Flexible gripper material handling robot

Abstract

The application discloses a flexible material clamping handling manipulator. The manipulator comprises a mechanical arm body, a clamping mechanism, a transmission assembly, a limiting assembly and a control unit. The output end of the mechanical arm body is connected with a hollow plate, the hollow plate is provided with a sliding groove and an electric telescopic rod, and at least one group of fixed plate assemblies are arranged on the side of the electric telescopic rod close to the sliding groove. Each group of fixed plate assemblies comprises two symmetrical fixed plates, and a plurality of adsorption machines are arranged on the fixed plates. The bottom of the hollow plate is provided with a frame. The clamping mechanism comprises a box body, one side of the box body is connected with the fixed plate, and the other side is connected with a liquid storage tank. The transmission assembly comprises a sliding block, and the sliding block is in sliding connection with the sliding groove. The limiting assembly comprises an L-shaped connecting rod, one end of the L-shaped connecting rod is connected with the output end of the electric telescopic rod, and the other end penetrates through a through hole and extends into the frame. The control unit is in electric connection with the mechanical arm body and the electric telescopic rod. The application can flexibly clamp irregular materials and reduce surface damage. In addition, the application can clamp materials with different shapes and has high flexibility.

Description

Technical Field

[0001] This invention belongs to the field of robotic arm technology, specifically relating to a flexible material handling robotic arm. Background Technology

[0002] Material handling robots are automated operation devices used in automated production lines and warehouse sorting scenarios. The whole system consists of a multi-degree-of-freedom motion robotic arm, an end effector, a drive component, and a control component. It can complete repetitive tasks such as material grabbing, transfer, placement, and loading / unloading according to a preset program, replacing manual material transfer work. It is a typical execution device in the material flow process of intelligent manufacturing.

[0003] Chinese patent CN223519680U discloses a gripper structure for a material handling robot. This gripper structure uses a servo motor to drive a bidirectional lead screw to rotate, causing two movable blocks threaded to the outside of the lead screw to move within a groove. This controls the two movable blocks to move closer or further apart, facilitating the simultaneous gripping of multiple items and improving work efficiency. However, in practice, this gripper structure can only rigidly grip materials. When faced with flexible gripping or handling irregular materials, it is difficult to grip and transport them, limiting its application in different material handling scenarios. Summary of the Invention

[0004] To address the problems existing in the prior art, the present invention provides a flexible material handling robot.

[0005] The present invention includes a robotic arm body, a gripping mechanism, a transmission assembly, a limiting assembly, and a control unit; the output end of the robotic arm body is connected to a hollow plate, the hollow plate having a sliding groove and an electric telescopic rod inside; at least one set of fixing plate assemblies is provided on the side of the hollow plate near the sliding groove, each set of fixing plate assemblies includes two symmetrically distributed fixing plates, each fixing plate having several adsorption machines; a frame is provided at the bottom of the hollow plate;

[0006] The clamping mechanism includes a housing, one side of which is connected to a fixed plate and the other side is connected to a liquid storage tank; the housing is equipped with several liquid storage cylinders that communicate with the liquid storage tank; one end of the adsorption machine extends into the corresponding liquid storage cylinder.

[0007] The transmission assembly includes at least two symmetrically arranged sliders, which are slidably connected to a slide groove, and each fixed plate is connected to one slider; in every two symmetrically arranged sliders, one slider is connected to the output end of the electric telescopic rod, and the two sliders are connected by a connecting rod assembly.

[0008] The limiting component includes an L-shaped connecting rod, one end of which is connected to the output end of the electric telescopic rod, and the other end passes through the bottom of the hollow plate and extends into the frame, where it is slidably connected to the frame.

[0009] The control unit is electrically connected to the robotic arm body and the electric telescopic rod.

[0010] Furthermore, the adsorption machines are equidistantly distributed on the fixed plate.

[0011] Furthermore, the housing of the electric telescopic rod is fixedly connected to the inner wall of the hollow plate.

[0012] Furthermore, the slider is connected to the output end of the electric telescopic rod via a connecting block; one end of the connecting block is fixedly connected to the slider, and the other end is fixedly connected to the output end of the electric telescopic rod.

[0013] Furthermore, one end of the liquid storage cylinder is fixedly connected to the fixing plate, and the other end is connected to the liquid storage tank.

[0014] Furthermore, a piston and a first spring are provided inside the liquid storage cylinder, and the piston is slidably connected to the liquid storage cylinder; the first spring is sleeved on the outside of the adsorption machine that extends into the liquid storage cylinder, one end of the first spring is fixedly connected to the fixing plate, and the other end is fixedly connected to the piston; one end of the adsorption machine passes through the fixing plate and extends into the liquid storage cylinder and is fixedly connected to the piston.

