CN113977614A

CN113977614A - Industrial robot capable of adjusting grabbing force and using method thereof

Info

Publication number: CN113977614A
Application number: CN202111186740.5A
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: 2021-10-12
Filing date: 2021-10-12
Publication date: 2022-01-28

Abstract

The invention discloses an industrial robot capable of adjusting grabbing force and a using method thereof, and relates to the field of robots, wherein the industrial robot comprises an installation seat and an air cylinder fixedly installed on the installation seat, clamping jaws are rotatably installed at two ends of the installation seat, the output end of the air cylinder penetrates through the installation seat and is fixedly connected with a connecting plate, supporting rods are rotatably installed at two ends of the connecting plate, the tail ends of the supporting rods are rotatably connected to the clamping jaws, a force adjusting pad is fixedly connected to a clamping position at the lower end of each clamping jaw, vertical plates are respectively and fixedly connected to two sides of the air cylinder at the upper side of the installation seat, and installation top plates are fixedly connected to the upper ends of the two vertical plates together; according to the invention, the force adjusting pad is arranged on the clamping jaw of the manipulator, so that when the manipulator clamps an object, the friction force between the object and the manipulator can be increased, the object is prevented from being damaged due to the separation of the object and the manipulator, and the deformation of the force adjusting pad can be adjusted according to the weight of the object, so that the manipulator has certain force adjusting capability.

Description

Industrial robot capable of adjusting grabbing force and using method thereof

Technical Field

The invention relates to the technical field of robots, in particular to an industrial robot capable of adjusting grabbing force.

Background

At automatic more and more today, the manpower transport has disappeared in the mill gradually, the substitute is robotic arm and manipulator, though robotic arm and manipulator need not the rest, work efficiency is very high-efficient, and can replace manual work under adverse circumstances, but only reach best effect to the object of the size of certain fixed shape at traditional robotic arm and manipulator, or press from both sides firm different object and get, but get in-process robotic arm and manipulator and be difficult to hold and press from both sides the dynamics of getting at the clamp, cause easily in the centre gripping process and drop or the centre gripping dynamics is too big and make the device take place to damage, for this reason, need design an industrial robot of adjustable dynamics of grabbing.

Disclosure of Invention

The invention aims to provide an industrial robot capable of adjusting grabbing force and a using method thereof, and aims to solve the problems in the background technology.

In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides an industrial robot of adjustable dynamics of snatching, including mount pad and the cylinder of fixed mounting on the mount pad, the both ends of mount pad are all rotated and are installed the clamping jaw, the output of cylinder runs through mount pad and fixedly connected with connecting plate, the both ends of connecting plate are all rotated and are installed branch, the end-to-end rotation of branch is connected on the clamping jaw, can drive the connecting plate through the cylinder and reciprocate, the connecting plate reciprocates the in-process alright utilize branch pulling clamping jaw to rotate, when the connecting plate rebound, branch pulling clamping jaw is inwards rotated, two clamping jaws alright press from both sides the object tightly.

The pad is adjusted to the lower extreme clamping part fixedly connected with dynamics of clamping jaw, the dynamics is adjusted and is filled up for L type rubber strip, the upside of mount pad is located the both sides difference fixedly connected with riser of cylinder, the common fixedly connected with installation roof in upper end of two risers, utilize the dynamics to adjust the frictional force between pad and the object, prevent because the clamping jaw reduces to lead to the object landing between two clamping jaws to the clamping-force of object, and the dynamics is adjusted and is filled up certain elasticity, can be in the centre gripping in-process, adjust the deflection that fills up according to the weight regulation dynamics of object, thereby make the manipulator have certain dynamics regulating power ability.

