Novel multi-axis high-precision clamping jaw for grabbing materials in narrow space

Abstract

The invention discloses a novel multi-shaft high-precision narrow space material grabbing clamping jaw which is provided with a lead screw module mechanism, the lead screw module mechanism comprises a hoisting plate, a lead screw servo motor is installed on the hoisting plate, and a telescopic lead screw and a guide polish rod which are transversely arranged in parallel are installed below the hoisting plate. The left side and the right side of the telescopic lead screw are provided with two lead screw threads with opposite screwing directions, and the two lead screw threads are in threaded connection with a movable base respectively. A set of clamping jaw module is mounted at the bottom of each moving seat, each clamping jaw module comprises a connecting seat, a longitudinal beam is arranged on each connecting seat, a plurality of groups of linkage jaw mechanisms are arranged at the bottom of each longitudinal beam in rows, and all the linkage jaw mechanisms are driven by a linkage rotating shaft and a clamping jaw servo driving mechanism to realize unified action; according to the novel clamping jaw, brand new structural design is adopted, and high-efficiency material grabbing and packet losing operation can be achieved in a relatively narrow space.

Description

Technical Field

[0001] The invention relates to the technical field of automated mechanical equipment, and in particular to a new type of multi-axis high-precision clamp for grabbing materials in a narrow space. Background Art

[0002] In the process of loading flour bags, fertilizer bags and other whole bags, the bag dropping height should be kept as low as possible to reduce the impact and damage risk to the flour bags and fertilizer bags. If the bag dropping height is too high, it may cause the fertilizer bags or flour bags to break, leak, and even cause safety hazards to the surrounding personnel. Usually in actual operation, the bag dropping height should be controlled at a lower level as much as possible according to the specific situation. After a large amount of actual bag dropping data calculation, it is more appropriate to control the bag dropping height within 700mm. At the same time, factors such as the bag dropping method, the hardness of the ground, and the quality of the fertilizer bags should also be considered. However, the height of the high-sided truck compartment can reach 2.4m. For high-sided trucks, ordinary grippers will not be able to reach into the compartment to drop bags.

[0003] The automatic loading grippers on the market are basically driven by cylinders. Due to the straight-line extension and retraction characteristics of the cylinder, when designing the grippers, it is inevitable that a large amount of space on both sides will be occupied when the grippers are opened to grab the material bags. The only solution for each manufacturer is to make the grippers higher than the side rails of the carriage to drop the bags. In addition, the grippers need to be fine-tuned according to the width of the different material bags. Therefore, a new type of automatic loading gripper that can be adjusted to cope with high-rail carriages and can extend into the carriage to open the grippers so that the bags can be close to the edge of the carriage after dropping the bags is needed to normally adapt to the needs of material grabbing operations in narrow spaces. Summary of the invention

[0004] The purpose of the present invention is to provide a new type of multi-axis high-precision narrow space material grabbing clamp, which adopts a brand-new structural design and can realize high-efficiency material grabbing and bag dropping operations in a relatively narrow space.

[0005] The specific scheme of the present invention is: a new type of multi-axis high-precision narrow space material grabbing clamp, with a screw module mechanism, the screw module mechanism includes a lifting plate, a screw servo motor is installed on the lifting plate, and a telescopic screw and a guide light rod arranged in parallel are installed below the lifting plate. The screw servo motor is connected to the telescopic screw in a transmission manner. Two sections of screw threads with opposite rotation directions are arranged on the left and right sides of the telescopic screw. A moving seat is threadedly connected to each of the two sections of the screw threads, and the moving seat is simultaneously installed on the guide light rod; a set of clamping jaw modules is installed at the bottom of each moving seat, and the two sets of clamping jaw modules are arranged relatively, and the clamping jaw module includes a connecting seat The connecting seat is arranged at the bottom of the corresponding moving seat, and a longitudinal beam is arranged on the connecting seat. A plurality of linkage claw mechanisms are arranged in a row at the bottom of the longitudinal beam, and all linkage claw mechanisms are driven by a linkage rotating shaft and a clamping claw servo drive mechanism to achieve unified action; the linkage claw mechanism includes a clamping claw plate, which is arranged vertically and its upper end is fixed to the bottom of the corresponding longitudinal beam, and the linkage rotating shaft is simultaneously installed on the upper part of the clamping claw plate on the same side, and a clamping claw is hinged at the lower end of each clamping claw plate, and a two-link rod is connected to the clamping claw, and the upper ends of the two-link rods are fixed to the corresponding linkage rotating shaft, and the lower ends of the two-link rods are hingedly connected to the clamping claw near the inner end.

