Self-adaptive grasping correction mechanism for columnar objects and robot employing the same

Abstract

The present application relates to object clamping assembly technology field, specifically for a kind of self-adapting correction mechanism for columnar object and robot using the mechanism, mechanism includes support rod, calibration component, suction cup, suction component, clamping jaw, clamping component, centering disc, centering component, guide block and reset component being set on clamping jaw.The present application is by setting suction cup cooperation calibration component, so that suction cup can self-regulate direction when adsorbing columnar object, and columnar object is adsorbed by suction component, columnar object is clamped by setting clamping jaw and clamping component, columnar object is adjusted after being clamped by setting centering disc cooperation centering component, and the direction of suction cup is locked, by setting reset component cooperation guide block, so that suction cup stops columnar object adsorption, and columnar object is placed into receiving equipment entrance, simultaneously, clamping jaw is received into suction cup again, and suction cup is unlocked, it is convenient for next use, the stability when columnar object is clamped is guaranteed, avoid touching the columnar object beside, realize higher automation effect.

Description

Technical Field

[0001] This invention relates to the field of columnar object clamping and positioning equipment, specifically to an adaptive gripping and correction mechanism for columnar objects and a robot employing the mechanism. Background Technology

[0002] In the automated production of cylindrical workpieces such as battery cells and shaft parts, the stable gripping and precise positioning of the gripping robot directly determine product quality and production efficiency. With the rapid development of the new energy industry and precision manufacturing, the demand for automated handling of cylindrical workpieces is increasing. In existing technologies, when cylindrical objects are temporarily stored in a high-density arrangement, the traditional horizontally opening gripper, when gripping such objects, occupies a large space during its unfolding action, making it highly susceptible to collisions with adjacent battery cells. Meanwhile, when gripping and placing cylindrical objects, if the cylindrical object is tilted during gripping, the traditional robotic open-type manipulator cannot adaptively conform to the cylindrical object and return to its upright position. When placing the cylindrical object, it cannot guarantee that the cylindrical object will always be in a vertical state. In situations where there is a requirement to assemble or place cylindrical objects vertically in a designated position (such as the assembly of objects like battery cells or bolts), if the gripped cylindrical object is tilted when placed, its lower end will collide with the edge of the designated fixed position during assembly or placement, resulting in damage to the bottom edge of the cylindrical object or assembly failure, affecting the accuracy of assembly or placement, and even causing the cylindrical object itself to be damaged by collision, resulting in unnecessary losses.

[0003] To address this, an adaptive grasping and correction mechanism for cylindrical objects and a robot employing this mechanism are proposed. Summary of the Invention

[0004] The purpose of this invention is to provide an adaptive grasping and correction mechanism for cylindrical objects and a robot using the mechanism, in order to solve the problems in the prior art where the robotic arm needs to open when grasping cylindrical objects, resulting in a large working area, easy contact with nearby cylindrical objects, and inability to ensure that the cylindrical objects remain vertical when placed down, thus affecting the placement accuracy.

[0005] To achieve the above objectives, the present invention provides the following technical solution: An adaptive gripping and correction mechanism for cylindrical objects and a robot employing the mechanism include a support rod, a calibration component and a suction cup sequentially connected to the left end of the support rod, an air suction component mounted on the suction cup, a gripper and a grasping component mounted on the right side of the suction cup, a centering plate and a centering component mounted inside the support rod, a guide block mounted on a receiving device, and a reset component mounted on the gripper. The support rod is connected to the left side of the receiving device. The calibration component adjusts the direction of the suction cup so that its center is aligned with the cylindrical object. The air suction component cooperates with the calibration component to allow the suction cup to adsorb the cylindrical object. After the suction cup adsorbs the cylindrical object, the grasping component extends the gripper to hold and fix the cylindrical object. After the gripper extends, the centering component, in cooperation with the calibration component, allows the centering plate to place the cylindrical object vertically and locks the centering plate. After the cylindrical object is placed vertically, the reset component, in cooperation with the guide block, places the cylindrical object vertically into the receiving device and, in cooperation with the grasping component, resets the centering plate.

[0006] Preferably, the calibration component includes a calibration groove formed in the support rod, a calibration ball head slidably connected in the calibration groove, and a calibration connecting block fixedly connected to the left end of the calibration ball head. The left end of the calibration connecting block is fixedly connected to the suction cup at an angle of less than 180° between the front and rear ends of the suction cup, and the front and rear ends of the suction cup are provided with flanges.

[0007] Preferably, the suction component includes a suction groove formed in the suction cup, a suction pump fixed on the support rod, and a suction pipe connecting the suction groove and the suction pump. The suction groove is connected to the outer side of the left end of the suction cup.

[0008] Preferably, the gripping component includes a gripping guide groove formed on the suction cup and the flange, a gripping slot formed on the inner wall of the right end of the suction cup, a gripping piston slidably connected in the gripping slot, a gripping baffle fixedly connected to the right side of the gripping piston, a locking pin fixedly connected to the right end of the gripping baffle, a locking slot formed on the left side of the gripper, and a gripping spring fixedly in the center of the gripping guide groove. The gripper is slidably connected in the gripping guide groove, and two grippers are symmetrically arranged in each gripping guide groove. The right end of the gripping baffle is connected to the inner wall of the suction cup through a return spring. The locking pin cooperates with the locking slot. An abutment block is provided on one side of the right end of the gripper. The gripping spring is connected to the side of the gripper with the abutment block. The abutment block cooperates with the flange.

