Manipulator capable of grabbing foreign matters with large and small sizes

Abstract

The invention provides a manipulator capable of grabbing foreign matters with different sizes. The manipulator comprises a base plate; the two gripper fingers are arranged on one side of the base plate in a mirror image mode, each gripper finger is of a C-shaped structure with an opening in one side, the openings of the two gripper fingers are oppositely arranged, and the tops of the two gripper fingers are rotationally connected with the base plate; the power part is arranged on the base plate and used for driving the two gripper fingers to rotate; the two elastic parts are arranged at the openings of the two gripper fingers respectively, and the two ends of each elastic part are rotationally connected with the two ends of the opening side of the corresponding gripper finger respectively. According to the invention, the space of the gripping fingers of the gripper is filled up through the elastic parts, when a foreign matter is small, the foreign matter can be effectively gripped, and when the larger foreign matter is gripped, the foreign matter can be gripped like a normal condition, so that the foreign matter with large and small sizes is considered, and the practical value is very high.

Description

Technical Field

[0001] The invention relates to the technical field of manipulators, in particular to a manipulator capable of grasping foreign bodies of different sizes. Background Art

[0002] With the continuous improvement of the automation level of industrial and mining enterprises and the increasingly stringent safety requirements, there is an urgent need to use machines to replace manual labor to sort foreign objects on the belt. Therefore, the demand for belt sorting and grasping robots is becoming more and more urgent.

[0003] In actual work, the size of foreign objects that the manipulator of the sorting and grasping robot needs to grasp is not consistent, that is, the size of foreign objects may vary greatly, which makes it difficult for the manipulator to take both into account. Traditional manipulators generally use rigid finger structures. If you want to clamp small foreign objects, the fingers are required to be as tight as possible when closing so that they can clamp small foreign objects; and when you need to grasp large foreign objects, you need to open the fingers as wide as possible when opening so that they can accommodate large foreign objects. Although small foreign objects can theoretically be grasped by fingertips, in actual work, the shapes of foreign objects are mostly not uniform and symmetrical. Foreign objects are often picked up by fingertips into the space surrounded by fingers. If there is a slight disturbance, they will fall out of the space, resulting in grasping failure. Summary of the invention

[0004] The main purpose of the present invention is to provide a robot arm that can grasp foreign objects of different sizes, so as to solve the problem in the prior art that when the sizes of foreign objects vary greatly, the robot arm is difficult to grasp them. Foreign objects are often picked up by the fingertips into the space formed by the fingers, and will fall out of the space with the slightest disturbance, resulting in grasping failure.

[0005] In order to solve the above problems, the present invention adopts the following technical solution, a manipulator that can grasp foreign objects of different sizes, characterized in that it includes: a base plate, which is used to be fixedly connected to the robot arm; two gripper fingers, which are mirror-arranged on one side of the base plate, each of the gripper fingers is a C-shaped structure with one side open, and the openings of the two gripper fingers are arranged opposite to each other, and the tops of the two gripper fingers are respectively rotatably connected to the base plate; a power unit, which is arranged on the base plate, and is used to drive the two gripper fingers to rotate; two elastic units, which are respectively arranged at the openings of the two gripper fingers, and the two ends of each of the elastic units are respectively rotatably connected to the two ends of the opening side of the corresponding gripper fingers.

[0006] Furthermore, the elastic part is a spring.

[0007] Furthermore, the two elastic parts are in contact with each other at their adjacent sides.

[0008] Further, the two ends of the opening side of each gripper finger are respectively a first end and a second end, and through holes are respectively formed in the first end and the second end, and the two ends of the elastic part are respectively hooked in the two through holes.

[0009] Further, the substrate includes a fixing plate and two connecting plates fixedly arranged on the bottom surface of the fixing plate. The two connecting plates are symmetrically and spaced apart. The power part includes a telescopic cylinder fixedly arranged on the top surface of the fixing plate. The output end of the telescopic cylinder passes through the fixing plate and extends between the two connecting plates, and a driving rack is fixedly arranged. On the two connecting plates, a shaft rod is respectively rotatably connected on both sides of the driving rack. A driving gear meshing with the driving rack is fixedly sleeved on the outer side of each shaft rod, and one end of each shaft rod respectively passes through the connecting plate and is fixedly connected with the two gripper fingers.

[0010] The beneficial effect of the present invention is that the elastic part makes up for the gap of the gripper finger, so that effective grasping can be realized even when the foreign object is small, and when grasping a larger foreign object, it can be grasped as in the normal situation, thus taking into account foreign objects of different sizes and having high practical value. Description of the Drawings

[0011] The present invention will be further described in detail below with reference to the drawings and specific embodiments.

[0012] Figure 1 It is the front view of the manipulator of the present invention that can take into account grasping foreign objects of different sizes; Figure 2 It is the structural schematic diagram of the power part of the present invention; Figure 3 It is the structural schematic diagram of the manipulator in the state of clamping a smaller foreign object; Figure 4 It is the structural schematic diagram of the manipulator in the state of clamping a medium-sized foreign object; Figure 5 It is the structural schematic diagram of the manipulator in the state of clamping a larger foreign object.

