Flexible grasping mechanism and grasping method for plate-shaped objects

Abstract

The present invention proposes a flexible gripping mechanism for plate-like objects, comprising: a horizontal connecting seat, a lifting platform, a clamping claw frame, a horizontal in-place sensor, and a vertical in-place sensor; a lifting seat and a first hydraulic cylinder are provided on the horizontal connecting seat; one end of the lifting platform is vertically slidably assembled in the lifting seat, a second hydraulic cylinder is provided on the lifting seat, and the protruding end of the second hydraulic cylinder is connected to the lifting platform; the clamping claw frame is connected to the front end of the lifting platform, a clamping claw platform is provided in the middle of the clamping claw frame, a rear clamping claw is provided at the rear end of the lower part of the clamping claw platform, a gripping cylinder is longitudinally and horizontally provided on the upper part of the clamping claw frame, and a front clamping claw is connected to the end of the gripping cylinder; the horizontal in-place sensor is transversely provided on the rear clamping claw, and a T-shaped trigger rod with one end facing the horizontal in-place sensor is hinged on the rear clamping claw; the vertical in-place sensor is vertically provided on the clamping claw platform. The present invention also proposes a flexible gripping method for plate-like objects, which is implemented using the flexible gripping mechanism for plate-like objects described above.

Description

Technical Field

[0001] The invention belongs to the field of mine vehicle equipment, and particularly relates to a flexible grasping mechanism and a grasping method for a plate-shaped object. Background Art

[0002] During mine construction, it is often necessary to remove and hang the connecting chain between two mine cars. Due to the different models of mine cars in the mine, the models and sizes of the connecting chains between the two mine cars are also different. Due to the inaccurate positioning of the mine cars, the connecting chain between the two mine cars may not be placed horizontally, and the thickness and length and width positions of the connecting chain also change. The overall outline of the connecting chain is equivalent to a plate-like object of uncertain size. These all require the grasping mechanism to adapt to it and complete the final grasping. Summary of the Invention

[0003] In view of this, an object of the present invention is to provide a flexible gripping mechanism and gripping method for plate-like objects, so as to overcome the above-mentioned problems or at least partially solve or alleviate the above-mentioned problems.

[0004] The present invention provides a flexible gripping mechanism for plate-shaped objects, comprising:

[0005] A horizontal connecting seat, on which a lifting seat and a first hydraulic cylinder are provided, wherein the first hydraulic cylinder can push the lifting seat to move longitudinally;

[0006] A lifting platform, one end of which is vertically slidably assembled in the lifting seat, a second hydraulic cylinder is provided on the lifting seat, and an extended end of the second hydraulic cylinder is connected to the lifting platform;

[0007] A clamping frame, the clamping frame is connected to the front end of the lifting platform, a clamping platform is provided in the middle of the clamping frame, a rear clamping claw is provided at the rear end of the lower part of the clamping claw platform, a grabbing cylinder is provided in the upper part of the clamping frame in the longitudinal direction, the end of the grabbing cylinder is connected to the front clamping claw, and the lower end of the front clamping claw is bent inward and toward the rear clamping claw;

[0008] a horizontal in-place sensor, the horizontal in-place sensor being laterally arranged on the rear clamping jaw, the rear clamping jaw being hinged with a T-shaped trigger lever, one end of the T-shaped trigger lever being directed toward the horizontal in-place sensor;

[0009] A vertical in-place sensor is vertically arranged on the clamping claw platform, with its detection end extending downwardly from the clamping claw platform, and a horizontal plate is vertically slidably arranged on the lower side of the clamping claw platform.

[0010] The present invention also has the following optional features.

[0011] Optionally, the clamping claw frame is rotatably connected to the front end of the lifting platform, a swing traction mechanism is provided between one side of the clamping claw frame and the lifting platform, and a tension spring is provided between the other side of the clamping claw frame and the lifting platform.

