Grabbing device of building construction robot

Abstract

The invention discloses a grabbing device of a building construction robot, and relates to the technical field of grabbing devices, the grabbing device comprises a support and an adjusting mechanism, and the top of the support is provided with a connecting frame. According to the grabbing device of the building construction robot, a driving air cylinder b is started to drive a connecting plate at one end to move, the connecting plate can drive two sets of push rod bodies to push two sets of rotating plates to rotate to generate an included angle, at the moment, tubular materials can be stably clamped, and when the connecting plate moves, an adjusting mechanism can be driven to move; when rectangular materials need to be clamped, a driving air cylinder b is started to drive a connecting plate to reset, the connecting plate can drive a rotating plate to rotate to be in a parallel state when moving, and the rotating plate is driven to rotate to be in a parallel state when moving. At the moment, when the rotating plate makes contact with the rectangular material, the contact area of the rotating plate and the rectangular material can be increased, and the rectangular material is stably clamped.

Description

Technical Field

[0001] The invention relates to the technical field of grabbing devices, in particular to a grabbing device of a construction robot. Background Art

[0002] A large amount of construction materials are needed during construction. In order to facilitate the transportation of these construction materials, robots and grasping devices are used. The robot can move the grasping device to the specified position, and then clamp the material through the grasping device and transport it.

[0003] For example, the grasping device of a construction robot with announcement number CN115416006A locates the rotation angle of the clamping mechanism through a rotation angle positioning mechanism and feeds back to the control system. It can control the clamping mechanism to move accurately to the position where the material is located to grasp the material. The entire positioning and grasping work is accurate and efficient, which can reduce the difficulty of manual operation and reduce the intensity of manual labor, and is worthy of promotion and application.

[0004] However, when the grasping device of the construction robot in the above scheme is working, the motor and the swing arm drive the manipulator to move to the position where the material needs to be grasped, and then the manipulator grasps the material. However, the clamping surface of the manipulator is relatively flat, making it difficult to stably clamp the tubular material, and there is no mechanism at the bottom of the manipulator to prevent it from falling, making it difficult to stably transfer the material. Summary of the invention

[0005] The object of the present invention is to provide a grasping device for a construction robot, so as to solve the problem that the grasping device of the existing construction robot is difficult to stably transfer materials as mentioned in the above background technology.

[0006] To achieve the above object, the present invention provides the following technical solution: a grasping device for a construction robot, comprising a bracket and an adjustment mechanism, a connecting frame is provided on the top of the bracket, a driving cylinder a is fixedly connected to the free end of the connecting frame, a manipulator is fixedly connected to the lower output end of the driving cylinder a,

[0007] The manipulator is slidably connected with a clamping jaw inside, a control box is installed on one side of the bracket, a driving motor a is arranged on the top of the control box, the bottom of the driving motor a is fixedly connected with the bracket through a mounting frame, the output end of the driving motor a is fixedly connected with a driving gear, the outer side of the driving gear is meshed and connected with a driven gear, the driven gear is connected to the connecting frame and the insides of both are movably connected with a connecting rod through a bearing; a driving motor b is installed on one side of the manipulator, the output end of the driving motor b is fixedly connected with a bidirectional threaded rod, both ends of the bidirectional threaded rod are movably connected with the manipulator through bearings, and a material positioning sensor is arranged at one end of the manipulator away from the driving motor b; a driving cylinder b is installed on one side of the clamping jaw, the output end of the driving cylinder b is fixedly connected with a connecting plate, one side of the connecting plate is fixedly connected with two groups of push rod bodies, one end of the push rod body is movably connected with a slider a through a rotating shaft, the outer side of the slider a is slidably connected with a rotating plate, a rotating rod a is arranged at the bottom of the manipulator, and an adjusting mechanism for driving the rotating rod a to rotate is arranged inside the manipulator.

[0008] Preferably, the bottom of the connecting rod is fixedly connected to the bracket, the outer side of the bidirectional threaded rod is threadedly connected to the clamping jaw, and the output end of the material positioning sensor is electrically connected to the control box.

