Grabbing device for multi-axis manipulator

Abstract

The utility model discloses a material grabbing device for a multi-shaft manipulator, which comprises a support and a plurality of groups of adsorption components mounted on the support, a joint connected with the manipulator is arranged at the top of the support, and the material grabbing device is characterized in that each adsorption component comprises a cylinder and an adsorption part, the cylinder is mounted on the support, and the adsorption part is mounted on the support. The adsorption piece is connected with an output shaft at the bottom of the air cylinder through a connecting part; the connecting part comprises a connecting plate and a connecting rod, and the adsorption part is connected with the bottom of the connecting plate; the bottom of the connecting rod is movably connected with the connecting plate, and the top of the connecting rod is connected with an output shaft of an air cylinder. The connecting rod is further sleeved with a spring, a limiting nut is connected to the upper portion of the connecting rod in a screwed mode, and the two ends of the spring abut against the limiting nut and the connecting plate respectively. According to the utility model, the stability and efficiency of material suction are improved.

Description

Technical Field

[0001] The utility model relates to a manipulator, in particular to a material grabbing device for a multi-axis manipulator. Background Art

[0002] Multi-axis robots, also known as single-axis manipulators, industrial manipulators, electric cylinders, etc., are multi-purpose manipulators that can achieve automatic control, reprogrammable, multi-degree-of-freedom, and whose degrees of freedom of motion are built into a spatial right-angle relationship. Their working behavior is mainly through completing linear motion along the X, Y, and Z axes.

[0003] Among them, when using a multi-axis manipulator to grab or adsorb materials, generally, a corresponding device will be installed at the end of the multi-axis manipulator to achieve the grabbing or adsorption of different materials. For materials that are adsorbed, suction cups or nozzles are generally used. In this method, generally, the action of the manipulator is followed to adsorb or release the materials at the same time. This requires regular product placement. If the product is placed irregularly, generally, it is adsorbed separately. The efficiency of multiple grabbing methods is relatively low. At the same time, when using a suction nozzle or a suction cup, when it contacts the product, the release position is unstable, which may lead to problems such as loose adsorption or product being crushed. Therefore, solving the above technical problems is the direction that technical personnel in this field need to work hard on. Summary of the invention

[0004] The utility model aims to provide a material grabbing device for a multi-axis manipulator. By using the structure, the stability of material grabbing can be improved.

[0005] To achieve the above-mentioned purpose, the technical solution adopted by the utility model is: a material grabbing device for a multi-axis manipulator, comprising a bracket and a plurality of adsorption components mounted on the bracket, the top of the bracket is provided with a joint connected to the manipulator, the adsorption component comprises a cylinder and an adsorption member, the cylinder is mounted on the bracket, and the adsorption member is connected to the output shaft at the bottom of the cylinder through a connecting member;

[0006] The connecting component includes a connecting plate and a connecting rod, and the adsorption member is connected to the bottom of the connecting plate;

[0007] The connecting plate is provided with an upper hole and a lower hole which are coaxially arranged and interconnected, the diameter of the upper hole is smaller than the diameter of the lower hole, the top of the connecting rod is connected to the output shaft of the cylinder, and the bottom of the connecting rod passes through the upper hole and is inserted into the lower hole;

[0008] An annular protrusion is provided on the outer surface of the bottom of the connecting rod, and the annular protrusion is arranged in the lower hole. The diameter of the annular protrusion is larger than the diameter of the upper hole, and the height of the annular protrusion is smaller than the height of the lower hole.

[0009] A spring is also sleeved on the connecting rod, a limiting nut is screwed on the top of the connecting rod, and two ends of the spring are respectively against the limiting nut and the connecting plate.

[0010] In the above technical solution, a mounting hole is provided on the top surface of the adsorption member, the mounting hole is coaxially arranged with the lower hole, a touch sensor is installed in the mounting hole, and the touch sensor is arranged below the connecting rod.

[0011] In the above technical solution, when the spring is in the extended state, the top surface of the annular protrusion abuts against the top surface of the lower hole, and there is a gap between the bottom of the connecting rod and the touch sensor;

[0012] When the spring is in a compressed state, the bottom of the connecting rod is disposed close to the top surface of the adsorption member, or the bottom of the connecting rod is in contact with the touch sensor.