[0012] Optionally, the swing traction mechanism includes:

[0013] a third hydraulic cylinder, the third hydraulic cylinder being laterally arranged on the lifting platform, the end of the third hydraulic cylinder being connected to a steel cable, and the lifting platform being further provided with a guide wheel;

[0014] A wire sleeve and a connector are arranged on the upper part of one side of the clamping claw frame. The steel cable passes through the wire sleeve after passing around the guide wheel and is connected to the connector.

[0015] Optionally, a pair of first guide rods are longitudinally provided on the horizontal connecting seat, and a pair of first guide sleeves are longitudinally provided at the lower end of the lifting seat, and the two first guide sleeves are respectively matched with the two guide rods.

[0016] Optionally, a plurality of second guide rods are vertically arranged in the lifting seat, and a plurality of second guide sleeves are vertically arranged at the rear end of the lifting platform, and each second guide sleeve is matched with one of the second guide rods.

[0017] Optionally, a guide plate is vertically provided at the front end of the clamping jaw frame, a third guide rod is longitudinally provided at the front end of the guide plate, a third guide sleeve is provided on the front clamping jaw, and the third guide sleeve cooperates with the third guide rod.

[0018] Optionally, a fourth guide rod is vertically provided on the upper side of the transverse plate, and a fourth guide sleeve is provided on the clamping jaw platform, and the fourth guide sleeve cooperates with the fourth guide rod.

[0019] The present invention also provides a method for flexible grasping of plate-shaped objects, which is implemented using the flexible grasping mechanism for plate-shaped objects described above, and includes the following steps:

[0020] S001: The first hydraulic cylinder on the horizontal connecting seat pushes the lifting seat to move above the plate-like object, and the grabbing cylinder extends, driving the front gripper to open;

[0021] S002: The second hydraulic cylinder on the lifting seat extends downward, pushing the lifting platform down, so that the plate-shaped object enters between the front clamping jaws and the rear clamping jaws;

[0022] S003: The grabbing cylinder retracts, driving the front gripper to move toward the rear gripper to grab the plate-like object.

[0023] The flexible gripping mechanism and method for plate-like objects of the present invention utilize a first hydraulic cylinder to propel the lifting platform above the plate-like object, and the gripping cylinder drives the front clamping jaws to open. A second hydraulic cylinder drives the lifting platform downward, allowing the plate-like object to enter between the front and rear clamping jaws until the plate-like object triggers a vertical position sensor. The gripping cylinder then drives the front clamping jaws toward the rear clamping jaws to grasp the plate-like object until the plate-like object triggers a horizontal position sensor, at which point the gripping cylinder stops, allowing the front and rear clamping jaws to fully grasp the plate-like object. The flexible gripping mechanism and method for plate-like objects of the present invention can grasp plate-like objects that are not placed horizontally, have varying thicknesses, or have varying length and width dimensions. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is an overall structural diagram of the flexible grasping mechanism for plate-shaped objects of the present invention;

[0025] Figure 2 This is a diagram of the gripping state of the flexible gripping mechanism for a plate-shaped object of the present invention;

[0026] Figure 3 yes Figure 1 and Figure 2 The structural diagram of the gripper platform in .

[0027] In the above figure: 1. Horizontal connecting seat; 2. Lifting seat; 3. First hydraulic cylinder; 4. Lifting platform; 5. Gripper frame; 6. Gripper platform; 7. Rear gripper; 8. Horizontal in-place sensor; 9. Grasping cylinder; 10. Front gripper; 11. T-shaped trigger rod; 12. Vertical in-place sensor; 13. Horizontal plate; 14. Tension spring; 15. Third hydraulic cylinder; 16. Guide wheel; 17. Wire sleeve; 18. Connector; 19. First guide rod; 20. First guide sleeve; 21. Second guide rod; 22. Second guide sleeve; 23. Guide plate; 24. Third guide rod; 25. Third guide sleeve; 26. Fourth guide rod; 27. Fourth guide sleeve; 28. Chain; 29. ​​Second hydraulic cylinder.

