Heavy self-centering grabbing manipulator

Abstract

The heavy self-centering material grabbing manipulator comprises a bearing plate, a connecting piece is arranged in the middle of the top of the bearing plate, and longitudinal self-centering material grabbing structures are arranged on the left side and the right side of the bottom of the bearing plate correspondingly; the bearing plate is further provided with a transverse moving structure used for enabling the two longitudinal self-centering material grabbing structures to get away from or get close to each other, and a camera is arranged in the middle of the front side of the bearing plate. Through cooperation of the longitudinal self-centering grabbing structure and the transverse moving structure, self-centering grabbing can be conveniently conducted on heavy workpieces, the phenomenon that the gravity center deviates and grabbing is unstable is avoided, and therefore the possibility that the grabbed workpieces fall off is reduced, operation safety is improved, and operation accidents are reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of manipulator equipment, in particular to a heavy-duty self-centering material-grabbing manipulator. Background Art

[0002] A robot arm is an automatic machine that simulates human hand operation. It can grasp and move objects or manipulate tools according to fixed procedures to complete certain specific operations.

[0003] Currently, when grasping some heavy workpieces, the center of gravity is easily deviated, resulting in unstable grasping, which may cause the grasped workpiece to fall off. Heavy workpieces falling off can easily cause serious safety accidents. Based on this, we propose a heavy-duty self-centering material gripper. Summary of the Invention

[0004] The purpose of the present invention is to overcome the above-mentioned problems existing in the prior art and provide a heavy-duty self-centering material-grabbing robot that is convenient for self-centering grasping of heavy workpieces, avoiding the phenomenon of unstable grasping due to deviation of the center of gravity, thereby reducing the possibility of the grasped workpiece falling off, improving operational safety, and reducing the occurrence of operational accidents.

[0005] To solve the above technical problems, the present invention provides a heavy-duty self-centering material-grabbing manipulator, comprising a carrier plate, a connecting member provided in the middle of the top of the carrier plate, longitudinal self-centering material-grabbing structures provided on both the left and right sides of the bottom of the carrier plate, a lateral movement structure for moving the two longitudinal self-centering material-grabbing structures away from or closer to each other provided on the carrier plate, and a camera provided in the middle of the front side of the carrier plate; The longitudinal self-centering material grabbing structure includes a support plate, and material grabbing hands are symmetrically arranged on the front and rear sides of the bottom of the support plate, and two sets of guide rail seats are fixedly connected to the bottom of the support plate; One group of the guide rail seats is rotatably connected to two self-centering gears 1, and several self-centering gears 2 rotatably connected to the guide rail seat are arranged between the two self-centering gears 1. The self-centering gear 1 is meshed with a self-centering gear 2 adjacent to it, and any two adjacent self-centering gears 2 are meshed with each other.

[0006] Preferably, the bottom of the carrying plate is provided with two transverse slide rails; The lateral movement structure includes a power structure and a linkage structure, and the linkage structure is located between the two lateral guide rails; Four transverse sliders are fixedly installed on the top of the support plate, the two transverse sliders on the front side are slidably connected to a corresponding transverse slide rail, and the two transverse sliders on the rear side are slidably connected to another corresponding transverse slide rail.

[0007] Based on the above technical features, the two longitudinal self-centering material grabbing structures can be moved horizontally at the bottom of the bearing plate by sliding the horizontal slider on the horizontal slide rail.

[0008] Preferably, the linkage structure includes two screws, namely a first screw and a second screw; The power structure includes a motor, a mounting shell and two brackets. The two brackets are fixedly mounted on one side of the top of the supporting plate. The mounting shell is located on one side of the supporting plate and is fixedly connected to the two brackets. The motor is located between the two brackets and is fixedly mounted on the mounting shell. The power output end of the motor is connected to a main gear, and the main gear is located in the mounting shell.

[0009] Based on the above technical features, the main gear can be shielded and protected by installing the shell, reducing the adhesion of external dust to the main gear.