[0006] Furthermore, the gripper servo drive mechanism described in the present invention includes a gripper servo motor, a transmission chain and two sprockets, the two sprockets are respectively mounted on the output shaft of the gripper servo motor and one end of the linkage shaft, the transmission chain is wound around the two sprockets, and the gripper servo motor is placed on the corresponding longitudinal beam.

[0007] Furthermore, in the present invention, there are four groups of linkage claw mechanisms at the bottom of each longitudinal beam, and the linkage rotating shaft is composed of segmented rotating shafts, and the segmented rotating shafts are connected to form an integral rotating shaft through couplings.

[0008] Furthermore, the two connecting rods described in the present invention are composed of a long connecting rod and a short connecting rod. The long connecting rod and the short connecting rod are rotatably connected via a pin shaft. The upper end of the short connecting rod is fixed together with the linkage rotating shaft, and the lower end of the long connecting rod is connected to the corresponding clamping claw via a hinge support.

[0009] Furthermore, the longitudinal beam in the present invention is made of an L-shaped bent strip, and a plurality of mounting holes are provided on the L-shaped bent strip.

[0010] Furthermore, the clamping jaw plate of the present invention is composed of two vertical plates, the upper ends of the two vertical plates are fixed to the bottom of the corresponding longitudinal beams, and each clamping jaw is rotatably installed in the space between the two vertical plates through a pin shaft.

[0011] Furthermore, the connecting seat described in the present invention is composed of two V-shaped bent profile plates, an intermediate connecting hollow profile plate and a top connecting profile plate, wherein the intermediate connecting hollow profile plate connects the two V-shaped bent profile plates together, the top connecting profile plate connects the tops of the two V-shaped bent profile plates together, and the top connecting profile plate is connected to the bottom of the movable seat.

[0012] Furthermore, the clamping jaw in the present invention is in the shape of a straight strip, and its diameter gradually increases from one end to the other end.

[0013] The present invention has the following beneficial effects: by designing a movable seat that can move left and right to open and close, the opening and closing action of the lower clamping jaws in a narrow space is realized, and at the same time, through the linkage action of the clamping jaw servo motor, transmission chain, two sprockets and two connecting rods, the material grabbing and bag dropping actions of the clamping jaws can be conveniently driven, which is very convenient and the action control is flexible. The key is that the action space it occupies is very small, and the servo gripping and clamping for the purpose of bag dropping with minimum margin can be realized. The actual use effect is very outstanding, and it can be used for the grabbing and bag dropping operations of bagged materials in various narrow spaces, with outstanding economic benefits. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a schematic diagram of the main viewing direction structure of the present invention; Figure 3 It is a schematic diagram of the structure of the clamping jaws after the material packing of the present invention; Figure 4 It is a schematic diagram of the structure of the gripper module in the present invention in a side view; Figure 5 It is a structural schematic diagram of the linkage claw mechanism in the present invention; Figure 6 It is a schematic diagram of the clamping jaws in the linkage jaw mechanism of the present invention in an open state; Figure 7 It is a schematic diagram of the closed state of the clamping jaws in the linkage jaw mechanism of the present invention; Figure 8 It is a schematic diagram of the present invention in actual installation and use; Fig. 9 This is the first schematic diagram of the present invention after the upper part is connected to the manipulator and the whole body is rotated 90°; Fig.10 This is the second schematic diagram of the present invention after the upper part is connected to the manipulator and the whole body is rotated 90 degrees.

[0015] In the figure: 1-lifting plate, 2-screw servo motor, 3-gripper module, 4-telescopic screw, 5-guide light rod, 6-moving seat, 7-connecting seat, 8-gripper servo motor, 9-transmission chain, 10-gripper clamping plate, 11-material bag, 12-gripper, 13-top connecting profile plate, 14-V-shaped bending profile plate, 15-middle connecting hollow profile plate, 16-longitudinal beam, 17-segmented rotating shaft, 18-coupling, 19-sprocket, 20-short connecting rod, 21-long connecting rod, 22-vertical plate. DETAILED DESCRIPTION