[0009] Preferably, the centering component includes a centering column located at the right end of the calibration ball head, a centering block located at the front end of the centering column, a centering groove located to the right of the calibration slot inside the support rod, a centering air groove located to the right of the centering groove, a centering piston slidably connected to the centering air groove, a centering air inlet located at the right end of the centering air groove on the support rod, a centering spring connected between the left end of the centering piston and the inner wall of the support rod, and a concentrating groove and a vertical groove located on the centering plate. A fixing unit is provided inside the support rod to fix the centering plate. The centering plate is slidably connected to the centering groove. The right end of the centering plate is fixedly connected to the centering piston. The centering air groove is connected to the suction pump through a pipe, with the connection point on the left side of the centering piston. The centering air inlet communicates with the right end of the centering air groove. The centering column, the centering block, and the concentrating groove cooperate with each other. The centering block and the vertical groove cooperate with each other.

[0010] Preferably, the vertical groove is provided with an inlet chamfer, which cooperates with the centering block.

[0011] Preferably, the fixing unit includes a fixing groove, a fixing block, a fixing spring, and a fixing slot. The fixing groove is formed in the calibration connecting block, the calibration ball head, and the centering column. The fixing block is slidably connected in the fixing groove. A fixing spring is connected between the rear end of the fixing block and the inner wall of the calibration ball head. The fixing pin is formed at the front end of the vertical groove in the centering plate. The fixing slot cooperates with the centering block.

[0012] Preferably, the reset component includes a reset chamfer and a reset post. The reset chamfer is formed on the guide block and the reset post is fixed to the left front end of the fixed block. The locking pin is provided with a locking chamfer. The reset chamfer cooperates with the lower end of the abutment block. The locking chamfer cooperates with the side of the gripper near the gripping spring. The reset post cooperates with the side of the abutment block near the fixed block.

[0013] A robot employing an adaptive grasping and correction mechanism for cylindrical objects includes the aforementioned adaptive grasping and correction mechanism for cylindrical objects; and a control body, a moving component, and a receiving device. The moving component is disposed within the control body, and the receiving device is disposed on one side of the control body. The moving component includes a linear control unit, an X-axis guide rail, a Y-axis guide rail, and a Z-axis guide rail. The X-axis guide rail is fixedly connected to the control body, the Y-axis guide rail is slidably connected to the X-axis guide rail, the Z-axis guide rail is slidably connected to the Y-axis guide rail, and a support rod is slidably connected to the Z-axis guide rail. The linear control unit is used to control the movement of the support rod.

[0014] Compared with the prior art, the beneficial effects of the present invention are as follows: This application incorporates a suction cup with a calibration component, enabling the suction cup to self-adjust its orientation when adsorbing cylindrical objects. The suction component picks up the cylindrical object, while grippers and a holding component hold it in place. A centering plate, in conjunction with a centering component, adjusts the cylindrical object after gripping it and locks the suction cup's orientation. A reset component, working with a guide block, stops the suction cup from adsorbing the cylindrical object, placing it into the receiving device's inlet. Simultaneously, the grippers are retracted into the suction cup, and the suction cup is unlocked for future use. This ensures stability when gripping cylindrical objects, prevents contact with adjacent cylindrical objects, achieves higher automation, and guarantees placement accuracy. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the overall three-dimensional structure of the present invention during use; Figure 2 This is a schematic diagram of the overall three-dimensional structure inside the support rod of the present invention; Figure 3 This is a schematic cross-sectional view of the calibration component of the present invention; Figure 4 This is a schematic diagram of the overall cross-sectional structure of the adsorption component of the present invention; Figure 5 This is a schematic cross-sectional view of the clamping component of the present invention; Figure 6 For the present invention Figure 5 Enlarged structural diagram at point A in the middle; Figure 7 This is a schematic cross-sectional view of the calibration component of the present invention; Figure 8 This is a schematic cross-sectional view of the fixed unit of the present invention; Figure 9 For the present invention Figure 8 Enlarged structural diagram at point B; Figure 10 This is a schematic diagram of the guide block position structure of the present invention; Figure 11 For the present invention Figure 10 Enlarged structural diagram at point C.

[0016] In the diagram: 1. Support rod; 2. Calibration component; 3. Suction cup; 4. Suction component; 5. Gripper; 6. Clamping component; 7. Centering plate; 8. Centering component; 9. Guide block; 10. Reset component; 11. Receiving device; 21. Calibration slot; 22. Calibration ball head; 23. Calibration connecting block; 31. Flanged edge; 41. Suction slot; 42. Suction pump; 43. Suction pipe; 61. Clamping guide slot; 62. Clamping slot; 63. Clamping piston; 64. Clamping baffle; 65. Locking pin; 66. Locking slot; 67. Clamping spring; 68. Reset spring; 51. Abutment 81. Centering column; 82. Centering block; 83. Centering groove; 84. Centering air groove; 85. Centering piston; 86. Centering air inlet; 87. Centering spring; 88. Concentration groove; 89. Vertical groove; 20. Fixing unit; 891. Inlet chamfer; 201. Fixing groove; 202. Fixing block; 203. Fixing spring; 204. Fixing slot; 101. Reset chamfer; 102. Reset column; 651. Locking chamfer; 301. Control body; 302. Moving component; 302a. X-axis guide rail; 302b. Y-axis guide rail; 302c. Z-axis guide rail. Detailed Implementation

[0017] To ensure a clear and complete description of the technical solutions in the embodiments of the present invention, and to make the features and advantages more apparent and understandable, the specific implementation methods of the present invention will be described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention. Example 1