[0010] Preferably, the other end of the second screw is connected to a driven gear, a linkage gear is meshedly connected between the driven gear and the main gear, the linkage gear is rotatably connected in the mounting shell, and a gear cover that matches the driven gear is fixedly installed at the bottom of the mounting shell; The two screws are connected by a coupling, and the two screws are symmetrical with each other about the coupling. The outer ends of the screws are rotatably connected to bearing supports, and the bearing supports are fixedly connected to the load-bearing plate. Nuts are threadedly connected to the two screws, and nut seats are fixedly sleeved on the two nuts. The nut seats are connected to the corresponding longitudinal self-centering material grabbing structure.

[0011] Based on the above technical features, the nut seat is threadedly driven on the screw rod, and the longitudinal self-centering grabbing structure slides at the bottom of the supporting plate, thereby facilitating the two longitudinal self-centering grabbing structures to move away from or towards each other.

[0012] Preferably, two first limit switches are provided on one side of the connecting member, one is a first inner limit switch, and the other is a first outer limit switch. The two first limit switches are fixed to the supporting plate through right-angle positioning pieces. An avoidance through-hole cooperating with the first limit switch is provided on the other side of the top of the supporting plate. A limit block is provided on the side away from each other of the two groups of avoidance through-holes, and the limit block is fixedly installed on the bottom of the supporting plate.

[0013] Based on the above technical features, it is convenient to move the nut seat on the first screw only between the two limit blocks.

[0014] Preferably, longitudinal guide rails are fixedly installed on the bottom of the two groups of guide rail seats, and longitudinal sliders that slide with the longitudinal guide rails are installed on the left and right sides of the top of the grabber.

[0015] Based on the above technical features, the longitudinal slider slides on the longitudinal guide rail, thereby facilitating the two gripping arms to move closer to or away from each other.

[0016] Preferably, oil cylinders are provided on both sides of the front and rear between the two groups of guide rail seats, and the oil cylinders are fixedly installed on the bottom of the support plate, and the piston rods of the oil cylinders are connected to the corresponding grabbers through connecting blocks; racks are provided on the sides of the two groups of oil cylinders, and the racks are fixedly installed on the top of the grabber, and the side of the rack away from the grabber is meshed with the self-centering gear.

[0017] Based on the above technical features, the movement of the grabbing hand drives the rack to move, and the movement of the rack drives the self-centering gear meshing with it to rotate.

[0018] Preferably, two second limit switches are provided on one side of the top of the support plate, one is a second inner limit switch, and the other is a second outer limit switch, and a trigger block that cooperates with the second limit switch is fixedly installed on the side of the front gripper.

[0019] Based on the above technical features, the movement of the gripping hand drives the trigger block to move between the two second limit switches to trigger the two second limit switches respectively.

[0020] In summary, the present invention has at least one of the following beneficial effects: On the one hand, the present invention uses a transverse moving structure to synchronously move the two longitudinal self-centering grabbing structures away from or closer to each other, so as to facilitate an automatic center grabbing position adjustment according to the length of the workpiece; on the other hand, the two longitudinal self-centering grabbing structures themselves are driven by two oil cylinders to synchronously move the two grabbing hands away from or closer to each other, and the movement of the two grabbing hands respectively drives the movement of the racks connected to them, and the movement of the racks drives the self-centering gear 1 engaged with them to rotate, and the rotation of the two self-centering gears drives the self-centering gears 2 between the two self-centering gears to engage and transmit, so as to facilitate a secondary automatic center grabbing position adjustment according to the width of the workpiece. At the same time, the synergistic effect of the above-mentioned components facilitates the self-centering grabbing of heavy workpieces, avoids the phenomenon of center of gravity deviation and unstable grabbing, thereby reducing the possibility of the grasped workpiece falling off, improving operation safety, and reducing the occurrence of operation accidents. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a schematic diagram of the structure of the present invention in use; Figure 2 For the present invention Figure 1 Front view of Figure 3 This is a schematic diagram of the structure of the lateral movement structure of the present invention. Figure 1 ; Figure 4This is a schematic diagram of the structure of the lateral movement structure of the present invention. Figure 2 ; Figure 5 This is a schematic diagram of the structure of the lateral movement structure of the present invention. Figure 3 ; Figure 6 This is a schematic diagram of the longitudinal self-centering material grabbing structure of the present invention. Figure 1 ; Figure 7 This is a schematic diagram of the longitudinal self-centering material grabbing structure of the present invention. Figure 2 ; Figure 8 This is a schematic diagram of the longitudinal self-centering material grabbing structure of the present invention. Figure 3 ; Figure 9 For the present invention Figure 8 Front view of Figure 10 This is a principle block diagram of the control system of the motor of the present invention; In the accompanying drawings, the components represented by the reference numerals are as follows: 1-carrying plate, 101-horizontal slide, 102-avoidance through hole, 103-right angle positioning piece, 104-first limit switch, 2-longitudinal self-centering material grabbing structure, 201-support plate, 202-horizontal slide, 203-grabbing hand, 204-guide rail seat, 205-longitudinal guide rail, 206-longitudinal slide, 207-oil cylinder, 208-connecting block, 209-rack, 210-self-centering gear 1, 211-self Heart gear 2, 212-second limit switch, 213-touch block, 3-connecting piece, 4-camera, 5-lateral moving structure, 501-bracket, 502-mounting shell, 503-motor, 504-main gear, 505-linkage gear, 506-gear cover, 507-driven gear, 508-screw, 509-coupling, 510-bearing support, 511-nut seat, 512-limit block, 6-workpiece. DETAILED DESCRIPTION