In further embodiment, the holding tank has been seted up to the lower extreme of clamping jaw, install the dynamics in the holding tank and adjust the gasbag, the lateral wall fixed mounting of riser has gas transmission subassembly, gas transmission subassembly is connected with the dynamics regulation gasbag through the gas-supply pipe, gas transmission subassembly can adjust the gasbag to the dynamics and carry gas, carry in the dynamics regulation gasbag and be full of after gas, its one end that stretches out alright with the contact of object side wall, thereby produce certain frictional force to the object, make placing in the manipulator that the object can be firm, effectively prevent that object and manipulator from breaking away from mutually.

In further embodiment, the gas transmission subassembly includes install bin and adjusting sleeve, fixed mounting has the pump in the install bin, be connected with the pipeline that is linked together with adjusting sleeve inside on the pump, the inside movable mounting of adjusting sleeve has the piston board, adjusting sleeve's lateral wall upper end is equipped with the gas vent, adjusting sleeve's lateral wall lower extreme is connected with the gas-supply pipe, the pump produces gas and passes through the pipeline and carry to adjusting sleeve in, along with the continuous increase of adjusting sleeve upper portion gas, can promote the piston board in the adjusting sleeve and move down, alright make the gas in the cavity of adjusting sleeve lower part arrange in the dynamics regulation gasbag, thereby make the dynamics regulation gasbag swell.

In a further embodiment, electromagnetic valves are arranged on the pipeline, the gas conveying pipe and the gas exhaust port, so that the phenomenon of gas leakage in the adjusting process is avoided.

In further embodiment, dynamics adjusting part is installed to the downside front and back symmetry of connecting plate, supports the object of hoist and mount through dynamics adjusting part to utilize the elasticity of self to upwards promote the object, thereby reduce the gravity that two clamping jaws bore, make firm the placing between the clamping jaw of object.

In a further embodiment, dynamics adjusting part includes circle sleeve and movable rod, inside the one end of movable rod runs through to stretch into circle sleeve, the both ends difference fixedly connected with limiting plate of movable rod, the cover that lies in circle sleeve inside on the movable rod is equipped with the elastic component, the movable rod can remove in the circle sleeve under the effect of elastic component, thereby make whole dynamics adjusting part's length reduce, make dynamics adjusting part can make the limiting plate of downside upwards promote and draw, make the limiting plate of downside upwards push away the animal body.

In a further embodiment, the resilient member is a spring, the spring being in a compressed state within the circular sleeve.

In further embodiment, the elastic component is equipped with two including removing ring and flexure strip, removes the ring, and all establish on the movable rod, is connected with the flexure strip between two removal rings, and the flexure strip extends under the elastic action, alright make the movable rod stretch into in the circle sleeve to drive downside limiting plate and shift up, reached the purpose that supports the object.

Preferably, the use method of the industrial robot based on the adjustable grasping force specifically includes the following steps:

s1, a top plate is installed, so that a mechanical arm can be conveniently installed on a mechanical arm, a connecting plate can be driven to move up and down through an air cylinder, a supporting rod is driven to move through the connecting plate, a clamping jaw can be opened and closed, and an object can be clamped;

s2, when the object is clamped and slides down, the force adjusting pad arranged on the clamping jaw can prevent the object from sliding off the two clamping jaws due to the reduction of the clamping force of the clamping jaws on the object by using the friction force between the force adjusting pad and the object;

s3, gas can be conveyed into the force adjusting air bag through the gas conveying assembly, so that the force adjusting air bag is expanded, when the clamping jaw clamps an object and then loosens, the friction force between the clamping jaw and the object is increased by using the force adjusting air bag, and the object is prevented from sliding off;

s4, the force adjusting assembly can upwards support the object after the clamping jaws clamp the object, and upwards lift the object by utilizing the elasticity of the force adjusting assembly, so that the gravity borne by the two clamping jaws is reduced.

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

1. according to the invention, the force adjusting pad is arranged on the clamping jaw of the manipulator, so that when the manipulator clamps an object, the friction force between the object and the manipulator can be increased, the object is prevented from being damaged due to the separation of the object and the manipulator, and the deformation of the force adjusting pad can be adjusted according to the weight of the object, so that the object with different weights can be deformed differently, and the manipulator has certain force adjusting capability.

