A motor-cylinder clamping mechanism based on parallel movable disk

Abstract

The present invention relates to a motor-cylinder clamp mechanism based on a parallel movable disk, comprising an active arm, a driven arm, a clamp structure and a movable disk; a motor is installed at one end of the active arm, and a transmission mechanism is installed at the other end, which is used to control the driven arm to rotate; a clamp mechanism is movably installed at the lower end of the driven arm, which is used to realize the grasping movement; a movable disk is also fixed on the active arm, and the upper end of the movable disk is connected to the driven arm of the robot. The present invention has two degrees of freedom, can realize grasping and rotating movements at the same time, and has made great progress in the flexibility of the mechanism.

Description

Technical Field

[0001] The invention belongs to the technical field of parallel robots and relates to a motor cylinder clamping mechanism of a parallel robot, in particular to a motor cylinder clamping mechanism based on a parallel movable disk. Background Art

[0002] With the widespread promotion of industrial robots in various fields and the continuous efforts of industrial robot manufacturers, industrial robots have gained more and more recognition and application in science and technology fields with high standards such as food, medicine, 3C electronics and aerospace. Along with this, parallel robots have problems according to the current industry needs and status quo:

[0003] In the daily chemical and sorting industries, in order to adapt to the changing demands for incoming materials, the requirements for the adjustability of the robot's end gripper are gradually increasing. At present, the robot's end gripper is often relatively simple in terms of degree of freedom and can only achieve a single grasping motion, which cannot meet the high requirements for the flexibility of the parallel robot's end effector at the end of the production line. Summary of the invention

[0004] The purpose of the present invention is to overcome the deficiencies of the prior art and to provide a motor cylinder clamping mechanism based on a parallel movable disk which is reasonably designed, easy to manufacture and install, runs smoothly and can achieve two-degree-of-freedom motion.

[0005] A motor cylinder clamping mechanism based on a parallel movable disk comprises an active arm, a driven arm, a clamping structure and a movable disk; a motor is installed at one end of the active arm, and a transmission mechanism is installed at the other end for controlling the driven arm to perform rotational motion; a clamping mechanism is movably installed at the lower end of the driven arm for realizing grasping motion; a movable disk is also fixedly installed on the active arm, and the upper end of the movable disk is connected to the driven arm of the robot.

[0006] Moreover, the bottom of the movable disk is fixedly mounted with the active arm through a clamping mechanism, and the clamping mechanism is a U-shaped ring coaxially sleeved on the active arm.

[0007] Moreover, the active arm is connected with the driven arm through a clamp to maintain the relative positions of the active arm and the driven arm.

[0008] Moreover, the transmission mechanism includes an active paddle wheel and a driven groove wheel; the active paddle wheel is installed at one end of the active arm and driven by a motor installed at the other end of the active arm, and a plurality of paddle pins are radially provided on the end surface of the active paddle wheel facing the driven arm; the driven groove wheel is coaxially sleeved on the driven arm, and a plurality of radial grooves that can engage with the paddle pins are formed on the driven groove wheel.

[0009] Moreover, the detent pin is composed of a pin shaft and a bearing, and each pin shaft is sleeved with a bearing.

[0010] Moreover, a cylinder is installed at the top of the driven arm, and the clamping structure includes a clamping shaft, a plurality of clamping arms, a plurality of connecting rods and a plurality of clamping heads detachably installed at the lower end of the clamping arm; the output shaft of the cylinder is connected to the clamping shaft, and can drive the clamping shaft to reciprocate in the vertical direction; a hinge seat is fixedly installed at the bottom of the clamping shaft, and the hinge seat is hinged to one end of each connecting rod respectively, and the other end of each connecting rod is hinged to the corresponding clamping arm respectively, and the upper end of each clamping arm is hinged to the clamping shaft respectively, and can move up and down with the clamping shaft.

[0011] Moreover, a clamping jaw shaft sleeve is coaxially sleeved on the clamping jaw shaft, and the plurality of clamping arms respectively pass through a plurality of long grooves formed on the lower part of the clamping jaw shaft sleeve.

[0012] Moreover, the number of the clamping arms, the connecting rods and the clamping heads are all three.

[0013] Advantages and beneficial effects of the present invention:

[0014] 1. The present invention provides a motor cylinder clamping mechanism based on a parallel movable disk, which has two degrees of freedom. Through the cooperation of the motor, transmission mechanism, cylinder and clamping mechanism, grasping and rotational motion can be achieved simultaneously, achieving a relatively large improvement in the flexibility of the mechanism.