[0016] The technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the present invention. It is obvious that the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work belong to the protection scope of the present invention. In the description of the present invention, it should be noted that the terms "upper", "lower", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, or the orientations or positional relationships in which the invented product is usually placed when used, which are only for the convenience of describing the present invention or simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed or operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0017] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "setting", "installation" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0018] See also Figure 1 to Figure 7The present invention is a new type of multi-axis high-precision narrow space material grabbing clamp, which has a screw module mechanism, the screw module mechanism includes a lifting plate 1, a screw servo motor 2 is installed on the lifting plate, and a telescopic screw 4 and a guide light rod 5 arranged in parallel are installed below the lifting plate. The screw servo motor is connected to the telescopic screw in a transmission manner. Two sections of screw threads with opposite rotation directions are arranged on the left and right sides of the telescopic screw. A moving seat 6 is threadedly connected to each of the two sections of the screw threads, and the moving seat is simultaneously installed on the guide light rod; a set of clamping jaw modules 3 is installed at the bottom of each moving seat, and the two sets of clamping jaw modules are arranged relatively, and the clamping jaw modules include a connecting seat 7, which is arranged at the bottom of the corresponding moving seat, and a longitudinal beam 16 is arranged on the connecting seat, and a plurality of groups of linkage claw mechanisms are arranged in a row at the bottom of the longitudinal beam, all The linkage claw mechanism is driven by a linkage shaft and a jaw servo drive mechanism to achieve unified action. Furthermore, the jaw servo drive mechanism in the present invention includes a jaw servo motor 8, a transmission chain 9 and two sprockets 19. The two sprockets are respectively installed on the output shaft of the jaw servo motor and one end of the linkage shaft. The transmission chain is wound around the two sprockets. The jaw servo motor is placed on the corresponding longitudinal beam; the linkage claw mechanism includes a jaw card plate 10, which is arranged vertically and its upper end is fixed to the bottom of the corresponding longitudinal beam. The linkage shaft is also installed on the upper part of the jaw card plate on the same side. A jaw 12 is hinged at the lower end of each jaw card plate, and a two-link rod is connected to the jaw. The upper ends of the two-link rods are fixed to the corresponding linkage shaft, and the lower ends of the two-link rods are hingedly connected to the jaw near the inner end. Furthermore, the two connecting rods described in the present invention are composed of a long connecting rod 21 and a short connecting rod 20. The long connecting rod and the short connecting rod are rotatably connected via a pin shaft. The upper end of the short connecting rod is fixed together with the linkage rotating shaft, and the lower end of the long connecting rod is connected to the corresponding clamping claw via a hinge support.

[0019] Furthermore, in this embodiment, the linkage claw mechanism at the bottom of each longitudinal beam is provided with four groups, and the linkage rotating shaft is composed of a segmented rotating shaft 17, and the segmented rotating shafts are connected to form an integral rotating shaft through a coupling 18. Furthermore, the longitudinal beam described in the present invention is made of an L-shaped bending strip, and a plurality of mounting holes are provided on the L-shaped bending strip. Further, the clamping claw plate 10 described in the present invention is composed of two vertical plates 22, the upper ends of the two vertical plates are fixed to the bottom of the corresponding longitudinal beam, and each clamping claw is installed in the space between the two vertical plates by a pin. Further, the connecting seat described in the present invention is composed of two V-shaped bending profile plates 14, an intermediate connecting hollow profile plate 15 and a top connecting profile plate 13, wherein the intermediate connecting hollow profile plate connects the two V-shaped bending profile plates together, the top connecting profile plate connects the tops of the two V-shaped bending profile plates together, and the top connecting profile plate is connected to the bottom of the movable seat. Furthermore, the clamping claw described in the present invention is in the shape of a straight strip, and its diameter gradually increases from one end to the other end. The purpose of such a design is to facilitate the clamping claw to be inserted from under the material bag, thereby facilitating the grabbing of the bag.

[0020] Specific implementation of the present invention: The width of the material bag to be grabbed is the grabbing size. After the operator inputs the width of the material bag, the screw module mechanism above the clamp adjusts the distance between the two clamp modules to the grabbing size. After the material bag is transported to the picking position of the picking position roller (see Figure 8 ), the jaws open, and the jaws as a whole move downward to the lower end of the material package through an externally connected manipulator and close.

[0021] The entire gripper is transported to the interior of the carriage by a truss or robot arm, and the bag is dropped at a height of 700mm. While dropping the bag, the distance from the gripper to the side of the carriage is greatly reduced, thereby improving the loading rate of automatic loading.

[0022] The inner side of the clamping jaw in the present invention is driven to move together by the linkage shaft, and the linkage shaft drives the two connecting rods to realize the opening and closing actions of the clamping jaw. When the clamping jaw moves, it always moves on the inner side of the clamping jaw clamping plate, so it can be flexibly used in a narrow space.

[0023] The left and right clamping jaws of the present invention are controlled by a telescopic screw rod, a related servo motor, a transmission chain and a sprocket to achieve multi-axis high-precision control action and better grasp and clamp the material bag.

[0024] See also Fig. 9 and Fig.10 , is a schematic diagram of the state in which the clamp of the present invention realizes a 90-degree rotation driven by an externally connected manipulator.