[0009] Preferably, the adjustment mechanism includes a rack rod a fixedly connected to one side of the connecting plate, one side of the rack rod a is meshingly connected to a gear body, and the bottom of the gear body is fixedly connected to a connecting shaft.

[0010] Preferably, a connection box is fixedly connected to the bottom of the connection shaft, a servo motor is installed inside the connection box, and an output end of the servo motor is fixedly connected to the rotating rod a.

[0011] Preferably, the outer side of the connecting shaft is movably connected to the clamping jaw via a bearing, and a through groove for the rack rod a to move is provided on the side of the clamping jaw away from the rotating plate.

[0012] Preferably, the free end of the rotating rod a is movably connected to the rotating rod b via a rotating shaft, and one side of the rotating rod a is fixedly connected to an electric push rod a, and the output end of the electric push rod a is movably connected to a slider b via a rotating shaft.

[0013] Preferably, a fixed plate is slidably connected to the outer side of the sliding block b, one end of the fixed plate is fixedly connected to the rotating rod b, and an electric push rod b is installed inside the rotating rod b.

[0014] Preferably, one end of the electric push rod b is fixedly connected to a rack rod b, both sides of the rack rod b are meshedly connected to connecting gears, both sides of the connecting gears are fixedly connected to a rotating rod c, and one end of the rotating rod c is movably connected to the rotating rod b through a rotating seat.

[0015] Preferably, one end of the manipulator is fixedly connected to a fixed box, the interior of the fixed box is fixedly connected to a material positioning sensor, one side of the fixed box is slidably connected to a baffle, and one side of the baffle is fixedly connected to a slide rod.

[0016] Preferably, the outer side of the slide bar is slidably connected to the manipulator, a spring is sleeved on the middle part of the manipulator, one end of the spring is in contact with the manipulator, and the slide bar is arranged on one side of the clamp.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] 1. When the grasping device of the construction robot clamps the tubular material, the driving cylinder b is started to drive the connecting plate at one end to move, and the connecting plate will drive the two sets of push rod bodies to push the two sets of rotating plates to rotate to form an angle. At this time, the tubular material can be stably clamped. When the connecting plate moves, it will also drive the adjustment mechanism to move, so that the servo motor and the rotating rod a at one end are misaligned. At this time, the servo motor can be started to drive the rotating rod a to rotate to support the bottom of the pipeline. When it is necessary to clamp the rectangular material, the driving cylinder b is started to reset the connecting plate. When the connecting plate moves, it will drive the rotating plate to rotate to a parallel state. At this time, when the rotating plate contacts the rectangular material, it will increase the contact area with it and stably clamp it. In this way, through the above operations, the grasping device of the construction robot can stably clamp the tubular material and the rectangular material.

[0019] 2. In order to further limit the position of tubular materials, the grasping device of the construction robot starts the electric push rod a at one end of the rotating rod a. The electric push rod a will push the slider b to slide in the fixed plate, thereby pushing the rotating rod b to rotate. The rotating rotating rod b can wrap and limit the outside of the pipe. At the same time, the electric push rod a can be started to push the rack rod b at one end to rotate. When the rack rod b rotates, it can engage with two sets of connecting gears, thereby driving the two sets of connecting gears and the rotating rods c on both sides thereof to rotate. The two sets of rotating rods c after unfolding can further increase the wrapping area of ​​the pipe, thereby stably limiting the pipe. In this way, the stability of the grasping device of the construction robot in grasping materials can be further improved through the above operations.