[0013] Description of the Reference Numerals 1. Substrate; 11. Fixing plate; 12. Connecting plate; 2. Gripper finger; 21. First end; 22. Second end; 3. Power part; 31. Telescopic cylinder; 32. Driving rack; 33. Shaft rod; 34. Driving gear; 4. Elastic part; 5. Foreign object. Specific Embodiments

[0014] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Many specific details are set forth in the following description in order to fully understand the present invention. However, the present invention may also be implemented in other ways different from those described herein. Those skilled in the art can make similar generalizations without departing from the connotation of the present invention. Therefore, the present invention is not limited by the specific embodiments disclosed below.

[0015] Please refer to Figures 1 to 2 As shown, a manipulator capable of grasping foreign objects of different sizes includes a substrate 1, a power unit 3, two gripper fingers 2, and two elastic units 4. The substrate 1 is used for fixedly connecting with a robotic arm (not shown in the figure) in the prior art. The two gripper fingers 2 are arranged in a mirror image on one side of the substrate 1. In this embodiment, each gripper finger 2 has a C-shaped structure with an opening on one side, and the openings of the two gripper fingers 2 are arranged opposite to each other. The tops of the two gripper fingers 2 are respectively rotatably connected to the substrate 1. Specifically, the substrate 1 includes a fixing plate 11 and two connecting plates 12 fixedly arranged on the bottom surface of the fixing plate 11. The two connecting plates 12 are symmetrically and spaced apart, and the two gripper fingers 2 are respectively rotatably connected to the two connecting plates 12.

[0016] In this embodiment, the power unit 3 is arranged on the substrate 1 and is used to drive the two gripper fingers 2 to rotate. Specifically, the power unit 3 includes a telescopic cylinder 31, a driving rack 32, two shaft rods 33, and two driving gears 34. Among them, the telescopic cylinder 31 is a telescopic air cylinder or a telescopic electric cylinder in the prior art, and there is no limitation here. The telescopic cylinder 31 is fixedly arranged on the top surface of the fixing plate 11. The output end of the telescopic cylinder 31 passes through the fixing plate 11 and extends between the two connecting plates 12. The driving rack 32 is located between the two connecting plates 12 on both sides, and one end of the driving rack 32 is fixedly connected to the output end of the telescopic cylinder 31, so as to drive the driving rack 32 to move up and down through the telescopic cylinder 31.

[0017] The two shaft rods 33 are respectively rotatably connected to the two connecting plates 12. It should be noted that tooth surfaces are respectively arranged on the two opposite sides of the driving rack 32. The two shaft rods 33 are respectively located on the two sides of the driving rack 32 close to the tooth surfaces. The two driving gears 34 are respectively fixedly sleeved on the outer sides of the two shaft rods 33 and are respectively meshed with the driving rack 32.

[0018] During implementation, when the telescopic cylinder 31 is started, the output end of the telescopic cylinder 31 drives the driving rack 32 to move up and down, and further drives the two driving gears 34 meshed with the driving rack 32 to rotate forward or backward. In this embodiment, one end of each shaft rod 33 respectively passes through the connecting plate 12 and is fixedly connected to the two gripper fingers 2. Therefore, during the rotation of the two driving gears 34, the two gripper fingers 2 can be synchronously driven to rotate along the central axis of the corresponding shaft rod 33.

[0019] In this embodiment, two elastic parts 4 are respectively arranged at the openings of the two gripper fingers 2, and both ends of each elastic part 4 are respectively rotatably connected to the two ends of the corresponding opening side of the gripper finger 2. Preferably, the sides of the two elastic parts 4 close to each other are in contact with each other. Please refer to Figure 1 As shown, when the two gripper fingers 2 are in the unoccupied clamping state, the elastic parts 4 on the gripper fingers 2 are in a natural straight state, and there is almost no gap between the two elastic parts 4. Furthermore, the elastic parts 4 can make up for the gap of the gripper fingers 2 to prevent the foreign object 5 from falling between the two elastic parts 4 when the foreign object 5 is small.

[0020] During implementation, when the gripper fingers 2 rotate, the elastic parts 4 will move together with the gripper fingers 2. Among them, the elastic part 4 is an elastic cord or a spring. Preferably, the elastic part 4 is a spring because the spring has higher durability and anti-fatigue performance compared with the elastic cord and can maintain stable performance during long-term use.

[0021] In an embodiment of the present invention, the two ends of the opening side of each gripper finger 2 are respectively a first end 21 and a second end 22, and through holes (not shown in the figure) are respectively formed in the first end 21 and the second end 22. Both ends of the elastic part 4 are respectively hooked in the two through holes, and the through holes are provided to facilitate the installation and disassembly of the elastic part 4.