[0018] Please see Figures 1 to 7This invention provides an adaptive grasping and correction mechanism for columnar objects and a robot employing the mechanism, comprising a support rod 1, a calibration component 2 and a suction cup 3 sequentially connected to the left end of the support rod 1, a suction component 4 disposed on the suction cup 3, a gripper 5 and a gripping component 6 disposed on the right side of the suction cup 3, a centering disk 7 and a centering component 8 disposed within the support rod 1, a guide block 9 mounted on a receiving device 11, and a reset component 10 disposed on the gripper 5. The support rod 1 is connected to the left side of the receiving device 11, and the calibration component 2 is used to adjust the suction... The suction cup 3 is aligned with the center of the cylindrical object. The suction component 4 works with the calibration component 2 to allow the suction cup 3 to adsorb the cylindrical object. After the suction cup 3 adsorbs the cylindrical object, the gripping component 6 extends the gripper 5 to hold and fix the cylindrical object. After the gripper 5 extends, the centering component 8 uses the centering plate 7 to work with the calibration component 2 to place the cylindrical object vertically and lock the centering plate 7. After the cylindrical object is placed vertically, the reset component 10 works with the guide block 9 to place the cylindrical object vertically into the receiving device 11 and works with the gripping component 6 to reset the centering plate 7.

[0019] Specifically, the support rod 1 is connected to the left end of the receiving device 11, and is driven to move up and down, left and right, and forward and backward by three independent lead screw motors in conjunction with a linear lead screw structure.

[0020] Specifically, the columnar object can be a 18650 lithium battery cell, a screw, or other shaft-like part. This application can be used for clamping and assembling 18650 lithium battery cells, installing shaft parts, clamping and assembling screws and bolts, etc. It can also be used in the field of test measurement, such as clamping and placing test tubes, clamping and labeling test tubes, etc. In the figure, for ease of understanding, the columnar object is depicted as a test tube shape.

[0021] Specifically, the left end face of the suction cup 3 is made of a rubber material with a certain degree of elasticity. This design is to enable the suction cup 3 to adapt to the clamping needs of cylindrical objects of different radii within a certain range. The gripper 5 can be made of an elastic material so that when the gripper 5 is extended, the end of the gripper 5 can retract and move closer to the center of the suction cup 3 so that the end can fit against the cylindrical object.

[0022] Please see Figures 1 to 3 Specifically, the calibration component 2 includes a calibration groove 21 formed in the support rod 1, a calibration ball head 22 slidably connected in the calibration groove 21, and a calibration connecting block 23 fixedly connected to the left end of the calibration ball head 22. The left end of the calibration connecting block 23 is fixedly connected to the suction cup 3, and the calibration ball head 22 is slidably connected to the calibration groove 21. The purpose of the design is that after the suction cup 3 comes into contact with the columnar object, the suction cup 3 can change its tilt angle under the action of the calibration ball head 22 and the calibration groove 21, so that the center of the suction cup 3 can better fit with the columnar object.

[0023] Specifically, lubricant can be applied to the connection between the calibration ball head 22 and the calibration groove 21 to minimize friction. The left and right sides of the calibration ball head 22 and its internal components should be made of lightweight materials with a certain degree of deformation resistance, such as ABS plastic or carbon fiber reinforced plastic (CFRP). The purpose of this material selection is to ensure that when the suction cup 3 touches the columnar object, the suction cup 3 can easily change its direction and angle, thereby ensuring that the suction cup 3 can be adjusted to the angle of contact with the columnar object.

[0024] Specifically, the included angle between the front and rear ends of the suction cup 3 is less than 180°. This design is intended to ensure that when the support rod 1 moves the suction cup 3 to the left to fit against the columnar object, and the columnar objects are densely packed, the suction cup 3 will contact the single columnar object as much as possible without touching the adjacent columnar objects. The suction cup 3 has flanges 31 at both the front and rear ends. When the columnar object is slightly tilted, the flanges 31 can contact the columnar object first when the suction cup 3 moves to the left, and then rotate along the flanges 31, ultimately making the center of the suction cup 3 fit against the columnar object, which facilitates the adsorption of the columnar object.

[0025] Please see Figure 4 Specifically, the suction component 4 includes a suction groove 41 opened in the suction cup 3, a suction pump 42 fixed on the support rod 1, and a suction pipe 43 connecting the suction groove 41 and the suction pump 42. The suction groove 41 is connected to the outer side of the center of the left end of the suction cup 3. The suction pump 42 is a small electric suction pump, which can have a variety of different speeds to adjust the adsorption intensity.