2. The gasbag is adjusted through setting up the dynamics in the clamping jaw to the defeated gas subassembly that the gasbag cooperation was used is adjusted with the dynamics in the installation on the riser, can the dynamics adjust conveying gas in the gasbag through defeated gas subassembly, makes the dynamics adjust gasbag volume increase, and when the gasbag was adjusted to the dynamics stretched out holding tank and object contact, alright consolidate the object to the not hard up of clamping jaw, so that the object is in operation in-process by firm centre gripping in manipulator.

3. Can drive downside limiting plate through dynamics adjusting part and upwards carry and draw to make the limiting plate support the object of hoist and mount, and utilize the elasticity of self to upwards promote the object, thereby reduce the gravity that two clamping jaws bore, make firm placing of object between the clamping jaw, reached and adjusted the centre gripping dynamics of manipulator in the clamping process.

Drawings

FIG. 1 is a schematic overall structure diagram according to an embodiment of the present invention;

FIG. 2 is a schematic view of a jaw according to a first embodiment of the present invention;

FIG. 3 is a schematic structural diagram of a second embodiment of the present invention;

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

FIG. 5 is a schematic diagram of a third embodiment of the present invention;

FIG. 6 is a schematic view of the spring of the present invention;

FIG. 7 is a schematic view of another embodiment of the elastic member of the present invention;

fig. 8 is a schematic view of the mounting structure of the elastic sheet of the present invention.

In the figure: 1. a mounting seat; 11. a vertical plate; 12. installing a top plate; 2. a cylinder; 3. a connecting plate; 4. a clamping jaw; 41. accommodating grooves; 5. a strut; 6. a force adjusting pad; 7. a force adjusting air bag; 71. a gas delivery pipe; 8. a gas delivery assembly; 81. installing a box; 82. an adjustment sleeve; 83. an inflator pump; 84. a pipeline; 85. a piston plate; 86. an exhaust port; 9. a force adjusting component; 91. a circular sleeve; 92. a movable rod; 93. a limiting plate; 94. a spring; 95. moving the circular ring; 96. an elastic sheet.

Detailed Description

In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the invention.

Example 1

Referring to fig. 1-2, the embodiment provides an industrial robot capable of adjusting gripping force, which includes a mounting seat 1 and a cylinder 2 fixedly mounted on the mounting seat 1, wherein mounting grooves with downward notches are respectively formed at two ends of the mounting seat 1, clamping jaws 4 are rotatably mounted in the mounting grooves at two ends of the mounting seat 1 through rotating pins, make clamping jaw 4 can rotate round 1 both ends of mount pad, the output of cylinder 2 runs through mount pad 1 and fixedly connected with connecting plate 3, connecting plate 3's both ends are all rotated and are installed branch 5, the end of branch 5 rotates and connects on clamping jaw 4, the upside of mount pad 1 is located cylinder 2's both sides respectively fixedly connected with riser 11, the common fixedly connected with installation roof 12 in upper end of two riser 11, threaded mounting hole has been seted up on installation roof 12, through with the arm on the screw alright convenient install the manipulator on the arm.

Can drive connecting plate 3 through cylinder 2 and reciprocate, connecting plate 3 reciprocates the in-process alright utilize branch 5 pulling clamping jaw 4 to rotate, and when connecting plate 3 rebound, branch 5 pulling clamping jaw 4 rotates inwards, and two clamping jaws 4 alright press from both sides the object tightly, and when connecting plate 3 rebound, branch 5 can promote clamping jaw 4 and rotate to both sides, and two clamping jaws 4 break away from with the object mutually, alright lift the object off from between two clamping jaws 4.