[0022] The following is combined with Figures 1-9 The present invention is described in further detail.

[0023] An embodiment provided by the present invention: see Figure 1 and Figure 2A heavy-duty self-centering material-grabbing manipulator comprises a carrying plate 1, and a connecting piece 3 is provided in the middle of the top of the carrying plate 1, which is convenient for the entire heavy-duty self-centering material-grabbing manipulator to be installed and connected with the connecting part of the robot through the connecting piece 3, so as to realize the installation of the robot and the manipulator, and facilitate the robot to operate the heavy-duty self-centering material-grabbing manipulator to grab the workpiece 6, and longitudinal self-centering material-grabbing structures 2 are provided on the left and right sides of the bottom of the carrying plate 1. A lateral moving structure 5 for the two longitudinal self-centering material-grabbing structures 2 to move away from or close to each other is also provided on the carrying plate 1. A camera 4 is provided in the middle of the front side of the carrying plate 1, and the camera 4 is used to shoot the current picture of the heavy-duty self-centering material-grabbing manipulator in real time, so that the operator can see the grabbing operation status in real time.

[0024] See Figure 1 、 Figure 3 and Figure 5 , two transverse slide rails 101 are provided at the bottom of the carrying plate 1, See Figure 1 、 Figure 6 、 Figure 7 、 Figure 8 and Figure 9 The longitudinal self-centering material grabbing structure 2 includes a support plate 201, and four transverse sliders 202 are fixedly installed on the top of the support plate 201. The two transverse sliders 202 on the front side are slidably connected to a corresponding transverse slide rail 101, and the two transverse sliders 202 on the rear side are slidably connected to another corresponding transverse slide rail 101. The transverse sliders 202 slide on the transverse slide rail 101, so that the two longitudinal self-centering material grabbing structures 2 can be moved transversely at the bottom of the supporting plate 1. The bottom of the support plate 201 is symmetrically provided with grabbing hands 203 on both sides. The bottom of the support plate 201 is fixedly connected with two sets of guide rail seats 204. One set of guide rail seats 204 is rotatably connected to two self-centering gears 1 210. A plurality of self-centering gears 211 rotatably connected to the guide rail seats 204 are provided between the two self-centering gears 1 210. The self-centering gear 1 210 is meshed with a self-centering gear 2 211 adjacent to it, and any two adjacent self-centering gears 211 are meshed with each other. The bottom of the two sets of guide rail seats 204 are fixedly installed with longitudinal guide rails 205. The left and right sides of the top of the grabber 203 are installed with longitudinal sliders 206 that slide with the longitudinal guide rails 205. The longitudinal sliders 206 slide on the longitudinal guide rails 205, so that the two grabbers 203 can move closer to or away from each other when the cylinder 207 is working. Oil cylinders 207 are provided on both sides of the front and rear sides between the two sets of guide rail seats 204, and the oil cylinders 207 are fixedly installed at the bottom of the support plate 201. The piston rods of the oil cylinders 207 are connected to the corresponding grabbers 203 through connecting blocks 208. Racks 209 are provided on the sides of the two sets of oil cylinders 207. The racks 209 are fixedly installed on the top of the grabbers 203. The side of the racks 209 away from the grabbers 203 is meshed with the self-centering gear 210. By extending the piston rods of the two oil cylinders 207 at the same time, the two grabbers 203 are driven to move at the bottom of the support plate 201 and approach each other through the connecting block 208. The movement of the two grabbers 203 drives the movement of the racks 209 connected to them. The movement of the racks 209 drives the self-centering gear 1 210 meshing with them to rotate. The two self-centering gears 1 210 rotate, thereby driving the meshing transmission of the self-centering gears 2 211 between the two self-centering gears 1 210, thereby realizing the self-centering work of the two grabbers 203 to grab the workpiece. On the contrary, by retracting the piston rods of the two oil cylinders 207 at the same time, the above-mentioned working components perform opposite movements, thereby realizing the gripping action of the two gripping hands 203 releasing the workpiece 6; Two second limit switches 212 are provided on one side of the top of the support plate 201, one is a second inner limit switch and the other is a second outer limit switch. A trigger block 213 that cooperates with the second limit switch 212 is fixedly installed on the side of the front gripper 203. When the two grippers 203 move toward each other, after grabbing the workpiece, they drive the trigger block 213 to trigger the second inner limit switch. When the two grippers 203 move away from each other, after releasing the workpiece, they drive the trigger block 213 to trigger the second outer limit switch. In this way, the two second limit switches 212 realize the detection of the position of mechanical parts through the conversion of mechanical motion and electrical signals.