[0026] Please see Figures 5 to 7Specifically, the clamping component 6 includes a clamping guide groove 61 formed on the suction cup 3 and the flange 31, a clamping groove 62 formed on the inner wall of the right end of the suction cup 3, a clamping piston 63 slidably connected in the clamping groove 62, a clamping baffle 64 fixedly connected to the right side of the clamping piston 63, a locking pin 65 fixedly connected to the right end of the clamping baffle 64, a locking slot 66 formed on the left side of the gripper 5, and a clamping spring 67 fixed in the center of the clamping guide groove 61. The gripper 5 is slidably connected in the clamping guide groove 61. Each clamping guide groove 61 has a front... Two grippers 5 are symmetrically arranged at the rear. The right end of the gripping baffle 64 is connected to the inner wall of the suction cup 3 via a return spring 68. The locking pin 65 engages with the locking slot 66. This engagement means that when the air pump 42, support rod 1, suction cup 3, etc., are not in operation, the grippers 5 are completely retracted into the gripping guide groove 61 and compress the gripping spring 67. The locking slot 66 on the gripper 5 is directly opposite the locking pin 65. Under the action of the return spring 68, the locking pin 65 is inserted into the locking slot 66, thereby fixing the grippers 5 and preventing them from engaging with the gripping spring. 67. Extends under the action of elastic force; When working, the suction pump 42 is turned on, and after the center of the left end of the suction cup 3 is attached to the cylindrical object, the left end of the suction groove 41 is blocked. As the suction pump 42 continues to suck air, a negative pressure begins to form in the suction groove 41, which causes the movable gripping piston 63 on the right end of the suction cup 3 to begin to overcome the elastic force of the return spring 68 and slide towards the suction groove 41, thereby driving the locking pin 65 to pull out of the locking slot 66, realizing the unlocking of the gripper 5, so that the gripper 5 can extend out of the gripping guide groove 61 under the action of the locking spring force, and realizes... For clamping the side wall of a columnar object, a stop block 51 is provided on the right side of the gripper 5. The gripping spring 67 is connected to the side of the gripper 5 with the stop block 51. The stop block 51 cooperates with the flange 31. The cooperation here means that when the gripper 5 extends, the gripper 5 will drive the stop block 51 to move until the side of the stop block 51 is in contact with the flange 31. This allows the flange 31 to restrict the movement of the gripper 5 after it extends, under the action of the stop block 51, preventing the gripper 5 from being completely ejected from the gripping guide groove 61 under the action of the clamping spring.

[0027] Specifically, the included angle between the front and rear ends of the gripper 5 is less than or equal to half the included angle between the front and rear ends of the suction cup 3. The sum of the included angle between the front and rear ends of the suction cup 3 and the included angle between the front and rear ends of the two grippers 5 in the gripping guide groove 61 is greater than 180°. The purpose of this design is that when the gripper 5 is not extended into the gripper 5 guide groove, it can be stored at the right end of the suction cup 3, so that the suction cup 3 will not come into contact with the adjacent columnar object when it is working, thus avoiding knocking over the adjacent columnar object. After the suction cup 3 is attached to the columnar object, when the gripper 5 is extended, the suction cup 3 and the two grippers 5 can form a ring-shaped enclosure of more than 180° to achieve clamping of the columnar object. At the same time, the gripper 5 extends through the ring-shaped gripping guide groove 61, changing the normal expansion gripping method, further avoiding the situation where the gripper 5 touches the adjacent columnar object when it is extended. The gripper 5 can be made of elastic material so that when the gripper 5 is extended, the end of the gripper 5 can retract and move closer to the center of the suction cup 3, so that the end can fit with the columnar object.

[0028] Working principle: When preparing to start working, the suction pump 42 is turned on and the suction pump 42 draws air from the suction groove 41 inside the suction cup 3. At this time, since the suction groove 41 at the center of the left end of the suction cup 3 is not blocked, the pressure in the suction groove 41 will not change significantly. At the same time, the gripper 5 is completely housed in the gripping guide groove 61 and squeezes the gripping spring 67. The locking slot 66 on the gripper 5 is aligned with the locking pin 65. The locking pin 65 is inserted into the locking slot 66 under the action of the return spring 68, thereby fixing the gripper 5 and preventing it from extending under the action of the gripping spring 67.

[0029] At the start of operation, the support rod 1 is driven by a lead screw motor, which moves the suction cup 3 to the right side of the cylindrical object. The support rod 1 continues to move the suction cup 3 to the left, gradually bringing it closer to the cylindrical object. During this contact process, if the cylindrical object tilts, the suction cup 3, through the combined action of the calibration ball head 22, calibration groove 21, and flange 31, changes its tilt angle, ensuring the center left side of the suction cup 3 is fully in contact with the cylindrical object. At this point, the suction groove 41 at the center left side of the suction cup 3 is blocked. As the suction pump 42 continues to draw air, a negative pressure is created in the suction groove 41. This causes the gripping piston 63 inside the suction cup 3 to overcome the spring force of the return spring 68 and slide towards the suction groove 41, thereby pulling out the locking pin 65. The locking slot 66 unlocks the gripper 5, allowing it to extend from the gripping guide slot 61 under the action of the locking spring, thus gripping the side wall of the cylindrical object. This adaptive gripping vertical correction robot device for cylindrical workpieces allows the suction cup 3 to automatically calibrate and align with the cylindrical object when it is tilted. After the suction cup 3 aligns with the cylindrical object, the gripper 5 automatically extends. The circumferential extension design of the gripper 5 significantly reduces the space required for operation, preventing it from touching and knocking over adjacent cylindrical objects when they are densely packed. This ensures stable and precise gripping of the cylindrical object while preventing damage to nearby cylindrical objects caused by contact, thus affecting subsequent gripping. It exhibits excellent automation. Example 2

