sealing cover (341), adding a second elastic part (34) into the main body (1) through the holes, providing elastic force for the sliding plate (31) through the second elastic part (34), further increasing the clamping force of the grabbing plate (2), sealing the holes through the sealing cover (341), and enabling one end of the second elastic part (34) to be stressed.