[0028] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. DETAILED DESCRIPTION

[0029] Example 1

[0030] refer to Figure 1 、 Figure 2 and Figure 3The embodiment of the present invention provides a flexible gripping mechanism for plate-shaped objects, comprising: a horizontal connecting base 1, a lifting platform 4, a clamping claw frame 5, a horizontal in-place sensor 8, and a vertical in-place sensor 12; a lifting base 2 and a first hydraulic cylinder 3 are provided on the horizontal connecting base 1, and the first hydraulic cylinder 3 can push the lifting base 2 to move longitudinally; one end of the lifting platform 4 is vertically slidably assembled in the lifting base 2, and a second hydraulic cylinder 29 is provided on the lifting base 2, and the extended end of the second hydraulic cylinder 29 is connected to the lifting platform 4; the clamping claw frame 5 is connected to the front end of the lifting platform 4, and a clamping claw platform 6 is provided in the middle of the clamping claw frame 5. The rear end of the lower part of the clamping platform 6 is provided with a rear clamping jaw 7, and the upper part of the clamping jaw frame 5 is provided with a grabbing cylinder 9 in the longitudinal and horizontal direction. The end of the grabbing cylinder 9 is connected to the front clamping jaw 10, and the lower end of the front clamping jaw 10 is bent inward and faces the rear clamping jaw 7; the horizontal in-place sensor 8 is laterally arranged on the rear clamping jaw 7, and a T-shaped trigger rod 11 is hinged on the rear clamping jaw 7, and one end of the T-shaped trigger rod 11 faces the horizontal in-place sensor 8; the vertical in-place sensor 12 is vertically arranged on the clamping jaw platform 6, and its detection end extends downward from the clamping jaw platform 6, and a horizontal plate 13 is vertically slidably provided on the lower side of the clamping jaw platform 6.

[0031] During operation, the large-stroke robotic arm first moves the mechanism to the chain 28 of the plate-like object, and then the first hydraulic cylinder 3 on the horizontal connecting seat 1 pushes the lifting seat 2 to move above the chain 28, and the grabbing cylinder 9 extends, driving the front clamping jaw 10 to open; the second hydraulic cylinder 29 on the lifting seat 2 extends downward, pushing the lifting platform 4 down, so that the chain 28 enters between the front clamping jaw 10 and the rear clamping jaw 7 until the chain 28 contacts the transverse plate 13 and drives the transverse plate 13 to rise until the vertical position sensor 12 is triggered, and the second hydraulic cylinder 29 stops; the grabbing cylinder 9 retracts, driving the front clamping jaw 10 to move toward the rear clamping jaw 7 to grab the chain 28, and the chain 28 pushes the T-shaped trigger rod 11 on the rear clamping jaw 7 to swing backward. One end of the T-shaped trigger rod 11 triggers the horizontal position sensor 8. At this time, the grabbing cylinder 9 stops retracting, and the front clamping jaw 10 and the rear clamping jaw 7 completely grab the chain 28.

[0032] Example 2

[0033] refer to Figure 1 and Figure 2 On the basis of Example 1, the clamping claw frame 5 is rotatably connected to the front end of the lifting platform 4, a swing traction mechanism is provided between one side of the clamping claw frame 5 and the lifting platform 4, and a tension spring 14 is provided between the other side of the clamping claw frame 5 and the lifting platform 4.

[0034] If the plate-like object, such as the chain 28, is tilted as a whole, the clamping frame 5 can be controlled to rotate a certain angle relative to the lifting platform 4 by the swing traction mechanism, so that the clamping platform 6 on the clamping frame 5 swings a certain angle and remains parallel to the plate-like object. When the grasping is completed, the swing traction mechanism releases the clamping frame 5, and the clamping frame 5 returns to its original position under the traction of the tension spring 14.