[0030] Please see Figures 7 to 9This invention provides an adaptive grasping and correction mechanism for cylindrical objects and a robot employing the mechanism, including a centering component 8. The centering component 8 includes a centering column 81 located at the right end of a calibration ball head 22, a centering block 82 located at the front end of the centering column 81, a centering groove 83 located to the right of a calibration groove 21 within a support rod 1, a centering air groove 84 located to the right of the centering groove 83, a centering piston 85 slidably connected within the centering air groove 84, a centering air inlet 86 located at the right end of the centering air groove 84 on the support rod 1, a centering spring 87 connecting the left end of the centering piston 85 and the inner wall of the support rod 1, and a concentrating groove 88 and a vertical groove 89 located on a centering plate 7. A fixing unit 20 is provided within the support rod 1, the fixing unit 20 being used to... The centering plate 7 is fixed, and the centering plate 7 is slidably connected in the centering groove 83. The right end of the centering plate 7 is fixedly connected to the centering piston 85. The centering air groove 84 is connected to the suction pump through a pipe, and its connection point is on the left side of the centering piston 85. The centering air inlet 86 is connected to the right end of the centering air groove 84. The suction groove 41, the suction pump 42, and the centering air groove 84 are connected through a pipe. After the suction cup 3 is attached to the cylindrical object, the suction pump 42 continuously draws air, so that the suction groove 41 and the centering air groove 84 simultaneously form a negative pressure. The elastic force of the centering spring 87 is greater than the elastic force of the return spring 68. The centering air inlet 86 is connected to the right end of the centering air groove 84. The purpose of this design is that when a negative pressure is formed in the suction groove 41 and the centering air groove 84, the return spring 68 first engages with the clamping piston 63. The piston 85 is first compressed and moves closer to the intake groove 41 until the return spring 68 is fully compressed. As the negative pressure in the intake groove 41 and the centering groove 84 continues to rise, the negative pressure in the centering groove 84 begins to pull the centering piston 85 to the left, causing it to squeeze the centering spring 87. The centering inlet 86 can vent air to the right side of the centering piston 85 in the centering groove 84 when the centering piston 85 moves to the left, creating a pressure difference between the left and right sides of the centering piston 85. The centering column 81, centering block 82, and concentrating groove 88 cooperate. Here, cooperation means that when the centering piston 85 moves to the left, the centering piston 85 drives the centering disk 7 to move to the left, causing the centering disk 7 to slide in the centering groove 83 and move closer to the centering column 81, gradually causing the concentrating groove 88 on the centering disk 7 to... The centering column 81 or centering block 82 is aligned, causing the centering column 81 or centering block 82 to move towards the center of the centering disk 7 along the concentrating groove 88. This, in turn, causes the suction cup 3 at the left end of the calibration ball head 22 to gradually return to its original position. The vertical groove 89 is provided with an inlet chamfer 891, which cooperates with the centering block 82. The centering block 82 cooperates with the vertical groove 89. Here, the cooperation means that when the centering column 81 and centering block 82 move to the center of the centering disk 7 along the concentrating groove 88, the centering block 82 can slide into the vertical groove 89 along the inlet chamfer 891. At this time, the suction cup 3 at the left end of the calibration ball head 22 is completely aligned, and the columnar object held by the suction is completely vertical, which makes it easier for the columnar object to fall accurately into the entrance of the receiving device 11 when it is put down later.

[0031] Please see Figures 8 to 9 Specifically, the fixing unit 20 includes a fixing groove 201, a fixing block 202, a fixing spring 203, and a fixing slot 204. The fixing groove 201 is formed within the calibration connecting block 23, the calibration ball head 22, and the centering column 81. The fixing block 202 is slidably connected within the fixing groove 201. A fixing spring 203 is connected between the rear end of the fixing block 202 and the inner wall of the calibration ball head 22. The fixing pin is formed at the front end of the vertical groove 89 within the centering plate 7. The fixing slot 204 cooperates with the centering block 82. This cooperation means that when the centering block 82 is in contact with the inlet chamfer 891, As the centering plate 7 continues to move to the left, the centering block 82 can move backward along the inlet chamfer 891, causing the fixing block 202 to move backward and compress the fixing spring 203. When the centering block 82 moves to the fixing slot 204, the fixing spring 203 resets and causes the fixing block 202 to move forward, so that the centering block 82 is inserted into the fixing slot 204. At this time, when the suction pump 42 stops suction, the centering piston 85 can be fixed by the action of the centering block 82 and the fixing slot 204, so that the columnar object suctioned by the suction cup 3 always remains vertical, which is convenient for subsequent placement into the inlet of the receiving device 11.

[0032] Specifically, the centering block 82 is provided with a ball bearing (not shown in the figure) at its front end. The ball bearing cooperates with the centering disk 7. When the ball bearing contacts the centering disk 7, it can effectively reduce the friction with the centering disk 7.

[0033] The rest of the structure is the same as in Example 1.

[0034] Working principle: After the suction cup 3 adsorbs the cylindrical object and the gripper 5 extends to hold the cylindrical object, the support rod 1, suction cup 3, and cylindrical object are lifted upward by the screw motor and moved to the inlet of the receiving device 11. Then, the suction force of the suction pump 42 is increased, causing the negative pressure in the suction groove 41 and the centering groove 84 to continuously rise. At this time, the negative pressure in the centering groove 84 begins to pull the centering piston 85 to the left, causing it to squeeze the centering spring 87. When the centering piston 85 moves to the left, it drives the centering plate 7 to move to the left, causing the centering plate 7 to slide in the centering groove 83 and approach the centering column 81. Gradually, the concentration groove 88 on the centering plate 7 fits with the centering column 81 or the centering block 82, thereby aligning the centering plate with the centering column 81 or the centering block 82. The center column 81 or centering block 82 moves along the central groove 88 toward the center of the centering plate 7, thereby causing the suction cup 3 at the left end of the calibration ball head 22 to gradually return to its original position. When the center column 81 and centering block 82 move along the central groove 88 to the center of the centering plate 7, the centering block 82 can slide into the vertical groove 89 along the inlet chamfer 891. At this time, the suction cup 3 at the left end of the calibration ball head 22 is completely aligned, and the columnar object being suctioned and clamped is completely vertical. This makes it easier for the columnar object to fall accurately into the inlet of the receiving device 11 when it is subsequently lowered, preventing the columnar object from colliding with the receiving device 11 when it is lowered, which could cause the columnar object to break, or causing the liquid in the test tube to splash up when it is used to clamp the test tube, resulting in a sticking phenomenon that affects the clamping effect.