[0025] See Figure 3 、 Figure 4 、 Figure 5 and Figure 10 The lateral movement structure 5 includes a power structure and a linkage structure. The linkage structure is located between the two lateral guide rails 101. The power structure includes a motor 503, a mounting shell 502 and two brackets 501. The two brackets 501 are fixedly mounted on one side of the top of the carrier plate 1. The mounting shell 502 is located on one side of the carrier plate 1, and the mounting shell 502 is fixedly connected to the two brackets 501. The motor 503 is located between the two brackets 501 and is fixedly mounted on the mounting shell 502. The power output end of the motor 503 is connected to the main gear 504, and the main gear 504 is located in the mounting shell 502. The linkage structure includes two screws 508, namely the first screw and the second screw. The other end of the second screw is connected to a driven gear 507. The driven gear 507 and the main gear 504 are meshed with a linkage gear 505. The linkage gear 505 is rotatably connected in the mounting shell 502. A gear cover 506 that matches the driven gear 507 is fixedly installed at the bottom of the mounting shell 502. The driven gear 507 is shielded and protected by the gear cover 506. The main gear 504 and the linkage gear 505 can be shielded and protected by the mounting shell 502 to reduce the external dust adhering to the three gears and affecting the transmission efficiency. At the same time, the mounting shell 502 also plays a role in installing the linkage gear 505. The two screw rods 508 are connected by a coupling 509, and the two screw rods 508 are symmetrical with each other about the coupling 509. The outer ends of the screw rods 508 are rotatably connected to the bearing supports 510, and the bearing supports 510 are fixedly connected to the bearing plate 1. Nuts are threadedly connected to the two screw rods 508, and nut seats 511 are fixedly sleeved on the two nuts. The nut seats 511 are fixedly connected to the support plates 201 in the corresponding longitudinal self-centering material grabbing structure 2. The forward and reverse motions of the motor 503 drive the main gear 504 to rotate, and the rotation of the main gear 504 drives the linkage gear 505 to rotate on the mounting shell 502, and the rotation of the linkage gear 505 drives the driven gear 507 to rotate. Through the connection of the two screw rods 508 by the coupling 509, the driven gear 507 drives the two screw rods 508 to rotate on the bearing support 510. Through the threaded transmission of the nut and the screw rod 508 and the sliding movement of the longitudinal self-centering material grabbing structure 2 on the bottom of the carrying plate 1, it is easy to drive the two longitudinal self-centering material grabbing structures 2 to move away from or towards each other. Two first limit switches 104 are provided on one side of the connecting member 3, one is a first inner limit switch, and the other is a first outer limit switch. The two first limit switches 104 are fixedly installed with the supporting plate 1 through the right-angle positioning piece 103. An avoidance through-hole 102 cooperating with the first limit switch 104 is opened on the other side of the top of the supporting plate 1. A limit stopper 512 is provided on the side away from each other of the two sets of avoidance through-holes 102. The limit stopper 512 is fixedly installed on the bottom of the supporting plate 1. The limit stopper 512 is also located outside the screw rod 508 and does not contact the screw rod 508, ensuring that the screw rod 508 can rotate normally. The nut seat 511 on the first screw is located between the two limit stops 512, which is convenient for the nut seat 511 on the first screw to move only between the two limit stops 512. When the nut seat 511 on the first screw moves between the two limit blocks 512, when it moves in the direction close to the coupling 509, it eventually triggers the first inner limit switch, and when it moves in the direction away from the coupling 509, it eventually triggers the first outer limit switch. By moving back and forth between the two first limit switches 104 and triggering the two first limit switches 104, it transmits the signal to the control system used in conjunction with the first limit switch 104 and the motor 503 (a mature technology known to those skilled in the art, which is only used without changing its structure and function, and will not be elaborated on here), and then the control system transmits the signal to the motor 503 to control it to perform forward and reverse movement, thereby facilitating the control of the motor 503 to perform forward and reverse movement to drive the two longitudinal self-centering grabbing structures 2 to move closer to each other to grab the workpiece 6, and move away from each other to release the workpiece 6.