Lower extreme clamping part fixedly connected with dynamics adjusting pad 6 of clamping jaw 4, dynamics adjusting pad 6 is L type rubber strip, when the object has the gliding trend, utilize the frictional force between dynamics adjusting pad 6 and the object, prevent because clamping jaw 4 reduces the object and leads to the object to follow the landing between two clamping jaws 4, and dynamics adjusting pad 6 has certain elasticity, can be in clamping process, adjust the deflection that the dynamics adjusting pad 6 according to the weight of object, thereby make the manipulator have certain dynamics regulating power.

Manipulator among the prior art is in the use, and the exposed core and the object direct contact of manipulator when manipulator centre gripping object upwards lifts by crane, because the object has certain weight, the object can produce with the manipulator and slide, and when the distance of sliding was too big, can lead to object and manipulator to break away from mutually seriously, not only can influence the normal work operation of manipulator, and the object that drops moreover collides with table surface, can lead to the object to be damaged.

This embodiment is through setting up dynamics adjusting pad 6 on the clamping jaw 4 of manipulator, alright when the manipulator carries out the centre gripping to the object, increase the frictional force between object and the manipulator, prevent that object and manipulator from breaking away from and leading to the object impaired to dynamics adjusting pad 6 still can be according to the deflection of the weight regulation dynamics adjusting pad 6 of object, can make different deformations to the object of different weights, thereby makes the manipulator have certain dynamics regulatory ability.

Example 2

Referring to fig. 3 to 4, the difference from embodiment 1 is that:

holding tank 41 has been seted up to the lower extreme of clamping jaw 4, installs dynamics in the holding tank 41 and adjusts gasbag 7, and the appearance phase-match of gasbag 7 and holding tank 41 is adjusted to the dynamics to when the dynamics is adjusted gasbag 7 and is full of gas, holding tank 41 and object contact can be stretched out to the end that the gasbag 7 was adjusted to the dynamics, and the dynamics is adjusted gasbag 7 alright to exert certain frictional force to the object of centre gripping in the manipulator.

The lateral wall fixed mounting of riser 11 has gas transmission subassembly 8, gas transmission subassembly 8 is connected with dynamics regulation gasbag 7 through gas-supply pipe 71, gas transmission subassembly 8 can adjust gasbag 7 conveying gas to the dynamics, carry in the dynamics is adjusted gasbag 7 and is full of after gaseous, its one end of stretching out alright with the object side wall contact to produce certain frictional force to the object, make placing in the manipulator that the object can be firm, prevent effectively that the object from breaking away from mutually with the manipulator.

The gas transmission assembly 8 comprises an installation box 81 and an adjusting sleeve 82, an inflator 83 is fixedly installed in the installation box 81, a pipeline 84 communicated with the inside of the adjusting sleeve 82 is connected to the inflator 83, a piston plate 85 is movably installed inside the adjusting sleeve 82, a rubber sealing ring is sleeved on the side wall of the piston plate 85, a certain amount of gas is stored in a cavity located on the lower side of the piston plate 85 inside the adjusting sleeve 82, a gas outlet 86 is formed in the upper end of the side wall of the adjusting sleeve 82, and the lower end of the side wall of the adjusting sleeve 82 is connected with the gas transmission pipe 71.

The inflator 83 in the installation box 81 generates gas and transmits the gas into the adjusting sleeve 82 through the pipeline 84, and with the continuous increase of the gas at the upper part of the adjusting sleeve 82, the gas can push the piston plate 85 in the adjusting sleeve 82 to move downwards, so that the gas in the cavity at the lower part of the adjusting sleeve 82 is discharged into the force adjusting air bag 7, and the force adjusting air bag 7 is expanded.

Electromagnetic valves are arranged on the pipeline 84, the air pipe 71 and the air outlet 86, when the inflator 83 inflates the strength adjusting air bag 7, the electromagnetic valves on the pipeline 84 and the air pipe 71 are opened, the air can smoothly enter the force adjusting air bag 7, the electromagnetic valves on the pipeline 84 and the air pipe 71 are closed in the clamping process of the manipulator, after the clamping of the manipulator is finished, the electromagnetic valves on the air pipe 71 and the exhaust port 86 are opened, so that the air in the force adjusting air bag 7 can return to the lower cavity in the adjusting sleeve 82 again, and the air in the upper cavity of the adjusting sleeve 82 can be exhausted through the exhaust port 86, the pipeline 84, the air pipe 71 and the electromagnetic valve on the exhaust port 86 are matched for use, so that the air transmission assembly 8 and the force adjusting air bag 7 can be perfectly matched, so that the force adjusting air bag 7 can be adjusted according to the weight of the object when the manipulator is used.