[0035] When the centering block 82 is in contact with the inlet chamfer 891, as the centering plate 7 continues to move to the left, the centering block 82 can move backward along the inlet chamfer 891, causing the fixing block 202 to move backward and compress the fixing spring 203. When the centering block 82 moves to the fixing slot 204, the fixing spring 203 resets and causes the fixing block 202 to move forward, so that the centering block 82 is inserted into the fixing slot 204. At this time, when the suction pump 42 stops adsorbing, the centering piston 85 can be fixed by the action of the centering block 82 and the fixing slot 204, so that the columnar object adsorbed by the suction cup 3 always remains in a vertical state, which is convenient for subsequent placement into the inlet of the receiving device 11. Then the suction pump 42 stops working. At this time, the suction cup 3 stops adsorbing the columnar object. The object is held only by gripper 5. At this time, the cylindrical object is still kept vertical by the centering column 81, centering block 82 and centering plate 7. The lower end of the cylindrical object is directly opposite the inlet of the receiving device 11, which makes it easy to accurately put the cylindrical object into the receiving device 11 and prevent tilting. Then the lead screw motor drives the support rod 1 to move downward, so that the gripper 5 moves the cylindrical object downward to the inlet of the receiving device 11. With the cooperation of the reset component 10, the gripper 5 is released, so that the cylindrical object falls accurately into the receiving device 11. The adaptive gripping vertical correction robot device used for cylindrical workpieces can realize the adsorption, gripping and vertical correction of cylindrical objects with only one suction pump 42. It is simple to operate, low in cost, and achieves good automation effect. Example 3

[0036] Please see Figures 8 to 11 This invention provides an adaptive gripping and correction mechanism for cylindrical objects and a robot employing the mechanism. The mechanism includes a reset component 10, which comprises a reset chamfer 101 and a reset post 102. The reset chamfer 101 is formed on a guide block 9, and the reset post 102 is fixed to the left front end of a fixing block 202. A locking chamfer 651 is formed on a locking pin 65. The reset chamfer 101 engages with the lower end of an abutment block 51. This engagement means that when the support rod 1 moves the suction cup 3, gripper 5, etc., downwards, the gripper... The claw 5 drives the abutment block 51 to move downwards and engage with the reset chamfer 101. As the support rod 1 continues to move downwards, the abutment block 51 can move along the reset chamfer 101 towards the center of the clamping guide groove 61 and squeeze the clamping spring 67. The locking chamfer 651 cooperates with the side of the claw 5 near the clamping spring 67. This cooperation means that when the suction pump 42 stops working, the negative pressure in the suction groove 41 and the centering air groove 84 disappears, and the locking pin 65 extends out of the right end of the suction cup 3 again under the action of the reset spring 68. When the claw 5 moves towards When the gripper 5 moves within the gripping guide groove 61, the end of the gripper 5 near the gripping spring 67 gradually engages with the locking chamfer 651 on the locking pin 65, and pushes the locking pin 65 into the suction groove 41 along the locking chamfer 651 until the gripper 5 is fully retracted into the gripping guide groove 61. At this time, the locking slot 66 and the locking pin 65 are aligned, and the locking pin 65 is inserted into the locking slot 66 under the action of the return spring 68, thus fixing the gripper 5. The return post 102 and the abutment block 51 are matched on the side near the fixing block 202. The "cooperation" here refers to the following: when the abutment block 51 moves toward the center of the clamping guide groove 61, the abutment block 51 will gradually come into contact with the reset post 102 and drive the reset post 102 to move backward. The backward movement of the reset post 102 drives the fixing block 202 to move backward and compress the fixing spring 203. The backward movement of the fixing block 202 drives the centering block 82 to move backward and pull out of the fixing slot 204. At this time, the centering piston 85 and the centering plate 7 can be reset and move to the right under the action of the centering spring 87, and the centering plate 7 disengages from the contact with the centering post 81.

[0037] Specifically, in order to enable the centering block 82 to move backward in sync with the fixed block 202 when the reset post 102 moves backward, a limiting hole can be set in the front-back orientation of the fixed block 202, and a limiting rod can be set in the front-back orientation of the fixed groove 201. The limiting block and the limiting rod are not shown in the figure. Through the sliding connection of the limiting hole and the limiting rod, it can be effectively ensured that the centering block 82 at the other end of the fixed block 202 can move backward together when the reset post 102 moves backward.

[0038] Specifically, in order to further achieve clamping stability, multiple clamping guide grooves 61 can be provided, and two grippers 5 are provided in each clamping guide groove 61. The grippers 5 on the same side of the suction cup 3 are synchronously connected through the abutment block 51. Each of the front and rear sides of the suction cup 3 can be provided with a set of clamping components 6. The abutment block 51 at the lowest gripper 5 cooperates with the reset chamfer 101 of the guide block 9, and the reset post 102 cooperates with the abutment block 51 at the corresponding position.

[0039] The rest of the structure is the same as in Example 2.