[0022] In another embodiment of the present invention, hanging rods (not shown in the figure) are respectively fixed to the first end 21 and the second end 22 of each gripper finger 2, and both ends of the elastic part 4 are respectively rotatably connected to the two hanging rods to fix the elastic part 4 in another way, and the installation and disassembly of the elastic part 4 can also be facilitated through the two hanging rods.

[0023] When the present invention is specifically implemented, the output end of the telescopic cylinder 31 extends (extends downward) to drive the driving rack 32 to move downward, and then drives the two driving gears 34 meshing with the driving rack 32 to rotate synchronously. The two driving gears 34 drive the two gripper fingers 2 to rotate synchronously through the shaft rod 33, so that the second ends 22 of the two gripper fingers 2 move away from each other, that is, the two gripper fingers 2 open. Then, the manipulator is moved above the foreign object 5 through the robotic arm, so that the foreign object 5 is located between the two gripper fingers 2. Then, the telescopic cylinder 31 is retracted (moved upward) to drive the driving rack 32 to move upward. The driving rack 32 drives the two driving gears 34 to rotate in the reverse direction, and then the second ends 22 of the two gripper fingers 2 move closer to each other. Thus, the foreign object 5 is clamped between the two gripper fingers 2.

[0024] In order to understand the present invention more clearly, the working states of the present invention for clamping foreign objects 5 of different sizes are now illustrated with reference to the drawings: Please refer to Figure 3As shown, when the robot grips a small foreign object 5, the elastic portion 4 naturally stretches to grip the foreign object 5; See also Figure 4 As shown, when the manipulator grips a slightly larger foreign object 5, the elastic portion 4 is further stretched until it matches the size of the foreign object 5, thereby achieving gripping of the foreign object 5; See also Figure 5 As shown, when the manipulator clamps a large foreign object 5 whose size is larger than the space of the gripper fingers 2, the gripper cannot be tightened to a clamping state. At this time, the elastic part 4 is further stretched until the elastic part 4 abuts against the inner wall of the gripper fingers 2. At this time, the gripper fingers 2 directly clamp the foreign object 5.

[0025] That is, when the size of the foreign object 5 is small, the two gripper fingers 2 are closed to the limit, and the space between the two gripper fingers 2 is still larger than the size of the foreign object 5, the foreign object 5 can be clamped only by the elastic part 4 without contacting the gripper fingers 2; when the size of the foreign object 5 is large enough, the elastic part 4 can be stretched open and directly clamped by the gripper fingers 2, and the grasping is achieved like a conventional structure. In other words, the present invention makes up for the space between the gripper fingers 2 through the elastic part 4, and can effectively grasp the foreign object 5 when it is small, and grasp the larger foreign object 5 as normal, thereby taking into account the size of the foreign object 5, and having high practical value.

[0026] The above description is only a preferred embodiment of the present invention. Obviously, the described embodiment is only a 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.

Claims

1. A manipulator capable of grasping foreign objects of different sizes, characterized in that: include: A base plate (1) used for fixedly connecting to the robot arm; Two gripper fingers (2) are arranged in a mirror image on one side of the base plate (1), each of the gripper fingers (2) is in a C-shaped structure with one side open, and the openings of the two gripper fingers (2) are arranged opposite to each other, and the tops of the two gripper fingers (2) are respectively rotatably connected to the base plate (1); A power unit (3) is arranged on the substrate (1) and is used to drive the two gripper fingers (2) to rotate; Two elastic parts (4) are respectively arranged at the openings of the two gripper fingers (2), and two ends of each elastic part (4) are respectively rotatably connected to two ends of the opening side of the corresponding gripper finger (2).

2. The robot arm capable of grasping foreign bodies of different sizes according to claim 1 is characterized in that: The elastic part (4) is a spring.

3. The manipulator capable of grasping foreign bodies of different sizes according to claim 1 or 2, characterized in that: The two elastic parts (4) abut against each other at their respective sides that are close to each other.

4. The robot arm capable of grasping foreign bodies of different sizes according to claim 1, characterized in that: The two ends of the opening side of each gripper finger (2) are respectively a first end (21) and a second end (22), the first end (21) and the second end (22) are respectively provided with through holes, and the two ends of the elastic part (4) are respectively hooked in the two through holes.

5. The robot arm capable of grasping foreign bodies of different sizes according to claim 1, characterized in that: The base plate (1) comprises a fixed plate (11) and two connecting plates (12) fixedly mounted on the bottom surface of the fixed plate (11), the two connecting plates (12) being symmetrically and spaced apart from each other, the power unit (3) comprising a telescopic cylinder (31) fixedly mounted on the top surface of the fixed plate (11), the output end of the telescopic cylinder (31) passing through the fixed plate (11) and extending between the two connecting plates (12), and being fixedly mounted with a driving rack (32), the two connecting plates (12) being rotatably connected to shaft rods (33) on both sides of the driving rack (32), the outer side of each shaft rod (33) being fixedly sleeved with a driving gear (34) meshing with the driving rack (32), one end of each shaft rod (33) passing through the connecting plate (12) and being fixedly connected to the two gripper fingers (2).

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