This embodiment is through setting up the dynamics in clamping jaw 4 and adjusting gasbag 7, and the gas transmission subassembly 8 that 7 cooperations of gasbag were used is adjusted with the dynamics in installation on riser 11, can the dynamics adjust conveying gas in gasbag 7 through gas transmission subassembly 8, make 7 increase in size of gasbag are adjusted to the dynamics, when the dynamics is adjusted gasbag 7 and is stretched out holding tank 41 and object contact, alright consolidate the object to the not hard up of clamping jaw 4, so that the object is by firm centre gripping in operation process in the manipulator, make the manipulator have certain dynamics regulatory function when the centre gripping object, prevent to cause to drop easily among the clamping process or the centre gripping dynamics is too big and make the object take place to damage.

Example 3

Referring to fig. 5-8, a further improvement is made on the basis of example 1:

dynamics adjusting part 9 is installed to the downside front and back symmetry of connecting plate 3, and dynamics adjusting part 9 can upwards carry out the pulling to the object to behind manipulator centre gripping object, support the object of hoist and mount through dynamics adjusting part 9, and utilize the elasticity of self to upwards promote the object, thereby reduce the gravity that two clamping jaws 4 bore, make the firm placing of object between clamping jaw 4.

Dynamics adjusting part 9 includes circle sleeve 91 and movable rod 92, inside movable rod 92's one end was run through and is stretched into circle sleeve 91, movable rod 92's both ends fixedly connected with limiting plate 93 respectively, limiting plate 93's setting can avoid movable rod 92 from the interior roll-off of circle sleeve 91 to guarantee that dynamics adjusting part 9 can play the effect of supporting the object all the time, through lower the bottom at the object with the limiting plate 93 card of downside, alright can support the object bottom when manipulator centre gripping object.

The inside cover that lies in circle sleeve 91 on movable rod 92 is equipped with the elastic component, and movable rod 92 can remove in circle sleeve 91 under the effect of elastic component to make whole dynamics adjusting part 9's length reduce, make dynamics adjusting part 9 can make the limiting plate 93 of downside pull up, make the limiting plate 93 of downside upwards push away the animal body.

The elastic member is a spring 94, the spring 94 is in a compressed state in the circular sleeve 91, and after the manipulator clamps the object, the spring 94 extends, so that the limiting plate 93 on the lower side can move upwards, and the limiting plate 93 can support the object upwards.

The elastic component is including removing ring 95 and flexure strip 96, and removal ring 95 is equipped with two, and all overlaps and establish on movable rod 92 to can reciprocate along movable rod 92, be connected with flexure strip 96 between two removal rings 95, flexure strip 96 extends under the elastic force effect, alright make movable rod 92 stretch into in the circle sleeve, and drive downside limiting plate 93 and shift up, reached the purpose that supports the object.

This embodiment can drive downside limiting plate 93 through dynamics adjusting part 9 and upwards promote and draw to make limiting plate 93 support the object of hoist and mount, and utilize the elasticity of self to upwards promote the object, thereby reduce the gravity that two clamping jaws 4 bore, make firm placing of object between clamping jaw 4, reached and adjusted the centre gripping dynamics of manipulator in the centre gripping process.