[0040] Working principle: When the suction pump 42 stops working, the negative pressure in the suction groove 41 and the centering groove 84 disappears. The locking pin 65 extends out of the right end of the suction cup 3 under the action of the return spring 68. When it is necessary to put the cylindrical object into the inlet of the receiving device 11, since the centering plate 7 is fixed by the centering block 82, when the cylindrical object is directly opposite the inlet of the receiving device 11, it is only necessary to control the screw motor to drive the support rod 1 to move downward, so that the lower end of the cylindrical object is first inserted into the inlet of the receiving device 11. Then, as the support rod 1 drives the suction cup 3, the gripper 5, etc. to move downward, the gripper 5 drives the abutment block 51 to move downward and fit against the reset chamfer 101. As the support rod 1 continues to move downward, the abutment block 51 can move along the reset chamfer 101. The gripping guide groove 61 is brought closer to the center and squeezes the gripping spring 67. The abutment block 51 moves, causing the gripper 5 to move into the gripping guide groove 61. The end of the gripper 5 near the gripping spring 67 can gradually fit into the locking chamfer 651 on the locking pin 65, and push the locking pin 65 into the suction groove 41 along the locking chamfer 651 until the gripper 5 is completely retracted into the gripping guide groove 61. The gripper 5 loses its grip on the cylindrical object, and the cylindrical object falls completely into the inlet of the receiving device 11, thus achieving precise picking and placing of the cylindrical object. At the same time, the locking slot 66 is aligned with the locking pin 65. Under the action of the return spring 68, the locking pin 65 is inserted into the locking slot 66 to fix the gripper 5, which is convenient for subsequent use.

[0041] Simultaneously, as the abutment block 51 moves towards the center of the clamping guide groove 61, it gradually comes into contact with the reset post 102, causing the reset post 102 to move backward. This backward movement of the reset post 102 causes the fixing block 202 to move backward, compressing the fixing spring 203. The backward movement of the fixing block 202 then causes the centering block 82 to move backward, pulling it out of the fixing slot 204. At this point, the centering piston 85 and the centering disk 7 can reset and move to the right under the action of the centering spring 87. The centering disk 7 disengages from the centering post 81, and the gripper 5 resets to its original position. At the right end of the disk 3, the centering disk 7 disengages from the centering column 81, and the suction cup 3 resumes its activity. This allows the adaptive gripping and vertical correction robot device for columnar workpieces to achieve adsorption, clamping, and adjustment of columnar objects simply by controlling the suction pump 42. The operation is simple and the cost is low. It ensures stability when clamping columnar objects and avoids touching adjacent columnar objects. At the same time, it can automatically adjust the orientation of the clamped columnar object so that the columnar object can fall straight into the receiving device 11, achieving a higher degree of automation. Example 4

[0042] Please see Figures 10 to 11 A robot employing an adaptive grasping and correction mechanism for columnar objects is provided, comprising the adaptive grasping and correction mechanism for columnar objects described in the above embodiments, as well as a control body 301, a moving component 302, and a receiving device 11. The moving component 302 is disposed within the control body 301 and includes a linear control unit, an X-axis guide rail 302a, a Y-axis guide rail 302b, and a Z-axis guide rail 302c. The X-axis guide rail 302a is fixedly connected to the control body 301, the Y-axis guide rail 302b is slidably connected to the X-axis guide rail 302a, the Z-axis guide rail 302c is slidably connected to the Y-axis guide rail 302b, and a support rod 1 is slidably connected to the Z-axis guide rail 302c. The linear control unit is used to control the movement of the support rod 1.

[0043] Specifically, lead screws are installed in the X-axis guide rail 302a, Y-axis guide rail 302b, and Z-axis guide rail 302c. Each lead screw has an independent motor on one side, which is controlled by a control unit. The Y-axis guide rail 302b is connected to the X-axis guide rail 302a via a lead screw and can move left and right under the drive of the lead screw in the X-axis guide rail 302a. The Z-axis guide rail 302c is connected to the Y-axis guide rail 302b via a lead screw and can move back and forth under the drive of the lead screw in the Y-axis guide rail 302b. The support rod 1 is slidably connected to the Z-axis guide rail 302c via a lead screw and can move up and down under the drive of the lead screw in the Z-axis guide rail 302c.

[0044] The specific motor can be a stepper motor, and the controller is a Galil DMC-4143 controller. A grating ruler is set on the support rod 1 to provide feedback on the movement position, so that the support rod 1 can drive the suction cup 3 to move accurately to the position of the column to clamp the column.

[0045] Specifically, taking the clamping of test tubes as an example, when it is necessary to place the test tubes placed on the tray into the inlet of the labeling machine, it is only necessary to activate the motor through the controller and turn on the suction pump. Under the feedback of the grating ruler, the lead screws in the X-axis guide rail 302a, Z-axis guide rail 302c and Y-axis guide rail 302b drive the support rod 1 to move back and forth, left and right, and up and down. This moves the suction cup 3 at the left end of the support rod 1 to the side of the test tube and attaches it to the test tube to adsorb it. After the test tube is adsorbed, the suction cup 3 forms a... A negative pressure is applied, and the locking pin 65 is pulled out of the clamp 5, so that the clamp 5 wraps around the test tube. Then, the suction intensity of the suction pump is increased, and the centering plate 7 is moved to the left to straighten the test tube and keep it fixed in a vertical direction. Then, the suction pump stops working, and the controller moves the suctioned test tube to above the labeling machine inlet and controls the support rod 1 to move down. Finally, with the cooperation of the guide block 9, the test tube is straightened and the centering plate 7 and suction cup 3 are unlocked, so that the next test tube can be clamped.

[0046] This embodiment only takes the clamping of test tubes as an example. The cylindrical object can be a shaft-like part such as an 18650 lithium battery cell or a screw. This application can be used for clamping and assembling 18650 lithium battery cells, installing shaft parts, clamping and assembling screws and bolts, etc. It can also be used in the field of test measurement, such as clamping and placing test tubes, clamping and labeling test tubes, etc. In the figure, for ease of understanding, the cylindrical object is depicted as the shape of a test tube.