[0020] 3. In order to prevent the material positioning sensor from being damaged by impact when the manipulator moves, the gripping device of the construction robot is provided with a set of sliding bars inside the fixed box. Before the manipulator grabs the material, the clamp will open to the maximum distance. Therefore, the clamp will squeeze the sliding bar to make it move. When the sliding bar moves, it will squeeze the spring and drive the baffle to move out of the shielding protection of the material positioning sensor. At this time, the material positioning sensor can emit a laser to measure the distance of the ground material. After the measurement is completed, the clamp will move to clamp the material. At this time, the sliding bar will not be squeezed, so the spring will reset and drive the baffle to reset as well. The baffle will block the material positioning sensor, thereby protecting the material positioning sensor when transporting materials. In this way, the material positioning sensor can be automatically protected when transporting materials through the above operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a three-dimensional schematic diagram of the present invention;

[0022] Figure 2 It is a three-dimensional cross-sectional schematic diagram of the robot arm of the present invention;

[0023] Figure 3 It is a three-dimensional schematic diagram of the clamping jaw of the present invention;

[0024] Figure 4 It is a three-dimensional cross-sectional schematic diagram of the clamping jaw of the present invention;

[0025] Figure 5 It is a schematic diagram of the two groups of rotating rods a of the present invention;

[0026] Figure 6 It is a three-dimensional cross-sectional schematic diagram of the rotating rod b of the present invention;

[0027] Figure 7 It is a three-dimensional cross-sectional schematic diagram of the robot arm of the present invention.

[0028] In the figure: 1, bracket; 2, connecting frame; 3, driving cylinder a; 4, manipulator; 5, clamping claw; 6, control box; 7, driving motor a; 8, driving gear; 9, driven gear; 10, connecting rod; 11, driving motor b; 12, two-way threaded rod; 13, material positioning sensor; 14, driving cylinder b; 15, connecting plate; 16, push rod body; 17, slider a; 18, rotating plate; 19, adjusting mechanism; 191, rack rod a; 192, gear body; 193, connecting shaft; 194, connecting box; 195, servo motor; 20, rotating rod a; 21, rotating rod b; 22, electric push rod a; 23, slider b; 24, fixed plate; 25, electric push rod b; 26, rack rod b; 27, connecting gear; 28, rotating rod c; 29, slide bar; 30, baffle; 31, spring; 32, fixed box. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] See also Figure 1-Figure 5 The present invention provides a technical solution: a grasping device of a construction robot, including a bracket 1 and an adjusting mechanism 19, a connecting frame 2 is arranged on the top of the bracket 1, a driving cylinder a3 is fixedly connected to the free end of the connecting frame 2, and a manipulator 4 is fixedly connected to the lower output end of the driving cylinder a3.

[0031] The inside of the manipulator 4 is slidably connected with a clamping claw 5, a control box 6 is installed on one side of the bracket 1, a driving motor a7 is arranged on the top of the control box 6, the bottom of the driving motor a7 is fixedly connected to the bracket 1 through the mounting frame, the output end of the driving motor a7 is fixedly connected with a driving gear 8, the outside of the driving gear 8 is meshedly connected with a driven gear 9, the driven gear 9 is connected to the connecting frame 2, and the insides of both are movably connected with a connecting rod 10 through bearings. A driving motor b11 is installed on one side of the manipulator 4, the output end of the driving motor b11 is fixedly connected with a bidirectional threaded rod 12, both ends of the bidirectional threaded rod 12 are movably connected to the manipulator 4 through bearings, and a material positioning sensor 13 is arranged at the end of the manipulator 4 away from the driving motor b11. A driving cylinder b14 is installed on one side of the clamp 5, and a connecting plate 15 is fixedly connected to the output end of the driving cylinder b14, and two groups of push rod bodies 16 are fixedly connected to one side of the connecting plate 15. One end of the push rod body 16 is movably connected to a slider a17 through a rotating shaft, and a rotating plate 18 is slidably connected to the outer side of the slider a17. A rotating rod a20 is provided at the bottom of the manipulator 4, and an adjusting mechanism 19 is provided inside the manipulator 4 for driving the rotating rod a20 to rotate.