[0026] Working principle: The two longitudinal self-centering grabbing structures 2 are synchronously moved away from or closer to each other through the transverse moving structure 5, so as to facilitate an automatic center grabbing position adjustment according to the length of the workpiece; and then the two longitudinal self-centering grabbing structures 2 themselves are driven by two oil cylinders 207 to synchronously move away from or closer to each other, and the movement of the two grabbing hands 203 respectively drives the movement of the rack 209 connected to them, and the movement of the rack 209 drives the self-centering gear 1 210 meshing with it to rotate, and the rotation of the two self-centering gears 1 210 drives the meshing transmission of each self-centering gear 2 211 between the two self-centering gears 1 210, so as to facilitate a secondary automatic center grabbing position adjustment according to the width of the workpiece. At the same time, the synergistic effect of the above-mentioned components facilitates self-centering grabbing of heavy workpieces, avoids the phenomenon of unstable grabbing caused by deviation of the center of gravity, thereby reducing the possibility of the grasped workpiece falling off, improving operation safety, and reducing the occurrence of operation accidents.

[0027] The first limit switch 104 and the second limit switch 212 in the above embodiment are mature technologies known to those skilled in the art and can be purchased on the market. They are only used without changing their structures and functions.

[0028] Electric limit switches are a common electrical control component whose operating principle is based on the conversion of mechanical motion into electrical signals. In short, limit switches detect and control the position of mechanical components by converting mechanical motion into electrical signals, and are widely used in various mechanical equipment and automation systems.

[0029] The above are all preferred embodiments of the present invention, and are not intended to limit the scope of protection of the present invention. Therefore, any equivalent changes made based on the structure, shape, and principle of the present invention should be included in the scope of protection of the present invention.

Claims

1. A heavy-duty self-centering material-grabbing manipulator, comprising a carrier plate (1), characterized in that: A connecting piece (3) is provided in the middle of the top of the carrier plate (1), longitudinal self-centering material grabbing structures (2) are provided on both the left and right sides of the bottom of the carrier plate (1), and a transverse moving structure (5) for moving the two longitudinal self-centering material grabbing structures (2) away from or closer to each other is also provided on the carrier plate (1), and a camera (4) is provided in the middle of the front side of the carrier plate (1); The longitudinal self-centering material grabbing structure (2) comprises a support plate (201), material grabbing hands (203) are symmetrically provided on the front and rear sides of the bottom of the support plate (201), and two sets of guide rail seats (204) are fixedly connected to the bottom of the support plate (201); One group of the guide rail seats (204) is rotatably connected to two self-centering gears (210), and a plurality of self-centering gears (211) rotatably connected to the guide rail seat (204) are arranged between the two self-centering gears (210). The self-centering gear (210) is meshedly connected to a self-centering gear (211) adjacent to it, and any two adjacent self-centering gears (211) are meshedly connected.