[0035] Example 3

[0036] refer to Figure 1 and Figure 2 On the basis of Example 2, the swing traction mechanism includes: a third hydraulic cylinder 15, a wire sleeve 17 and a connector 18; the third hydraulic cylinder 15 is horizontally arranged on the lifting platform 4, and the end of the third hydraulic cylinder 15 is connected to a steel cable, and a guide wheel 16 is also provided on the lifting platform 4; the wire sleeve 17 and the connector 18 are arranged on the upper part of one side of the clamping claw frame 5, and the steel cable passes around the guide wheel 16 and then passes through the wire sleeve 17 and is connected to the connector 18.

[0037] In the initial state, the third hydraulic cylinder 15 pre-pulls the steel cable to move a certain distance, so that the tension of the traction connector 18 after the steel cable passes around the guide wheel 16 is balanced with the tension of the tension spring 14 pulling the clamping frame 5. At this time, the clamping frame 5 remains in the center.

[0038] When the gripper frame 5 needs to swing to the side where the guide wheel 16 is located, the third hydraulic cylinder 15 continues to retract, and the connecting head 18 is pulled by the steel cable to swing to the side of the guide wheel 16, thereby driving the entire gripper frame 5 to swing to the side of the guide wheel;

[0039] When the clamping jaw frame 5 needs to swing toward the side where the tension spring 14 is located, the third hydraulic cylinder 15 extends a certain distance to release a section of the steel cable, and the tension spring 14 pulls the entire clamping jaw frame 5 to swing toward the side where the tension spring 14 is located.

[0040] Example 4

[0041] refer to Figure 1 On the basis of Example 2, a pair of first guide rods 19 are longitudinally provided on the horizontal connecting seat 1, and a pair of first guide sleeves 20 are longitudinally provided at the lower end of the lifting seat 2. The two first guide sleeves 20 are respectively matched with the two guide rods 19.

[0042] The horizontal connecting seat 1 is connected to the large-stroke robotic arm. A pair of first guide rods 19 are longitudinally and horizontally arranged on the horizontal connecting seat 1. The two first guide rods 19 can cooperate with the two first guide sleeves 20 at the lower part of the lifting seat 2 to guide the lifting seat 2 longitudinally.

[0043] Example 5

[0044] refer to Figure 1On the basis of Example 1, a plurality of second guide rods 21 are vertically arranged in the lifting seat 2, and a plurality of second guide sleeves 22 are vertically arranged at the rear end of the lifting platform 4, and each second guide sleeve 22 is respectively matched with a second guide rod 21.

[0045] The upper part of the lifting seat 2 is a frame-shaped structure. Four second guide rods 21 are vertically arranged in the lifting seat 2. Four second guide sleeves 22 are provided at the rear end of the lifting platform 4. The four second guide sleeves 22 are respectively sleeved on the four second guide rods 21. The second hydraulic cylinder 3 is arranged on the top of the lifting seat 2. Its protruding end is connected to the rear end of the lifting platform 4, driving the lifting platform 4 to move vertically along the four second guide rods 21.

[0046] Example 6

[0047] refer to Figure 1 、 Figure 2 and Figure 3 On the basis of Example 1, a guide plate 23 is vertically provided at the front end of the clamping jaw frame 5, a third guide rod 24 is longitudinally provided at the front end of the guide plate 23, and a third guide sleeve 25 is provided on the front clamping jaw 10, and the third guide sleeve 25 cooperates with the third guide rod 24.

[0048] Two third guide rods 24 are arranged horizontally in the front longitudinal direction of the guide plate 23. The two third guide sleeves 25 on the front clamping jaw 10 are respectively matched with the two third guide rods 24. When the grabbing cylinder 9 pushes the front clamping jaw 10 to open, the front clamping jaw 10 moves along the two third guide rods 24 through the two third guide sleeves 25.