[0015] Furthermore, the interior of the liquid storage tank is provided with at least two symmetrically distributed partitions, which are fixedly connected to the inner wall of the liquid storage tank; a solenoid valve is provided on the partition, and the output ends of the solenoid valve on both sides penetrate through the side of the partition; the solenoid valve is electrically connected to the control unit.

[0016] Furthermore, the connecting rod assembly includes connecting rod one, connecting rod two, and connecting rod three. Each slider is fixedly connected to connecting rod one, each connecting rod one is hinged to connecting rod two, connecting rod two is hinged to connecting rod three, and connecting rod three is hinged to the inner wall of the hollow plate.

[0017] Furthermore, the limiting component also includes several through slots opened inside the frame, the two ends of the through slots passing through both sides of the frame to form limiting holes, and the limiting holes are distributed in a straight line.

[0018] Furthermore, the frame is provided with at least one set of ball joint assemblies. Each set of ball joint assemblies includes a second spring and two symmetrically distributed ball joints. The ball joints are slidably connected to the through groove, and the ball head of the ball joint faces the limiting hole. The two ball joints are fixedly connected by the second spring.

[0019] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0020] 1. This invention, by incorporating a clamping mechanism, enables stable and flexible clamping of irregular materials, effectively reducing damage to the material surface. Furthermore, this clamping mechanism can clamp materials of different shapes, offering high flexibility and improving the device's working efficiency and adaptability.

[0021] 2. By setting up a transmission component, the present invention enables the two fixed plates to move automatically without manual intervention, thereby improving the automation level and working efficiency of the device.

[0022] 3. By setting a limiting component, the present invention can maintain a stable position after the fixed plate is displaced. Even if the electric telescopic rod loses power or is damaged during transportation, the two fixed plates can still remain stable and will not easily shake. This reduces the risk of materials falling due to malfunctions during transportation and improves the stability and safety of the device operation.

[0023] 4. By linking the transmission component and the limiting component, the present invention can achieve automatic displacement of the two fixed plates while reducing energy consumption. Moreover, the fixed plates can remain stable without power supply after displacement, further reducing the energy consumption of the device. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the overall structure of the device of the present invention;

[0025] Figure 2 This is a cross-sectional structural diagram of the device of the present invention;

[0026] Figure 3 This is a schematic diagram of the clamping mechanism of the present invention;

[0027] Figure 4 This is a cross-sectional structural diagram of the clamping mechanism portion of the present invention;

[0028] Figure 5 This is a cross-sectional structural diagram of the transmission component of the present invention;

[0029] Figure 6 This is a schematic diagram of the transmission component of the present invention;

[0030] Figure 7 This is a cross-sectional structural diagram of the limiting component of the present invention;

[0031] Figure 8 This is a cross-sectional structural diagram of the limiting component of the present invention.

[0032] In the diagram: 1. Robotic arm body; 2. Hollow plate; 3. Fixing plate; 4. Adsorption machine; 5. Liquid storage cylinder; 6. Box body; 7. Liquid storage tank; 8. Piston; 9. First spring; 10. Partition plate; 11. Solenoid valve; 12. Slider; 13. Connecting rod one; 14. Connecting rod two; 15. Connecting rod three; 16. Slide groove; 17. Electric telescopic rod; 18. Connecting block; 19. L-shaped connecting rod; 20. Frame; 21. Limiting hole; 22. Through groove; 23. Ball head rod; 24. Second spring. Detailed Implementation

[0033] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0034] like Figures 1 to 8 As shown, this embodiment provides a flexible material handling robot, including a robotic arm body 1. A hollow plate 2 is fixedly connected to the output end of the robotic arm body 1. The hollow plate 2 has a sliding groove 16 and an electric telescopic rod 17 inside. The housing of the electric telescopic rod 17 is fixedly connected to the inner wall of the hollow plate 2. A set of fixing plate assemblies is arranged on the side of the hollow plate 2 near the sliding groove 16. Each set of fixing plate assemblies includes two symmetrically distributed fixing plates 3. Several equally spaced and uniformly distributed adsorption machines 4 are arranged on the fixing plates 3. The adsorption machines 4 are AIRBEST TXM130×L model adsorption machines. A frame 20 is provided at the bottom of the hollow plate 2, see... Figure 7 .

[0035] The clamping mechanism includes a housing 6, one side of which is fixedly connected to a fixing plate 3, and the other side is fixedly connected to a liquid storage tank 7. The housing 6 contains several liquid storage cylinders 5, one end of which is fixedly connected to the fixing plate 3, and the other end of which communicates with the liquid storage tank 7. Each liquid storage cylinder 5 contains a piston 8 and a first spring 9, the piston 8 being slidably connected to the liquid storage cylinder 5. The first spring 9 is sleeved on the outside of an adsorption unit 4 that extends into the liquid storage cylinder 5, one end of which is fixedly connected to the fixing plate 3, and the other end is fixedly connected to the piston 8. One end of each adsorption unit 4 passes through the fixing plate 3 and extends into the corresponding liquid storage cylinder 5, where it is fixedly connected to the piston 8. Figure 4 .