[0047] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. An adaptive gripping and correction mechanism for cylindrical objects, characterized in that: The device includes a support rod, a calibration component, a suction cup, a suction component, grippers, a grasping component, a centering plate, a centering component, a guide block, and a reset component. The calibration component and suction cup are sequentially connected to the side of the support rod. The grippers and grasping component are sequentially arranged on the side of the suction cup near the support rod. The centering plate and centering component are located inside the support rod. The guide block is mounted on the receiving device. The reset component is located on the grippers. The calibration component is used to adjust the direction of the suction cup so that its center is aligned with the cylindrical object. The suction component cooperates with the calibration component. The suction cup adsorbs the cylindrical object. After the suction cup adsorbs the cylindrical object, the gripping component extends its grippers to hold and fix the cylindrical object. After the grippers extend, the centering component, in conjunction with the calibration component, positions the cylindrical object vertically and locks the centering plate. After the cylindrical object is placed vertically, the resetting component, in conjunction with the guide block, vertically inserts the cylindrical object into the receiving device and, in conjunction with the gripping component, resets the centering plate. The calibration component includes a calibration slot formed within a support rod, a calibration ball head slidably connected within the calibration slot, and a fixed connection to the calibration... The calibration connecting block on the side of the calibration ball head away from the support rod is fixedly connected to the suction cup on the side away from the support rod. The centering component includes a centering post on the side of the calibration ball head near the support rod, a centering block at one end of the centering post, a centering groove on the side of the calibration groove in the support rod away from the suction cup, a centering air groove on the side of the centering groove away from the suction cup, a centering piston slidably connected in the centering air groove, a centering air inlet on the side of the centering air groove on the support rod away from the suction cup, and a connection between the centering piston on the side near the suction cup and the support rod. The centering spring between the inner walls of the rod and the central groove and vertical groove opened on the centering plate, the support rod is provided with a fixing unit, the fixing unit is used to fix the centering plate, the centering plate is slidably connected in the centering groove, the side of the centering plate away from the suction cup is fixedly connected to the centering piston, the centering air groove is connected to the suction pump through a pipe, the connection point is on the side of the centering piston near the suction cup, the centering air inlet is connected to the side of the centering air groove away from the suction cup, the centering column, the centering block and the central groove cooperate, the centering block and the vertical groove cooperate.

2. The adaptive gripping and correction mechanism for columnar objects according to claim 1, characterized in that: The included angle between the two ends of the suction cup is less than 180°, and the two ends of the suction cup are provided with flanges.

3. The adaptive gripping and correction mechanism for columnar objects according to claim 2, characterized in that: The suction component includes a suction groove inside the suction cup, a suction pump fixed on the support rod, and a suction pipe connecting the suction groove and the suction pump. The suction groove is connected to the outside of the suction cup on the side away from the support rod.

4. The adaptive gripping and correction mechanism for columnar objects according to claim 3, characterized in that: The gripping component includes gripping guide grooves on the suction cup and flange, a gripping slot on the inner wall of the suction cup near the support rod, a gripping piston slidably connected in the gripping slot, a gripping baffle fixedly connected to the gripping piston near the support rod, a locking pin fixedly connected to the gripping baffle near the support rod, a locking slot on the gripper away from the support rod, and a gripping spring fixedly in the center of the gripping guide groove. The grippers are slidably connected in the gripping guide groove, and two grippers are symmetrically arranged in each gripping guide groove. The gripping baffle near the support rod is connected to the inner wall of the suction cup by a return spring. The locking pin cooperates with the locking slot. An abutment block is provided on the gripper near the support rod. The gripping spring is connected to the gripper with the abutment block. The abutment block cooperates with the flange.

5. The adaptive gripping and correction mechanism for columnar objects according to claim 1, characterized in that: The vertical groove is provided with an inlet chamfer, which mates with the centering block.

6. The adaptive gripping and correction mechanism for columnar objects according to claim 4, characterized in that: The fixing unit includes a fixing groove, a fixing block, a fixing spring, and a fixing slot. The fixing groove is formed inside the calibration connecting block, the calibration ball head, and the centering column. The fixing block is slidably connected inside the fixing groove. The rear end of the fixing block and the inner wall of the calibration ball head are connected by a fixing spring. The fixing pin is formed at the front end of the vertical groove inside the centering plate. The fixing slot cooperates with the centering block.

7. The adaptive gripping and correction mechanism for columnar objects according to claim 6, characterized in that: The reset component includes a reset chamfer and a reset post. The reset chamfer is formed on the guide block and the reset post is fixed to the left front end of the fixed block. The locking pin is provided with a locking chamfer. The reset chamfer cooperates with the lower end of the abutment block. The locking chamfer cooperates with the side of the gripper near the gripping spring. The reset post cooperates with the side of the abutment block near the fixed block.

8. A robot employing an adaptive grasping and correction mechanism with a columnar object, characterized in that: Including the adaptive gripping and correction mechanism for columnar objects as described in any one of claims 1 to 7; and, The control unit comprises a moving component and a receiving device. The moving component is disposed within the control unit, and the receiving device is disposed on one side of the control unit. The moving component includes a linear control unit, an X-axis guide rail, a Y-axis guide rail, and a Z-axis guide rail. The X-axis guide rail is fixedly connected to the control unit, the Y-axis guide rail is slidably connected to the X-axis guide rail, the Z-axis guide rail is slidably connected to the Y-axis guide rail, and a support rod is slidably connected to the Z-axis guide rail. The linear control unit is used to control the movement of the support rod.

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