Shock-absorbing clamping device for robot and intelligent box carrying method based on device

Abstract

The invention relates to a shock-absorbing clamping device for a robot and an intelligent box carrying method based on the clamping device. The clamping device comprises a motor, a transmission device and clamping jaws; the transmission device comprises a worm gear-worm mechanism, a tire coupling and a belt transmission mechanism; the motor is connected with a small belt pulley shaft of the belt transmission mechanism through the tire coupling; a large belt pulley shaft of the belt transmission mechanism and a worm of the worm gear-worm mechanism adopt an integrated structure; the worm drives the two clamping jaws synchronously to act through two symmetrically-arranged worm gears; each clamping jaw and the corresponding worm gear adopt an integrated structure; anti-skid and shock-absorbing pads are arranged on the inner sides of clamping surfaces of the clamping jaws; and by the aid of the structure, the shock-absorbing clamping device has the characteristics of displacement compensation, overload protection, reverse travel self-locking, skid prevention and shock absorbing. Various elastic elements are added in the clamping device to keep the shock-absorbing performance of the clamping device; and meanwhile, the overload protection performance is realized through the belt transmission mechanism, and the function that the robot intelligently selects and carries boxes in different weight is realized on the basis.

Description

technical field [0001] The invention relates to the technical field of industrial robots, in particular to a robot vibration-damping clamping device and an intelligent box body handling method based on it. Background technique [0002] In today's society, the application of industrial robots is more and more extensive. For the manufacturing industry, the application of industrial robots (especially handling robots) is an important condition for realizing automation. Nowadays, most of the common handling robots adopt hydraulic transmission, which has a large clamping force and a strong carrying capacity; but the disadvantages are complex structure, high cost, and easy leakage. In some specific cases, the handling robot needs to control its clamping force. For example, in the manufacturing workshop of precision parts such as bearings, the size of the packaging box is about 100mm×100mm×100mm, and the weight of the clamped object is ≤6kg. Use a large clamping force, because to...

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Problems solved by technology

[0003] The Chinese patent whose authorized publication number is CN103057955B discloses a kind of "carrying clamp and its application in the three-way valve handling process", and the Chinese patent whose authorized publication number is CN104150026B discloses a kind of "empty carton clamping device". device", the Chinese patent whose authorized public announcement number is CN101554891B discloses a kind of "aerial cable climbing robot clamping mechanism", this type of clamping mechanism usually uses a drive hydraulic cylinder / air cylinder, a motor or a spring as a power accumulator, with As a common transmission mechanism, single-stage rack and pinion, belt and rod mechanism can clamp different work objects, but the disadvantage is that the hydraulic components are prone to leakage risks, and the clamping force is not easy to control, and it is easy to damage the box body. The surface or even the internal workpieces cause damage; at the same time, most of the clamping end pieces are metal components. Due to the direct contact between the metal clamping end pieces and the work object, and the lack of elastic elements in the whole device, such as cushioning and vibration absorption structures, the clamping is not good during the working process. The stable phenomenon is more prominent

[0004] In addition, in some occasions such as the finished product assembly workshop, various boxes with different parts have different weights, and sometimes the weights vary greatly. If a robot with a uniform specification is used for handling, when the rated load of the robot is less than the weight of the box , it is easy to cause damage to the transmission mechanism of the robot clamping device. If all the robots are designed according to the maximum rated load, it is bound to increase equipment investment and operating costs.

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