[0013] In the above technical solution, the adsorbent includes an airway plate and a suction cup or a suction head installed at the bottom of the airway plate;

[0014] The top of the airway plate is connected to the bottom surface of the connecting plate;

[0015] An airway is arranged inside the airway plate, a connecting hole communicating with the airway is arranged at the bottom of the airway plate, and the suction cup or suction head is communicated with the connecting hole.

[0016] In the above technical solution, the bracket includes a horizontal plate and a vertical plate, the joint is installed on the top surface of the horizontal plate, the top of the vertical plate is connected to the right side of the bottom surface of the horizontal plate, multiple groups of adsorption components are arranged at intervals from front to back, the cylinder of the adsorption component is installed on the left side wall of the vertical plate, and the adsorption component is arranged below the vertical plate.

[0017] In the above technical solution, a slide rail is further provided on the top of the connecting plate, a slide groove matching the slide rail is provided on the right side wall of the vertical plate, the slide rail is slidably connected to the slide groove, and the slide rail is arranged parallel to the output shaft of the cylinder.

[0018] In the above technical solution, a negative pressure generator is also provided, and the negative pressure generator is connected to the vertical plate via a U-shaped frame;

[0019] The U-shaped frame is a U-shaped structure opened to the left, and the two sides of the left end of the U-shaped frame are respectively connected to the front side and the rear side of the vertical plate. The negative pressure generator is installed on the right side wall of the U-shaped frame, and the negative pressure generator is connected to the adsorption member.

[0020] In the above technical solution, a vertical plate is further provided on the left side of the vertical plate, the top of the vertical plate is connected to the left side of the horizontal plate, and the cylinder is arranged between the vertical plate and the vertical plate;

[0021] An industrial camera is also arranged on the upper left side of the vertical plate. The industrial camera is connected to the vertical plate via a mounting frame, and the lens of the industrial camera is arranged downward.

[0022] In the above technical solution, the bottom of the industrial camera is further provided with an annular plate, the middle of the annular plate is provided with a through hole, the industrial camera is arranged directly above the through hole, and the annular plate is connected to the bottom of the vertical plate via a U-shaped plate;

[0023] The top of the right end of the U-shaped plate is connected to the bottom of the vertical plate, the right side of the U-shaped plate is flush with the right side of the vertical plate, a U-shaped notch is provided on the left side of the U-shaped plate, the annular plate is installed on the bottom surface of the U-shaped plate, and the U-shaped notch is provided outside the through hole.

[0024] In the above technical solution, the through hole is a tapered hole that is larger at the bottom and smaller at the top;

[0025] A plurality of lamp beads are arranged on the bottom surface of the annular plate.

[0026] Due to the application of the above technical solution, the utility model has the following advantages compared with the prior art:

[0027] 1. In the utility model, multiple groups of adsorption components are arranged on the bracket. The adsorption components are a combination of a cylinder and an adsorption piece. A connecting rod is arranged on the output shaft of the cylinder. The connecting rod and the adsorption piece are movably connected, and a spring is arranged. In this way, the spring can be used for buffering. In this way, each adsorption component can be used to adsorb products one by one, and can be used to adsorb products that are not neatly placed, which can improve the material grabbing efficiency. At the same time, the buffering of the spring ensures the stability and quality of adsorption;

[0028] 2. The utility model is also provided with an industrial camera, so that the material to be grasped can be photographed and positioned in advance, so that the adsorption component can be used to quickly grasp the product, thereby improving the grasping efficiency and quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 This is a schematic diagram of the structure of the first embodiment of the present utility model. Figure Ⅰ ;

[0030] Figure 2This is a schematic diagram of the structure of the first embodiment of the present utility model. Figure II ;

[0031] Figure 3 This is a schematic diagram of the structure of the first embodiment of the present utility model. Figure III ;

[0032] Figure 4 This is a schematic diagram of the structure of the first embodiment of the present utility model. Figure IV ;

[0033] Figure 5 It is a schematic cross-sectional structural diagram of the connection between the connecting rod and the connecting plate in the first embodiment of the present utility model.