[0049] Example 7

[0050] refer to Figure 3 On the basis of Example 1, a fourth guide rod 26 is vertically provided on the upper side of the transverse plate 13 , and a fourth guide sleeve 27 is provided on the clamping jaw platform 6 , and the fourth guide sleeve 27 cooperates with the fourth guide rod 26 .

[0051] The transverse plate 13 cooperates with the two fourth guide sleeves 27 on the clamping platform 6 through two vertical fourth guide rods 26. When the transverse plate 13 contacts the chain 28, the transverse plate 13 is pushed upward by the chain 28 until the transverse plate 13 contacts the vertical position sensor 12.

[0052] Example 8

[0053] refer to Figure 1 、 Figure 2 and Figure 3An embodiment of the present invention further provides a method for flexible grasping of plate-like objects, which is implemented using the flexible grasping mechanism for plate-like objects described above, and includes the following steps: S001: The first hydraulic cylinder 3 on the horizontal connecting seat 1 pushes the lifting seat 2 to move above the plate-like object, and the grasping cylinder 9 extends, driving the front clamping jaw 10 to open; S002: The second hydraulic cylinder 3 on the lifting seat 2 extends downward, pushing the lifting platform 4 down, so that the plate-like object enters between the front clamping jaw 10 and the rear clamping jaw 7; S003: The grasping cylinder 9 retracts, driving the front clamping jaw 10 to move toward the rear clamping jaw 7 to grasp the plate-like object.

[0054] In S001, the horizontal connecting seat 1 is connected to the large-stroke robotic arm, and the robotic arm first moves the horizontal connecting seat 1 to the top of the chain 28 connected between the two mine cars. If the chain 28 is deflected, the swing traction mechanism controls the clamping frame 5 to rotate a certain angle relative to the lifting platform 4, so that the clamping platform 6 on the clamping frame 5 swings a certain angle and is parallel to the chain 28; in S002, as the lifting platform 4 drives the clamping platform 6 to descend, the chain 28 first contacts the transverse plate 13 and pushes the transverse plate 13 to move upward relative to the clamping platform 6 until the vertical position sensor 12 is triggered, and the second hydraulic cylinder 3 stops extending; in S003, the grabbing cylinder 9 drives the front clamping jaw 10 to pick up the chain 28 to the rear clamping jaw 7, so that the chain 28 pushes the T-shaped trigger rod 11 on the rear clamping jaw 7 to swing backward, and one end of the T-shaped trigger rod 11 triggers the horizontal position sensor 8, and the grabbing cylinder 9 stops retracting. At this time, the front clamping jaw 10 and the rear clamping jaw 7 completely grasp the chain 28.

[0055] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed in the present invention should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims. Components and structures not described in detail in this embodiment are well-known components and commonly used structures or commonly used means in the industry and are not described here one by one.