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. The utility model provides an industrial robot of dynamics is snatched in adjustable, includes mount pad (1) and cylinder (2) of fixed mounting on mount pad (1), its characterized in that: clamping jaws (4) are rotatably mounted at two ends of the mounting seat (1), the output end of the air cylinder (2) penetrates through the mounting seat (1) and is fixedly connected with a connecting plate (3), supporting rods (5) are rotatably mounted at two ends of the connecting plate (3), and the tail ends of the supporting rods (5) are rotatably connected to the clamping jaws (4);

lower extreme centre gripping department fixedly connected with dynamics of clamping jaw (4) is adjusted and is filled up (6), dynamics is adjusted and is filled up (6) L type rubber strip, the upside of mount pad (1) is located both sides fixedly connected with riser (11) respectively of cylinder (2), two the common fixedly connected with installation roof (12) in upper end of riser (11).

2. An industrial robot with adjustable gripping force according to claim 1, characterized in that: holding tank (41) have been seted up to the lower extreme of clamping jaw (4), install dynamics in holding tank (41) and adjust gasbag (7), the lateral wall fixed mounting of riser (11) has gas transmission subassembly (8), gas transmission subassembly (8) are connected with dynamics regulation gasbag (7) through gas-supply pipe (71).

3. An industrial robot with adjustable gripping force according to claim 2, characterized in that: gas transmission subassembly (8) include install bin (81) and adjusting sleeve (82), fixed mounting has inflator pump (83) in install bin (81), be connected with pipeline (84) that are linked together with adjusting sleeve (82) inside on inflator pump (83), adjusting sleeve (82) inside movable mounting has piston plate (85), the lateral wall upper end of adjusting sleeve (82) is equipped with gas vent (86), the lateral wall lower extreme of adjusting sleeve (82) is connected with gas-supply pipe (71).

4. An industrial robot with adjustable gripping force according to claim 3, characterized in that: the pipeline (84), the air conveying pipe (71) and the air outlet (86) are all provided with electromagnetic valves.

5. An industrial robot with adjustable gripping force according to claim 3, characterized in that: dynamics adjusting part (9) are installed to the downside front and back symmetry of connecting plate (3).

6. An industrial robot with adjustable gripping force according to claim 5, characterized in that: dynamics adjusting part (9) are including circle sleeve (91) and movable rod (92), the one end of movable rod (92) is run through and is stretched into inside circle sleeve (91), the both ends difference fixedly connected with limiting plate (93) of movable rod (92), it is equipped with the elastic component to lie in the inside cover of circle sleeve (91) on movable rod (92).

7. An industrial robot with adjustable gripping force according to claim 6, characterized in that: the elastic member is a spring (94).

8. An industrial robot with adjustable gripping force according to claim 6, characterized in that: the elastic piece is including removing ring (95) and flexure strip (96), it is equipped with two to remove ring (95), and all establishes on movable rod (92), two it is connected with flexure strip (96) to remove between ring (95).

9. Use of an industrial robot with adjustable gripping force according to claim 5, characterized in that it comprises the following steps:

s1, a mechanical arm can be conveniently installed on a mechanical arm through an installation top plate (12), a connecting plate (3) can be driven to move up and down through an air cylinder 2, a supporting rod (5) is driven to move through the connecting plate (3), a clamping jaw (4) can be opened and closed, and an object can be clamped;

s2, when the object is clamped by the force adjusting pad (6) arranged on the clamping jaw (4), when the object tends to slide downwards, the object is prevented from sliding off the two clamping jaws (4) due to the reduction of the clamping force of the clamping jaw (4) on the object by using the friction force between the force adjusting pad (6) and the object;

s3, gas can be conveyed into the force adjusting air bag (7) through the gas conveying assembly (8), so that the force adjusting air bag (7) is expanded, when the clamping jaw (4) clamps an object and then becomes loose, the force adjusting air bag (7) is utilized to increase the friction force between the clamping jaw (4) and the object, and the object is prevented from sliding off;

s4, the force adjusting assembly (9) can upwards support the object after the clamping jaws (4) clamp the object, and upwards lift the object by utilizing the elasticity of the force adjusting assembly, so that the gravity borne by the two clamping jaws (4) is reduced.