[0032] The bottom of the connecting rod 10 is fixedly connected to the bracket 1, the outer side of the bidirectional threaded rod 12 is threadedly connected to the clamping jaw 5, and the output end of the material positioning sensor 13 is electrically connected to the control box 6. The adjustment mechanism 19 includes a rack rod a191 fixedly connected to one side of the connecting plate 15, one side of the rack rod a191 is meshedly connected to a gear body 192, and the bottom of the gear body 192 is fixedly connected to a connecting shaft 193. The bottom of the connecting shaft 193 is fixedly connected to a connecting box 194, and a servo motor 195 is installed inside the connecting box 194. The output end of the servo motor 195 is fixedly connected to the rotating rod a20. The outer side of the connecting shaft 193 is movably connected to the clamping jaw 5 through a bearing, and the side of the clamping jaw 5 away from the rotating plate 18 is provided with a through groove for the rack rod a191 to move. A sliding groove matching the slider a17 is provided on one side of the rotating plate 18. The slider a17 and the rotating plate 18 form a sliding structure. The rack rod a191 and the gear body 192 form an engaging transmission structure. The push rod body 16 forms a rotating structure with the slider a17 through a rotating shaft.

[0033] In specific implementation, when the grasping device of the construction robot clamps the tubular material, the driving cylinder b14 is started to drive the connecting plate 15 at one end to move, and the connecting plate 15 will drive the two sets of push rod bodies 16 to move, so that the slider a17 at one end of the push rod body 16 slides in the slide groove in the rotating plate 18, thereby pushing the two sets of rotating plates 18 to rotate in relative directions. When the rotating plate 18 rotates to generate an angle, the driving motor b11 can be started to drive the bidirectional threaded rod 12 to rotate, so that the bidirectional threaded rod 12 and the two sets of clamping jaws 5 are threadedly driven, and the two sets of clamping jaws 5 and the rotating plate 18 inside thereof are driven to move, so as to stably clamp the tubular material. When the connecting plate 15 moves, it will also drive the rack rod a191 at the bottom to mesh with the gear body 192, thereby driving the gear body 192 to rotate. The gear body 192 will drive the connecting box 194 to rotate through the connecting shaft 193 at the bottom, so that the servo motor 195 and the rotating rod a20 at one end will rotate 45°, and the rotating rod a20 at the bottom of the two sets of clamps 5 will be misaligned. At this time, the servo motor 195 can be started to drive the rotating rod a20 to rotate, so that the rotating rod a20 supports the bottom of the pipeline. After rotating 45°, the rotating rod a20 can extend the supporting distance, thereby stably supporting the pipeline with a longer length.

[0034] When it is necessary to clamp the rectangular material, the connecting plate 15 is reset by starting the driving cylinder b14. When the connecting plate 15 moves, it will drive the rotating plate 18 to rotate to a parallel state. At this time, when the rotating plate 18 contacts the rectangular material, it will increase the contact area with it and clamp it stably. The adjusting mechanism 19 can drive the rotating rod a20 to rotate and reset, support the bottom of the material, and reduce the volume of the manipulator 4 to prevent the manipulator 4 from contacting other objects when moving. In this way, through the above operations, the grasping device of the construction robot can stably clamp the tubular materials and rectangular materials.

[0035] See also Figure 2-Figure 6 The free end of the rotating rod a20 is movably connected to the rotating rod b21 through a rotating shaft, and the rotating rod a20 is fixedly connected to an electric push rod a22 on one side, and the output end of the electric push rod a22 is movably connected to the slider b23 through a rotating shaft; the outer side of the slider b23 is slidably connected to a fixed plate 24, one end of the fixed plate 24 is fixedly connected to the rotating rod b21, and an electric push rod b25 is installed inside the rotating rod b21. One end of the electric push rod b25 is fixedly connected to a rack rod b26, both sides of the rack rod b26 are meshed and connected to a connecting gear 27, and both sides of the connecting gear 27 are fixedly connected to a rotating rod c28, and one end of the rotating rod c28 is movably connected to the rotating rod b21 through a rotating seat. A moving groove matching the slider b23 is opened inside the fixed plate 24, and the slider b23 and the fixed plate 24 form a sliding structure, and the rotating rod c28 forms a rotating structure with the rotating rod b21 through the rotating seat.