[0034] Among them: 1. bracket; 2. adsorption component; 3. joint; 4. cylinder; 5. adsorption part; 6. connecting plate; 7. connecting rod; 8. upper hole; 9. lower hole; 10. annular protrusion; 11. spring; 12. limit nut; 13. mounting hole; 14. touch sensor; 15. airway plate; 16. suction head; 17. horizontal plate; 18. vertical plate; 19. slide rail; 20. slide groove; 21. negative pressure generator; 22. U-shaped frame; 23. vertical plate; 24. industrial camera; 25. mounting frame; 26. annular plate; 27. through hole; 28. U-shaped plate. DETAILED DESCRIPTION

[0035] The utility model is further described below in conjunction with the accompanying drawings and embodiments:

[0036] Example 1: See Figure 1-5 As shown, a material grabbing device for a multi-axis manipulator comprises a bracket 1 and a plurality of adsorption components 2 mounted on the bracket 1. A joint 3 connected to the manipulator is provided on the top of the bracket 1.

[0037] The adsorption assembly 2 includes a cylinder 4 and an adsorption member 5. The cylinder 4 is mounted on the bracket 1. The adsorption member 5 is connected to the output shaft at the bottom of the cylinder 4 via a connecting member.

[0038] The connecting component includes a connecting plate 6 and a connecting rod 7, and the adsorption member 5 is connected to the bottom of the connecting plate 6;

[0039] The connecting plate 6 is provided with an upper hole 8 and a lower hole 9 which are coaxially arranged and interconnected, the diameter of the upper hole 8 is smaller than the diameter of the lower hole 9, the top of the connecting rod 7 is connected to the output shaft of the cylinder 4, and the bottom of the connecting rod 7 passes through the upper hole 8 and is inserted into the lower hole 9;

[0040] An annular protrusion 10 is provided on the outer surface of the bottom of the connecting rod 7. The annular protrusion 10 is arranged in the lower hole 9. The diameter of the annular protrusion 10 is larger than the diameter of the upper hole 8, and the height of the annular protrusion 10 is smaller than the height of the lower hole 9.

[0041] A spring 11 is sleeved on the connecting rod 7 , and a limiting nut 12 is screwed on the top of the connecting rod 7 . Two ends of the spring 11 are respectively against the limiting nut 12 and the connecting plate 6 .

[0042] In this embodiment, the joint is used to connect with the manipulator, and the manipulator drives the material grabbing device to move to any position and angle to grab and release the material. Among them, each group of adsorption components can be an independently working component, that is, each group of cylinders can work and be controlled separately. When in use, after the bracket moves to the top of the product, the corresponding cylinder output shaft extends to drive the adsorption component to move down, so that the bottom of the adsorption component is against the product, and then the negative pressure sucks the product. In this way, if each adsorption component adsorbs a product, and the product is placed in an irregular manner, the manipulator drives the bracket to rotate, so that an adsorption component is facing a product in advance, and after a product is adsorbed, the position is quickly adjusted so that another adsorption component is facing a product and adsorbs it again, and so on. The cycle continues until all the adsorption components on the bracket adsorb a product. In this embodiment, 4 groups of adsorption components are set on the bracket. After all products are adsorbed, the positions of the 4 groups of products above are adjusted, and then the manipulator drives them to move to the subsequent discharge position, and they can be released directly and quickly. At the same time, in this embodiment, in order to ensure the stability of material grabbing and prevent the material from being crushed or unable to be sucked, the connecting rod and the connecting plate are movably connected and a spring is set, and a limit nut and annular protrusion are respectively set at both ends of the connecting rod. In this way, under normal circumstances, the spring is extended, and the annular protrusion is against the top surface of the lower hole. Then, after the bottom of the adsorption piece contacts the product adsorption surface, the output shaft of the cylinder continues to press down. During this process, the adsorption piece and the connecting plate are subjected to resistance from the product, but the connecting rod, the annular protrusion and the nut will move downward relative to the two. During this process, the limit nut will compress the spring, so that the thrust of the spring pushes the connecting plate and the adsorption piece to move downward to some positions (such as the bottom of the adsorption piece). If it is a suction cup, it will move down a little to squeeze out the air inside the suction cup), or it will not move or move slightly (if the bottom of the suction piece is non-flexible, or it is a fixed suction head with very small elastic deformation, the suction nozzle will deform slightly and tightly adhere to the adsorption surface of the product without any gaps, ensuring the quality of negative pressure adsorption). When the cylinder output shaft is extended into place, the bottom surface of the annular protrusion is close to the top surface of the suction piece. During this process, the spring is compressed, and the adsorption piece is mainly pushed downward by the restoring force of the spring, or transmitted to the adsorption piece through the restoring force of the spring, so that the adsorption piece is tightly against the product, but it will not crush the product or deform it, thereby ensuring that the product is stably sucked. After the adsorption is completed, the output shaft of the cylinder retracts, and the adsorption piece and the nut are relatively far apart until the spring recovers, and then continues to drive the adsorption piece upward, and the cycle continues.