[0025] By designing a movable seat that can move left and right to open and close, the opening and closing action of the lower clamping jaws in a narrow space is realized. At the same time, through the linkage action of the clamping jaw servo motor, transmission chain, two sprockets and two connecting rods, the material grabbing and bag dropping actions of the clamping jaws can be easily driven. It is very convenient and the action control is flexible. The key is that the action space it occupies is very small, and the servo gripper that can achieve the purpose of bag dropping with the minimum margin has a very outstanding actual use effect. It can be used for grabbing and bag dropping operations of bagged materials in various narrow spaces, with outstanding economic benefits.

Claims

1. A new type of multi-axis high-precision gripper for grabbing materials in narrow spaces, characterized by: The invention has a screw module mechanism, which includes a lifting plate, a screw servo motor is installed on the lifting plate, a telescopic screw and a guide light rod arranged in parallel are installed below the lifting plate, the screw servo motor is connected to the telescopic screw in a transmission manner, two sections of screw threads with opposite rotation directions are arranged on the left and right sides of the telescopic screw, and a moving seat is threadedly connected to each of the two sections of the screw threads, and the moving seat is simultaneously installed on the guide light rod; a set of clamping claw modules are installed at the bottom of each moving seat, and the two sets of clamping claw modules are arranged relatively, and the clamping claw modules include a connecting seat, and the connecting seat is arranged at the bottom of the corresponding moving seat A longitudinal beam is provided on the connecting seat, and a plurality of linkage claw mechanisms are arranged in a row at the bottom of the longitudinal beam. All linkage claw mechanisms are driven by a linkage rotating shaft and a clamping claw servo drive mechanism to achieve unified action; the linkage claw mechanism includes a clamping claw plate, which is arranged vertically and its upper end is fixed to the corresponding bottom of the longitudinal beam. The linkage rotating shaft is simultaneously installed on the upper part of the clamping claw plate on the same side. A clamping claw is hinged at the lower end of each clamping claw plate, and a two-link rod is connected to the clamping claw. The upper ends of the two-link rods are fixed to the corresponding linkage rotating shaft, and the lower ends of the two-link rods are hingedly connected to the clamping claw near the inner end.

2. According to claim 1, a new type of multi-axis high-precision narrow space material grabbing gripper is characterized by: The clamping jaw servo drive mechanism includes a clamping jaw servo motor, a transmission chain and two sprockets, the two sprockets are respectively mounted on the output shaft of the clamping jaw servo motor and one end of the linkage shaft, the transmission chain is wound around the two sprockets, and the clamping jaw servo motor is placed on the corresponding longitudinal beam.

3. According to claim 1, a new type of multi-axis high-precision narrow space material grabbing gripper is characterized by: There are four groups of linkage claw mechanisms at the bottom of each longitudinal beam. The linkage rotating shaft is composed of segmented rotating shafts, and the segmented rotating shafts are connected into an integral rotating shaft through a coupling.

4. According to claim 1, a new type of multi-axis high-precision narrow space material grabbing gripper is characterized by: The two connecting rods are composed of a long connecting rod and a short connecting rod. The long connecting rod and the short connecting rod are rotationally connected through a pin shaft. The upper end of the short connecting rod is fixed together with the linkage rotating shaft, and the lower end of the long connecting rod is connected to the corresponding clamping claw through a hinge support.

5. According to claim 1, a new type of multi-axis high-precision narrow space material grabbing gripper is characterized by: The longitudinal beam is made of an L-shaped bent strip plate, and a plurality of mounting holes are provided on the L-shaped bent strip plate.

6. According to claim 1, a new type of multi-axis high-precision narrow space material grabbing gripper is characterized by: The clamping jaw clamping plate is composed of two vertical plates, the upper ends of the two vertical plates are fixed to the bottom of the corresponding longitudinal beams, and each clamping jaw is rotatably installed in the space between the two vertical plates through a pin shaft.

7. According to claim 1, a new type of multi-axis high-precision narrow space material grabbing gripper is characterized by: The connecting seat is composed of two V-shaped bent profile plates, an intermediate connecting hollow profile plate and a top connecting profile plate, wherein the intermediate connecting hollow profile plate connects the two V-shaped bent profile plates together, the top connecting profile plate connects the tops of the two V-shaped bent profile plates together, and the top connecting profile plate is connected to the bottom of the movable seat.

8. The multi-axis high-precision narrow space material grabbing new type gripper according to claim 1 is characterized by: The clamping jaw is in the shape of a straight strip, and its diameter gradually increases from one end to the other end.

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