[0036] In a specific implementation, in order to further limit the position of the tubular material, the grasping device of the construction robot starts the electric push rod a22 at one end of the rotating rod a20, and the electric push rod a22 pushes the slider b23 to slide in the fixed plate 24, thereby pushing the rotating rod b21 to rotate. The rotating rotating rod b21 can wrap the outer side of the pipe to limit the position, and at the same time, the electric push rod a22 can be started to push the rack rod b26 at one end to rotate. When the rack rod b26 rotates, it can be connected with the two sets of connecting gears 27. The two connecting gears 27 and the rotating rods c28 on both sides thereof are meshed, thereby driving the two connecting gears 27 and the rotating rods c28 on both sides thereof to rotate. The two groups of rotating rods c28 after being unfolded can further increase the wrapping area of ​​the pipe, thereby stably limiting the pipe. When it is necessary to grasp the rectangular workpiece, the electric push rod b25 can be started to drive the two groups of rotating rods c28 to merge and reset, so as to prevent the unfolded rotating rods c28 from interfering with the rotating rods a20 in the merged state. In this way, the stability of the grasping device of the construction robot in grasping materials can be further improved through the above operation.

[0037] See also Figure 2 , Figure 3 and Figure 7One end of the manipulator 4 is fixedly connected to a fixed box 32, the interior of the fixed box 32 is fixedly connected to the material positioning sensor 13, one side of the fixed box 32 is slidably connected to a baffle 30, and one side of the baffle 30 is fixedly connected to a slide bar 29. The outer side of the slide bar 29 is slidably connected to the manipulator 4, a spring 31 is sleeved in the middle of the manipulator 4, one end of the spring 31 is in contact with the manipulator 4, the slide bar 29 is arranged on one side of the clamp 5, a sliding groove matching the baffle 30 is provided inside the manipulator 4, and the baffle 30 and the fixed box 32 form a sliding structure.

[0038] In specific implementation, the grasping device of the construction robot needs to emit a laser through the material positioning sensor 13 to measure the distance between the manipulator 4 and the workpiece when in use. In order to prevent the material positioning sensor 13 from being damaged by impact when the manipulator 4 moves, a group of slide bars 29 are arranged inside the fixed box 32. Before the manipulator 4 grabs the material, the clamp 5 will open to the maximum distance. Therefore, the clamp 5 will squeeze the slide bar 29 to make it move. When the slide bar 29 moves, it will squeeze the spring 31 and drive the baffle 30 to move away from the shielding protection of the material positioning sensor 13. At this time, the material positioning sensor 13 can emit a laser to measure the distance of the ground material. After the measurement is completed, the clamp 5 will move to clamp the material. At this time, the slide bar 29 will not be squeezed, so the spring 31 will reset and drive the baffle 30 to reset. The baffle 30 will shield the material positioning sensor 13, thereby protecting the material positioning sensor 13 when transporting materials. In this way, the material positioning sensor 13 can be automatically protected when transporting materials through the above operation.

[0039] To sum up, by starting the driving motor a7 to drive the driving gear 8 to engage with the driven gear 9, the connecting frame 2 and the manipulator 4 can be driven to rotate to the position of the material. The material positioning sensor 13 can measure the distance from the manipulator 4 to the material and transmit the data to the control box 6. The control box 6 can control the driving cylinder a3 through a set program to drive the manipulator 4 to move downward, grab the material, and transport it. The contents not described in detail in this description belong to the existing technology known to professional and technical personnel in this field.