[0043] At the same time, in this embodiment, the position of the nut can also be adjusted to adjust the elastic force of the spring to adapt to different adsorption parts or products, ensure close contact between the adsorption part and the product, negative pressure adsorption, and ensure adsorption stability. In this way, even if the elastic force of the spring gradually fails a little bit (that is, the elastic force is a little bit smaller than before), the position of the nut can be adjusted to ensure the elastic force of the spring and extend the service life of the spring.

[0044] See also Figure 5 As shown, a mounting hole 13 is provided on the top surface of the adsorption member 5 , and the mounting hole 13 is coaxially arranged with the lower hole 9 . A touch sensor 14 is installed in the mounting hole 13 , and the touch sensor 14 is arranged below the connecting rod 7 .

[0045] In this embodiment, since the stroke accuracy of the cylinder output shaft is not very good, sometimes when the stroke limit of the cylinder output shaft changes but is not discovered in time, the cylinder output shaft extends, driving the connecting rod to move downward. At this time, the bottom of the adsorption part is against the top surface of the product, and the spring is compressed. The output shaft of the cylinder is subjected to the elastic force of the spring. At this time, the extension speed of the cylinder output shaft will also slow down. If the cylinder output shaft drives the connecting rod to rest on the top surface of the adsorption part, the adsorption part will be directly pushed downward through the rigidity of the connecting rod, causing the adsorption part or the product to be crushed or deformed. Therefore, the touch sensor is set. If the connecting rod contacts the top surface of the adsorption part, it will contact the touch sensor. The touch sensor will be electrically connected to the equipment or cylinder or manipulator or controller (the controller is used to control the work of the cylinder and manipulator), which will control the manipulator to move up or the cylinder to stop working, thereby preventing damage to the product, and promptly reminding the staff of problems and performing maintenance in time.

[0046] Wherein, when the spring is in the extended state, the top surface of the annular protrusion abuts against the top surface of the lower hole, and there is a gap between the bottom of the connecting rod and the touch sensor;

[0047] When the spring is in a compressed state, the bottom of the connecting rod is disposed close to the top surface of the adsorbent, or the bottom of the connecting rod contacts the touch sensor. Under normal circumstances, when the spring is in a compressed state, the bottom of the connecting rod is disposed close to the top surface of the adsorbent and does not contact the touch sensor, unless an abnormal situation occurs, the bottom of the connecting rod contacts the touch sensor.

[0048] The adsorbent 5 includes an airway plate 15 and a suction cup or a suction head 16 installed at the bottom of the airway plate 15;

[0049] The top of the airway plate 15 is connected to the bottom surface of the connecting plate 6;

[0050] An airway is provided inside the airway plate 15 , and a connecting hole communicating with the airway is provided at the bottom of the airway plate, and the suction cup or suction head 16 is communicated with the connecting hole.

[0051] In this embodiment, the adsorption component includes an airway plate and a suction head arranged at the bottom of the airway plate. Of course, the suction head can also be directly replaced with a suction cup, which can be selected or adjusted according to the product. The airway is connected to the air source through an air pipe, and the air source is used to give the suction head / suction cup positive pressure discharge or negative pressure suction.

[0052] See also Figure 1-4 As shown, the bracket 1 includes a horizontal plate 17 and a vertical plate 18, the joint 3 is installed on the top surface of the horizontal plate 17, the top of the vertical plate 18 is connected to the right side of the bottom surface of the horizontal plate 17, and multiple groups of adsorption components 2 are arranged at intervals from front to back. The cylinder 4 of the adsorption component 2 is installed on the left side wall of the vertical plate 18, and the adsorption component 5 is arranged below the vertical plate 18.