[0036] The liquid storage tank 7 has two symmetrically distributed partitions 10 inside, which are fixedly connected to the inner wall of the liquid storage tank 7. A solenoid valve 11 is installed on each partition 10, and the output ends of the solenoid valve 11 extend through the sides of the partition 10. Figure 3.

[0037] The transmission assembly includes two symmetrically arranged sliders 12, which are slidably connected to a slide groove 16. Each fixed plate 3 is connected to one slider 12, and one slider 12 is connected to the output end of an electric telescopic rod 17 via a connecting block 18. One end of the connecting block 18 is fixedly connected to the slider 12, and the other end is fixedly connected to the output end of the electric telescopic rod 17. Each slider 12 is fixedly connected to a connecting rod 13, and each connecting rod 13 is hinged to a connecting rod 14. The two connecting rods 14 are respectively hinged to a connecting rod 15, which is hinged to the inner wall of the hollow plate 2. Figure 5 .

[0038] The limiting component includes an L-shaped connecting rod 19. One end of the L-shaped connecting rod 19 is connected to the output end of the electric telescopic rod 17, and the other end passes through the bottom of the hollow plate 2 and extends into the frame 20, where it is slidably connected to the frame 20. Figure 6 .

[0039] The limiting component also includes several through slots 22 formed inside the frame 20. The two ends of each through slot 22 penetrate both sides of the frame 20 to form limiting holes 21, which are arranged in a straight line. Inside the frame 20, there is a set of ball joint assemblies, which includes two symmetrically distributed ball joints 23 and a second spring 24. The ball joints 23 are slidably connected to the through slots 22, with the ball heads of the ball joints 23 facing the limiting holes 21. The two ball joints 23 are fixedly connected by the second spring 24. Figure 8 .

[0040] Working principle of the device of the present invention:

[0041] Hydraulic oil is added to the liquid storage tank 7 before the device is put into operation.

[0042] First, the control unit drives the electric telescopic rod 17 to move, which in turn moves the connecting block 18, causing the slider 12 connected to the output end of the electric telescopic rod 17 to slide away from the other slider 12 inside the slide groove 16. During this process, the angles between connecting rod 13 and connecting rod 24, and between connecting rod 24 and connecting rod 35 change accordingly, driving the other slider 12 to slide synchronously in the opposite direction inside the slide groove 16, causing the two sliders 12 to move away from each other, and consequently causing the two fixed plates 3 and the adsorption machine 4 on them to also move away from each other. Subsequently, the control unit drives the robotic arm body 1 to move the hollow plate 2 to the material to be clamped, so that the two fixed plates 3 are located on both sides of the material.

[0043] Next, the solenoid valve 11 is opened, dividing the interior of the storage tank 7 into three chambers via two partitions 10. These three chambers are interconnected, allowing hydraulic oil to circulate within the storage tank 7. The control unit drives the electric telescopic rod 17 to move, which in turn moves the connecting block 18. This causes the slider 12, connected to the output end of the electric telescopic rod 17, to slide closer to another slider 12 within the slide groove 16. This, in turn, causes the two fixed plates 3 to move closer together, bringing the adsorbent 4 into contact with the material surface. When the adsorbent 4 contacts an irregularly shaped protruding part of the material, it slides on the fixed plate 3, causing the piston 8 to slide within the storage cylinder 5. This gradually stretches and tightens the first spring 9, while simultaneously pressurizing the hydraulic oil inside the storage cylinder 5 into the storage tank 7, circulating between the chambers. Once all the adsorbents 4 are in contact with the material surface, the solenoid valve 11 is closed. The three chambers inside the storage tank 7 are then isolated from each other, creating a negative pressure inside the storage cylinder 5. This prevents the piston 8 from moving further, fixing its position. At this point, although the individual adsorption units 4 are positioned differently on the fixed plate 3, they are all stably attached to the material surface. Subsequently, the control unit drives the robotic arm 1 to transport the material to the designated location.

[0044] Finally, after the transportation is completed, the solenoid valve 11 is reopened, the three chambers inside the liquid storage tank 7 are connected again, the negative pressure inside the liquid storage cylinder 5 disappears, the first spring 9 retracts and releases, causing the piston 8 to slide inside the liquid storage cylinder 5, driving the adsorption machine 4 to move on the fixed plate 3 and return to the initial position. All adsorption machines 4 are restored to the same horizontal line, which is convenient for clamping the next material.