Claims

1. A flexible gripping mechanism for plate-shaped objects, characterized in that: include: A horizontal connecting seat (1), the horizontal connecting seat (1) is connected to a large-stroke mechanical arm, a lifting seat (2) and a first hydraulic cylinder (3) are provided on the horizontal connecting seat (1), and the first hydraulic cylinder (3) is capable of pushing the lifting seat (2) to move longitudinally; A lifting platform (4), one end of which is vertically slidably assembled in the lifting seat (2), a second hydraulic cylinder (29) is provided on the lifting seat (2), and an extended end of the second hydraulic cylinder (29) is connected to the lifting platform (4); A clamping frame (5), the clamping frame (5) is connected to the front end of the lifting platform (4), a clamping platform (6) is provided in the middle of the clamping frame (5), a rear clamping claw (7) is provided at the rear end of the lower part of the clamping claw platform (6), a grabbing cylinder (9) is provided in the upper part of the clamping frame (5) in a longitudinal and horizontal manner, the end of the grabbing cylinder (9) is connected to the front clamping claw (10), and the lower end of the front clamping claw (10) is bent inward and toward the rear clamping claw (7); a horizontal in-place sensor (8), the horizontal in-place sensor (8) being laterally arranged on the rear clamping jaw (7), the rear clamping jaw (7) being hinged with a T-shaped trigger rod (11), one end of the T-shaped trigger rod (11) being directed toward the horizontal in-place sensor (8); A vertical in-place sensor (12), the vertical in-place sensor (12) is vertically arranged on the clamping claw platform (6), a detection end of the sensor extends downward from the clamping claw platform (6), and a transverse plate (13) is vertically slidably arranged on the lower side of the clamping claw platform (6); The clamping claw frame (5) is rotatably connected to the front end of the lifting platform (4); a swing traction mechanism is provided between one side of the clamping claw frame (5) and the lifting platform (4); and a tension spring (14) is provided between the other side of the clamping claw frame (5) and the lifting platform (4); The swing traction mechanism controls the rotation of the clamping frame (5) relative to the lifting platform (4), so that the clamping platform (6) on the clamping frame (5) swings and remains parallel to the plate-shaped object. When the gripping is completed, the swing traction mechanism releases the clamping frame (5), and the clamping frame (5) returns to its original position under the traction of the tension spring (14); The swing traction mechanism comprises: a third hydraulic cylinder (15), the third hydraulic cylinder (15) being laterally arranged on the lifting platform (4), the end of the third hydraulic cylinder (15) being connected to a steel cable, and the lifting platform (4) being further provided with a guide wheel (16); A wire sleeve (17) and a connector (18) are provided on the upper portion of one side of the clamping jaw frame (5); the steel cable passes through the wire sleeve (17) after passing around the guide wheel (16) and is connected to the connector (18).

2. The flexible gripping mechanism for plate-shaped objects according to claim 1, characterized in that: A pair of first guide rods (19) are longitudinally arranged on the horizontal connecting seat (1), and a pair of first guide sleeves (20) are longitudinally arranged at the lower end of the lifting seat (2), and the two first guide sleeves (20) are respectively matched with the two guide rods (19).

3. The flexible gripping mechanism for plate-shaped objects according to claim 1, characterized in that: A plurality of second guide rods (21) are vertically arranged in the lifting seat (2), and a plurality of second guide sleeves (22) are vertically arranged at the rear end of the lifting platform (4), and each second guide sleeve (22) is matched with a second guide rod (21).

4. The flexible gripping mechanism for plate-shaped objects according to claim 1, characterized in that: A guide plate (23) is vertically provided at the front end of the clamping jaw frame (5), a third guide rod (24) is longitudinally provided at the front end of the guide plate (23), a third guide sleeve (25) is provided on the front clamping jaw (10), and the third guide sleeve (25) is matched with the third guide rod (24).

5. The flexible gripping mechanism for plate-shaped objects according to claim 1, characterized in that: A fourth guide rod (26) is vertically arranged on the upper side of the transverse plate (13), and a fourth guide sleeve (27) is arranged on the clamping claw platform (6), and the fourth guide sleeve (27) is matched with the fourth guide rod (26).

6. A method for flexible grasping of plate-shaped objects, implemented using the flexible grasping mechanism for plate-shaped objects according to any one of claims 1 to 5, characterized in that: The following steps are involved: S001: The first hydraulic cylinder (3) on the horizontal connecting seat (1) pushes the lifting seat (2) to move above the plate-shaped object, and the grabbing cylinder (9) extends, driving the front clamping claw (10) to open; S002: The second hydraulic cylinder (29) on the lifting seat (2) extends downward, pushing the lifting platform (4) downward, so that the plate-shaped object enters between the front clamping jaw (10) and the rear clamping jaw (7); S003: The grabbing cylinder (9) retracts, driving the front clamping claw (10) to move toward the rear clamping claw (7) to grab the plate-shaped object.

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