[0053] A slide rail 19 is also provided on the top of the connecting plate 6 , and a slide groove 20 matching the slide rail 19 is provided on the right side wall of the vertical plate 18 . The slide rail 19 is slidably connected to the slide groove 20 , and the slide rail 19 is arranged parallel to the output shaft of the cylinder 4 .

[0054] By setting the slide rail and the slide groove, it is possible to ensure that the cylinder output shaft has a stable displacement trajectory during the extension and retraction process, reduce the problem of radial force deformation of the cylinder output shaft, and extend the service life of the cylinder.

[0055] See also Figure 1-4 As shown, a negative pressure generator 21 is also provided, and the negative pressure generator 21 is connected to the vertical plate 18 via a U-shaped frame 22;

[0056] The U-shaped frame 22 is a U-shaped structure opened to the left, and the two sides of the left end of the U-shaped frame 22 are respectively connected to the front side and the rear side of the vertical plate 18. The negative pressure generator 21 is installed on the right side wall of the U-shaped frame 22. The negative pressure generator 21 is connected to the adsorption component 5, and the negative pressure generator is connected to the airway of the airway plate through a pipeline.

[0057] Among them, since the distance between the air source and the manipulator or the adsorbent is generally relatively far, its response speed will be relatively slow, resulting in the adsorbent not responding in a timely manner. Therefore, a negative pressure generator is directly installed on the bracket, which is directly connected to the air source to accurately control the work of multiple groups of adsorbents, and the response is more timely and more stable.

[0058] See also Figure 1-4As shown, a vertical plate 23 is further provided on the left side of the vertical plate 18, the top of the vertical plate 23 is connected to the left side of the horizontal plate 17, and the cylinder 4 is arranged between the vertical plate 23 and the vertical plate 18;

[0059] An industrial camera 24 is also disposed at the upper left of the vertical plate 23 . The industrial camera 24 is connected to the vertical plate 23 via a mounting bracket 25 , and the lens of the industrial camera 24 is disposed downward.

[0060] In this embodiment, in order to enable the grabbing device to grab materials that are not neatly placed, or to achieve precise positioning of the grabbed materials, an industrial camera is set up and connected to a controller. After analyzing the photo data of the industrial camera, the controller controls the robot arm and the corresponding adsorption components to grab products in different positions one by one, thereby improving the convenience and efficiency of grabbing materials.

[0061] See also Figure 1-4 As shown, the bottom of the industrial camera 24 is further provided with an annular plate 26, the middle of the annular plate 26 is provided with a through hole 27, the industrial camera 24 is arranged directly above the through hole 27, and the annular plate 26 is connected to the bottom of the vertical plate 23 via a U-shaped plate 28;

[0062] The top of the right end of the U-shaped plate 28 is connected to the bottom of the vertical plate 23, the right side of the U-shaped plate 28 is flush with the right side surface of the vertical plate 23, a U-shaped notch is provided on the left side of the U-shaped plate 28, the annular plate 26 is installed on the bottom surface of the U-shaped plate 28, and the U-shaped notch is provided outside the through hole.

[0063] The through hole 27 is a tapered hole that is larger at the bottom and smaller at the top;

[0064] A plurality of lamp beads are arranged on the bottom surface of the annular plate (the lamp beads are not shown in the figure).

[0065] By setting the annular plate, the lens at the bottom of the industrial camera can be focused so that the shooting position is below the annular plate. At the same time, light beads are arranged on the bottom surface to provide fill light and ensure the shooting clarity of the industrial camera.

Claims

1. A material grabbing device for a multi-axis manipulator, comprising a bracket and a plurality of adsorption components mounted on the bracket, wherein a joint connected to the manipulator is provided on the top of the bracket, and characterized in that: The adsorption assembly includes a cylinder and an adsorption member, the cylinder is mounted on the bracket, and the adsorption member is connected to the output shaft at the bottom of the cylinder via a connecting member; The connecting component includes a connecting plate and a connecting rod, and the adsorption member is connected to the bottom of the connecting plate; The connecting plate is provided with an upper hole and a lower hole which are coaxially arranged and interconnected, the diameter of the upper hole is smaller than the diameter of the lower hole, the top of the connecting rod is connected to the output shaft of the cylinder, and the bottom of the connecting rod passes through the upper hole and is inserted into the lower hole; An annular protrusion is provided on the outer surface of the bottom of the connecting rod, and the annular protrusion is arranged in the lower hole. The diameter of the annular protrusion is larger than the diameter of the upper hole, and the height of the annular protrusion is smaller than the height of the lower hole. A spring is also sleeved on the connecting rod, a limiting nut is screwed on the top of the connecting rod, and two ends of the spring are respectively against the limiting nut and the connecting plate.