[0015] 2. The clamping head of the clamping jaw of the present invention is detachably mounted on the lower end of the clamping arm, and can be adjusted according to the caliber of the grasped object and the production line requirements. It is widely used in the glass bottle production industry. Replacing the clamping head can meet the production requirements of different variable-diameter bottles, thereby increasing production efficiency. This clamping jaw structure is also used for the first time in the glass bottle transfer process. Combined with the advantages of high speed and high precision of the parallel robot, it greatly improves the production efficiency of the production line.

[0016] 3. The present invention is a dynamic platform mechanism based on a parallel robot, and is also a derivative of the robot end effector. Compared with the existing movable disk structure, the present invention can enable the end of the robot to obtain two more degrees of freedom to adapt to different application environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0018] Figure 2 It is an exploded view of the overall structure of the present invention (I);

[0019] Figure 3 It is the exploded view of the overall structure of the present invention (II);

[0020] Figure 4 It is a schematic diagram of the clamping jaw structure of the present invention.

[0021] Description of reference numerals:

[0022] 1-motor; 2-active arm; 3-movable disk; 4-clamping mechanism; 5-driven arm; 6-clamping mechanism; 7-active pulley; 8-cylinder; 9-driven groove wheel; 10-clamp; 11-clamping sleeve; 12-clamping shaft; 13-hinge seat; 14-clamping arm; 15-connecting rod; 16-chuck; 17-pull pin; 18-radial groove. DETAILED DESCRIPTION

[0023] The embodiments of the present invention are further described in detail below with reference to the accompanying drawings:

[0024] A motor-cylinder clamping mechanism based on a parallel movable disk, such as Figures 1 to 4 As shown, it includes an active arm, a driven arm, a clamping structure and a movable disk; a motor is installed at one end of the active arm, and a transmission mechanism is installed at the other end for controlling the rotational movement of the driven arm; a clamping mechanism is movably installed at the lower end of the driven arm for realizing the grasping movement; a movable disk is also fixedly installed on the active arm, and the upper end of the movable disk is connected to the driven arm of the robot.

[0025] In this embodiment, the bottom of the movable disk is fixedly mounted with the active arm through a clamping mechanism, and the clamping mechanism is a U-shaped ring coaxially sleeved on the active arm.

[0026] The bottom of the movable plate is fixed with a mounting base, which is symmetrically provided with four mounting heads, and two mounting heads symmetrically mounted on both ends of the U-shaped ring are respectively fixed together by screws. The mounting base can simultaneously and parallelly mount two U-shaped rings.

[0027] In this embodiment, the active arm is connected to the driven arm through a clamp to maintain the relative position of the active arm and the driven arm.

[0028] In this embodiment, the clamp includes a connecting ring coaxially sleeved on the driven arm and connecting arms integrally formed with the connecting ring and located on both sides of the connecting ring.

[0029] In this embodiment, the transmission mechanism includes an active paddle wheel and a driven groove wheel; the active paddle wheel is installed at one end of the active arm and driven by a motor installed at the other end of the active arm, and a plurality of paddle pins are radially provided on the end surface of the active paddle wheel facing the driven arm; the driven groove wheel is coaxially sleeved on the driven arm, and a plurality of radial grooves that can mesh with the paddle pins are formed on the driven groove wheel. When the motor drives the active paddle wheel to rotate, it can drive the driven groove wheel and the driven arm to rotate.

[0030] In this embodiment, the detent pin is composed of a pin shaft and a bearing, and a bearing is sleeved on each pin shaft to ensure that the detent pin slides stably in the radial groove.

[0031] The working principle of the transmission mechanism of the present invention is:

[0032] The transmission mechanism is a spherical sheave mechanism with two intersecting axes at an angle of 90°. The driven sheave 9 is circular, and the axis of the active pulley 7 (driven by a motor) and the axis of the pull pin 3 both pass through the center of the circle. The working process of this mechanism is similar to that of the flat sheave mechanism.

[0033] The pins on the active pulley of the present invention are designed to be symmetrical in multiple groups, and the driven groove wheel is also designed to have multiple groups of radial grooves corresponding to the pins. The movement principle is that when the pins on one side are disengaged from the radial grooves of the driven groove wheel, the other pin enters another adjacent groove of the driven groove wheel, so the driven groove wheel realizes continuous rotation.