2. A heavy-duty self-centering material-grabbing manipulator according to claim 1, characterized in that: Two transverse slide rails (101) are provided at the bottom of the carrying plate (1); The lateral movement structure (5) comprises a power structure and a linkage structure, wherein the linkage structure is located between two lateral guide rails (101); Four transverse sliders (202) are fixedly mounted on the top of the support plate (201), the two front transverse sliders (202) are slidably connected to a corresponding transverse slide rail (101), and the two rear transverse sliders (202) are slidably connected to another corresponding transverse slide rail (101).

3. A heavy-duty self-centering material-grabbing manipulator according to claim 2, characterized in that: The linkage structure comprises two screws (508), namely a first screw and a second screw; The power structure comprises a motor (503), a mounting shell (502) and two brackets (501), wherein the two brackets (501) are fixedly mounted on one side of the top of the bearing plate (1), the mounting shell (502) is located on one side of the bearing plate (1), and the mounting shell (502) is fixedly connected to the two brackets (501), the motor (503) is located between the two brackets (501), and the motor (503) is fixedly mounted on the mounting shell (502), and the power output end of the motor (503) is connected to a main gear (504), and the main gear (504) is located in the mounting shell (502).

4. A heavy-duty self-centering material-grabbing manipulator according to claim 3, characterized in that: The other end of the second screw is connected to a driven gear (507), a linkage gear (505) is meshedly connected between the driven gear (507) and the main gear (504), the linkage gear (505) is rotatably connected in the mounting shell (502), and a gear cover (506) that matches the driven gear (507) is fixedly mounted on the bottom of the mounting shell (502); The two screw rods (508) are connected via a coupling (509), and the two screw rods (508) are symmetrical with respect to the coupling (509). Both ends of the outer ends of the screw rods (508) are rotatably connected to bearing supports (510), and the bearing supports (510) are fixedly connected to the bearing plate (1). Nuts are threadedly connected to the two screw rods (508), and nut seats (511) are fixedly sleeved on the two nuts. The nut seats (511) are connected to the corresponding longitudinal self-centering material grabbing structure (2).

5. The heavy-duty self-centering material-grabbing manipulator according to claim 1, characterized in that: Two first limit switches (104) are provided on one side of the connecting member (3), one being a first inner limit switch and the other being a first outer limit switch. The two first limit switches (104) are fixedly mounted on the supporting plate (1) through a right-angle positioning piece (103). An avoidance through hole (102) cooperating with the first limit switch (104) is provided on the other side of the top of the supporting plate (1). A limit block (512) is provided on the side away from each other of the two groups of the avoidance through holes (102). The limit block (512) is fixedly mounted on the bottom of the supporting plate (1).

6. The heavy-duty self-centering material-grabbing manipulator according to claim 1, characterized in that: The bottoms of the two groups of guide rail seats (204) are fixedly mounted with longitudinal guide rails (205), and the left and right sides of the top of the material grabbing hand (203) are mounted with longitudinal sliders (206) that slidably cooperate with the longitudinal guide rails (205).

7. The heavy-duty self-centering material-grabbing manipulator according to claim 1, characterized in that: Oil cylinders (207) are provided on both the front and rear sides between the two groups of guide rail seats (204), and the oil cylinders (207) are fixedly mounted on the bottom of the support plate (201), and the piston rods of the oil cylinders (207) are connected to the corresponding grabbers (203) through the connecting blocks (208); racks (209) are provided on the sides of the two groups of oil cylinders (207), and the racks (209) are fixedly mounted on the top of the grabbers (203), and the side of the racks (209) away from the grabbers (203) is meshed with the self-centering gear (210) correspondingly.

8. The heavy-duty self-centering material-grabbing manipulator according to claim 1, characterized in that: Two second limit switches (212) are provided on one side of the top of the support plate (201), one being a second inner limit switch and the other being a second outer limit switch, and a trigger block (213) cooperating with the second limit switch (212) is fixedly installed beside the front gripper (203).

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