[0040] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A grasping device for a construction robot, comprising a bracket (1) and an adjusting mechanism (19), wherein a connecting frame (2) is arranged on the top of the bracket (1), a driving cylinder a (3) is fixedly connected to the free end of the connecting frame (2), and a manipulator (4) is fixedly connected to the lower output end of the driving cylinder a (3), characterized in that: The manipulator (4) is internally slidably connected with a clamping claw (5); a control box (6) is installed on one side of the bracket (1); a driving motor a (7) is arranged on the top of the control box (6); the bottom of the driving motor a (7) is fixedly connected to the bracket (1) through a mounting frame; the output end of the driving motor a (7) is fixedly connected with a driving gear (8); the outer side of the driving gear (8) is meshingly connected with a driven gear (9); the driven gear (9) is connected to the connecting frame (2) and the interiors of both are movably connected with a connecting rod (10) through a bearing; a driving motor b (11) is installed on one side of the manipulator (4); the output end of the driving motor b (11) is fixedly connected with a bidirectional threaded rod (12); the bidirectional threaded rod (12) ) are movably connected to the manipulator (4) through bearings, and a material positioning sensor (13) is provided at one end of the manipulator (4) away from the driving motor b (11); a driving cylinder b (14) is installed on one side of the clamping jaw (5), and a connecting plate (15) is fixedly connected to the output end of the driving cylinder b (14), and two groups of push rod bodies (16) are fixedly connected to one side of the connecting plate (15), and one end of the push rod body (16) is movably connected to a slider a (17) through a rotating shaft, and a rotating plate (18) is slidably connected to the outer side of the slider a (17), and a rotating rod a (20) is provided at the bottom of the manipulator (4), and an adjusting mechanism (19) for driving the rotating rod a (20) to rotate is arranged inside the manipulator (4).

2. The grasping device of a construction robot according to claim 1, characterized in that: The bottom of the connecting rod (10) is fixedly connected to the bracket (1), the outer side of the bidirectional threaded rod (12) is threadedly connected to the clamping jaw (5), and the output end of the material positioning sensor (13) is electrically connected to the control box (6).

3. The grasping device of a construction robot according to claim 1, characterized in that: The adjustment mechanism (19) comprises a rack rod a (191) fixedly connected to one side of the connecting plate (15); one side of the rack rod a (191) is meshingly connected to a gear body (192); and the bottom of the gear body (192) is fixedly connected to a connecting shaft (193).

4. The grasping device of a construction robot according to claim 3, characterized in that: The bottom of the connecting shaft (193) is fixedly connected to a connecting box (194), a servo motor (195) is installed inside the connecting box (194), and the output end of the servo motor (195) is fixedly connected to the rotating rod a (20).

5. The grasping device of a construction robot according to claim 4, characterized in that: The outer side of the connecting shaft (193) is movably connected to the clamping jaw (5) via a bearing, and a through groove for the rack rod a (191) to move is provided on a side of the clamping jaw (5) away from the rotating plate (18).

6. The grasping device of a construction robot according to claim 1, characterized in that: The free end of the rotating rod a (20) is movably connected to the rotating rod b (21) via a rotating shaft, and one side of the rotating rod a (20) is fixedly connected to an electric push rod a (22), and the output end of the electric push rod a (22) is movably connected to a slider b (23) via a rotating shaft.

7. The grasping device of a construction robot according to claim 6, characterized in that: The outer side of the sliding block b (23) is slidably connected to a fixing plate (24), one end of the fixing plate (24) is fixedly connected to a rotating rod b (21), and an electric push rod b (25) is installed inside the rotating rod b (21).

8. The grasping device of a construction robot according to claim 7, characterized in that: One end of the electric push rod b (25) is fixedly connected to a rack rod b (26), both sides of the rack rod b (26) are meshedly connected to connecting gears (27), both sides of the connecting gear (27) are fixedly connected to a rotating rod c (28), and one end of the rotating rod c (28) is movably connected to the rotating rod b (21) through a rotating seat.

9. The grasping device of a construction robot according to claim 1, characterized in that: One end of the manipulator (4) is fixedly connected to a fixed box (32), the interior of the fixed box (32) is fixedly connected to a material positioning sensor (13), one side of the fixed box (32) is slidably connected to a baffle (30), and one side of the baffle (30) is fixedly connected to a slide rod (29).

10. The grasping device of a construction robot according to claim 9, characterized in that: The outer side of the slide bar (29) is slidably connected to the manipulator (4), a spring (31) is sleeved in the middle of the manipulator (4), one end of the spring (31) is in contact with the manipulator (4), and the slide bar (29) is arranged on one side of the clamp (5).

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