[0034] In this embodiment, a cylinder is installed at the top of the driven arm, and the clamping structure includes a clamping shaft, a plurality of clamping arms, a plurality of connecting rods and a plurality of clamping heads detachably installed at the lower end of the clamping arm; the output shaft of the cylinder is connected to the clamping shaft, and can drive the clamping shaft to reciprocate in the vertical direction; a hinged seat is fixedly installed at the bottom of the clamping shaft, and the hinged seat is hinged to one end of each connecting rod respectively, and the other end of each connecting rod is hinged to the corresponding clamping arm respectively, and the upper end of each clamping arm is hinged to the clamping shaft respectively, and can move up and down with the clamping shaft.

[0035] In this embodiment, a clamping jaw sleeve is coaxially mounted on the clamping jaw shaft, and the plurality of clamping arms extend out from a plurality of long grooves formed at the bottom of the clamping jaw sleeve respectively.

[0036] In this embodiment, the number of the clamping arms, the connecting rods and the clamping heads are all three.

[0037] The working principle of the clamping mechanism of the present invention is:

[0038] The movement principle of the clamp mechanism of the present invention is a variation of the crank slider mechanism. The clamp shaft directly connected to the cylinder is the slider mechanism in the principle, the clamp arm is the connecting rod in the principle, and the connecting rod is the crank in the principle. The movement process is as follows: first, the cylinder moves downward to drive the clamp shaft and the clamp arm to move downward. Since the clamp arm is connected to the connecting rod, a crank slider mechanism is formed to make the clamp head at the lower end of the clamp arm move inward (three clamp arms are linked) to complete the clamp gripping movement;

[0039] The opening and closing motion is opposite to the clamping motion. The cylinder moves upward, causing the clamp at the lower end of the clamp arm to move outward.

[0040] The working principle of the present invention is:

[0041] The motor drives the driven arm and the clamping mechanism to rotate through the transmission mechanism, and then controls the opening and closing of the clamping jaws through the vertical reciprocating motion of the cylinder. Finally, the robot controls the movable disk to move within a range, thereby realizing the grasping and rotating motion.

[0042] It should be emphasized that the embodiments of the present invention are illustrative rather than restrictive. Therefore, the present invention includes but is not limited to the embodiments described in the specific implementation modes. Any other implementation modes derived by those skilled in the art based on the technical solutions of the present invention also fall within the scope of protection of the present invention.

Claims

1. A motor-cylinder clamping mechanism based on a parallel movable disk, Features: It includes an active arm, a driven arm, a clamping claw structure and a movable disk; a motor is installed at one end of the active arm and a transmission mechanism is installed at the other end for controlling the driven arm to rotate; a clamping claw mechanism is movably installed at the lower end of the driven arm for realizing the grasping movement; a movable disk is also fixedly installed on the active arm, and the upper end of the movable disk is connected to the robot driven arm; The bottom of the movable disk is fixedly mounted with the active arm through a clamping mechanism, and the clamping mechanism is a U-shaped ring coaxially sleeved on the active arm; The active arm is connected to the driven arm through a clamp to maintain the relative position of the active arm and the driven arm; The transmission mechanism comprises an active paddle wheel and a driven groove wheel; the active paddle wheel is mounted at one end of the active arm and driven by a motor mounted at the other end of the active arm, and a plurality of paddle pins are radially arranged on the end surface of the active paddle wheel facing the driven arm; the driven groove wheel is coaxially sleeved on the driven arm, and a plurality of radial grooves capable of meshing with the paddle pins are formed on the driven groove wheel; The detent pin is composed of a pin shaft and a bearing, and a bearing is sleeved on each pin shaft; A cylinder is installed at the top of the driven arm, and the clamping structure includes a clamping shaft, multiple clamping arms, multiple connecting rods and multiple clamping heads detachably installed at the lower end of the clamping arm; the output shaft of the cylinder is connected to the clamping shaft, and can drive the clamping shaft to reciprocate in the vertical direction; a hinge seat is fixedly installed at the bottom of the clamping shaft, and the hinge seat is hinged to one end of each connecting rod respectively, and the other end of each connecting rod is hinged to the corresponding clamping arm respectively, and the upper end of each clamping arm is hinged to the clamping shaft respectively, and can move up and down with the clamping shaft.

2. A motor-cylinder clamping mechanism based on a parallel movable disk according to claim 1, Features: A clamping jaw shaft sleeve is coaxially sleeved on the clamping jaw shaft, and the plurality of clamping arms respectively pass through a plurality of long grooves formed on the lower part of the clamping jaw shaft sleeve.

3. The motor-cylinder clamping mechanism based on parallel movable disk according to claim 1, Features: The number of the clamping arms, connecting rods and clamping heads are all three.

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