2. The material grabbing device for a multi-axis manipulator according to claim 1, characterized in that: A mounting hole is provided on the top surface of the adsorption member, the mounting hole is coaxially arranged with the lower hole, a touch sensor is installed in the mounting hole, and the touch sensor is arranged below the connecting rod.

3. The material grabbing device for a multi-axis manipulator according to claim 2, characterized in that: When the spring is in an extended state, the top surface of the annular protrusion abuts against the top surface of the lower hole, and there is a gap between the bottom of the connecting rod and the touch sensor; When the spring is in a compressed state, the bottom of the connecting rod is disposed close to the top surface of the adsorption member, or the bottom of the connecting rod is in contact with the touch sensor.

4. The material grabbing device for a multi-axis manipulator according to claim 1, characterized in that: The adsorption member includes an airway plate and a suction cup or a suction head installed at the bottom of the airway plate; The top of the airway plate is connected to the bottom surface of the connecting plate; An airway is arranged inside the airway plate, a connecting hole communicating with the airway is arranged at the bottom of the airway plate, and the suction cup or suction head is communicated with the connecting hole.

5. The material grabbing device for a multi-axis manipulator according to claim 1, characterized in that: The bracket includes a horizontal plate and a vertical plate, the joint is installed on the top surface of the horizontal plate, the top of the vertical plate is connected to the right side of the bottom surface of the horizontal plate, multiple groups of adsorption components are arranged at intervals from front to back, the cylinder of the adsorption component is installed on the left side wall of the vertical plate, and the adsorption component is arranged below the vertical plate.

6. The material grabbing device for a multi-axis manipulator according to claim 5, characterized in that: A slide rail is also provided on the top of the connecting plate, and a slide groove matching the slide rail is provided on the right side wall of the vertical plate. The slide rail is slidably connected to the slide groove, and the slide rail is arranged parallel to the output shaft of the cylinder.

7. The material grabbing device for a multi-axis manipulator according to claim 5, characterized in that: A negative pressure generator is also provided, and the negative pressure generator is connected to the vertical plate via a U-shaped frame; The U-shaped frame is a U-shaped structure opened to the left, and the two sides of the left end of the U-shaped frame are respectively connected to the front side and the rear side of the vertical plate. The negative pressure generator is installed on the right side wall of the U-shaped frame, and the negative pressure generator is connected to the adsorption member.

8. The material grabbing device for a multi-axis manipulator according to claim 5, characterized in that: A vertical plate is also provided on the left side of the vertical plate, the top of the vertical plate is connected to the left side of the horizontal plate, and the cylinder is arranged between the vertical plate and the vertical plate; An industrial camera is also arranged at the upper left of the vertical plate. The industrial camera is connected to the vertical plate via a mounting frame, and the lens of the industrial camera is arranged downward.

9. The material grabbing device for a multi-axis manipulator according to claim 8, characterized in that: The bottom of the industrial camera is also provided with an annular plate, the middle of the annular plate is provided with a through hole, the industrial camera is arranged directly above the through hole, and the annular plate is connected to the bottom of the vertical plate via a U-shaped plate; The top of the right end of the U-shaped plate is connected to the bottom of the vertical plate, the right side of the U-shaped plate is flush with the right side of the vertical plate, a U-shaped notch is provided on the left side of the U-shaped plate, the annular plate is installed on the bottom surface of the U-shaped plate, and the U-shaped notch is provided outside the through hole.

10. The material grabbing device for a multi-axis manipulator according to claim 9, characterized in that: The through hole is a tapered hole that is larger at the bottom and smaller at the top; A plurality of lamp beads are arranged on the bottom surface of the annular plate.

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