[0045] During the movement of the output end of the aforementioned electric telescopic rod 17, the L-shaped connecting rod 19 slides within the frame 20. At this time, the two ball joints 23 are compressed by the inner wall of the limiting hole 21, and the second spring 24 is compressed, causing the two ball joints 23 to move closer to each other and retract into the L-shaped connecting rod 19, which continues to slide within the frame 20. When the output end of the electric telescopic rod 17 stops moving, the L-shaped connecting rod 19 also stops sliding within the frame 20. At this time, the ball head of the ball joint 23 is aligned with the limiting hole 21 and is no longer compressed. The second spring 24 releases and extends, pushing the ball joint 23 to slide closer to the limiting hole 21 within the through groove 22, causing the ball head of the ball joint 23 to engage in the limiting hole 21, thus locking the position of the electric telescopic rod 17. Even if the electric telescopic rod 17 loses power or is damaged due to long-term operation, the L-shaped connecting rod 19 can still be fixed inside the frame 20 and lock the positions of the slider 12 and the fixing plate 3, ensuring that the two fixing plates 3 and the adsorption machine 4 on them remain stable and do not move easily, preventing the material from falling and being damaged during the clamping process.

[0046] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A flexible material handling robot, characterized in that, It includes the robotic arm body, gripping mechanism, transmission components, limit components, and control unit; The output end of the robotic arm body is connected to a hollow plate, and the hollow plate has a sliding groove and an electric telescopic rod inside; at least one set of fixing plate assemblies is provided on the side of the hollow plate near the sliding groove, each set of fixing plate assemblies includes two symmetrically distributed fixing plates, and each fixing plate is provided with several adsorption machines; a frame is provided at the bottom of the hollow plate. The clamping mechanism includes a housing, one side of which is connected to a fixed plate and the other side is connected to a liquid storage tank; the housing is equipped with several liquid storage cylinders that communicate with the liquid storage tank; one end of the adsorption machine extends into the corresponding liquid storage cylinder. The transmission assembly includes at least two symmetrically arranged sliders, which are slidably connected to a slide groove, and each fixed plate is connected to one slider; in every two symmetrically arranged sliders, one slider is connected to the output end of the electric telescopic rod, and the two sliders are connected by a connecting rod assembly. The limiting component includes an L-shaped connecting rod, one end of which is connected to the output end of the electric telescopic rod, and the other end passes through the bottom of the hollow plate and extends into the frame, where it is slidably connected to the frame. The control unit is electrically connected to the robotic arm body and the electric telescopic rod.

2. The flexible clamping material handling robot according to claim 1, characterized in that, The adsorption units are evenly distributed on the fixed plate.

3. The flexible clamping material handling robot according to claim 1, characterized in that, The housing of the electric telescopic rod is fixedly connected to the inner wall of the hollow plate.

4. The flexible clamping material handling robot according to claim 1 or 3, characterized in that, The slider is connected to the output end of the electric telescopic rod via a connecting block; one end of the connecting block is fixedly connected to the slider, and the other end is fixedly connected to the output end of the electric telescopic rod.

5. The flexible clamping material handling robot according to claim 1, characterized in that, One end of the liquid storage cylinder is fixedly connected to the fixing plate, and the other end is connected to the liquid storage tank.

6. The flexible clamping material handling robot according to claim 5, characterized in that, The liquid storage cylinder is equipped with a piston and a first spring, and the piston is slidably connected to the liquid storage cylinder. The first spring is sleeved on the outside of the adsorption machine that extends into the liquid storage cylinder. One end of the first spring is fixedly connected to the fixed plate, and the other end is fixedly connected to the piston. One end of the adsorption machine passes through the fixed plate and extends into the liquid storage cylinder, where it is fixedly connected to the piston.

7. The flexible clamping material handling robot according to claim 1, characterized in that, The liquid storage tank is provided with at least two symmetrically distributed partitions inside, and the partitions are fixedly connected to the inner wall of the liquid storage tank. The partition is equipped with a solenoid valve, and the output ends of the solenoid valve on both sides pass through the sides of the partition; the solenoid valve is electrically connected to the control unit.

8. The flexible clamping material handling robot according to claim 1, characterized in that, The connecting rod assembly includes connecting rod one, connecting rod two, and connecting rod three. Each slider is fixedly connected to connecting rod one, each connecting rod one is hinged to connecting rod two, connecting rod two is hinged to connecting rod three, and connecting rod three is hinged to the inner wall of the hollow plate.

9. The flexible clamping material handling robot according to claim 1, characterized in that, The limiting component also includes several through slots opened inside the frame, with the two ends of the through slots penetrating through both sides of the frame to form limiting holes, which are distributed in a straight line.

10. The flexible clamping material handling robot according to claim 1 or 9, characterized in that, The frame contains at least one set of ball joint assemblies. Each set of ball joint assemblies includes a second spring and two symmetrically distributed ball joints. The ball joints are slidably connected to the through groove, and the ball head of the ball joint faces the limiting hole. The two ball joints are fixedly connected by the second spring.

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