Robot grabbing and placing device

Abstract

The utility model discloses a robot grabbing and placing device which comprises a clamping mechanism and a material pushing mechanism, the clamping mechanism comprises a base, two transmission clamping jaws movably connected with the base and the material pushing mechanism, the material pushing mechanism comprises two rod bodies vertically penetrating through the transmission clamping jaw, a material containing plate connected between the two adjacent rod bodies in a sliding mode and a hydraulic cylinder connected with the base, and two sliding grooves suitable for sliding of the bottom ends of the rod bodies are formed in the top of the material containing plate. When an object is grabbed, the two transmission clamping jaws are close to each other, then the object is shoveled up by the two material placing plates while being clamped, then when the object is put down, the base is controlled to be close to the ground, then the distance between the two transmission clamping jaws is controlled to be enlarged, then the two material placing plates support the object, and then the movable end of the hydraulic cylinder is controlled to slowly extend. And the articles are slowly pushed to the ground, so that the articles are effectively prevented from being broken.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a robot grasping and placing device. Background Art

[0002] With the development of humanity, the advancement of civilization, and the continuous growth of industry, the workload required of people is also increasing. This is particularly true for repetitive and dangerous tasks, which is forcing people to research and develop new devices that can mimic certain movements and functions of the human hand and arm, automatically grasping, moving objects, or operating tools according to a fixed program. A robotic gripper can achieve the same functions as a human hand.

[0003] Application number CN201821701171.7 relates to a robot claw, including structures such as an exchange seat, a base, a transmission arm, a transmission device, a clamping component and a control device. On the one hand, the adsorption device arranged on the robot claw can cooperate with the clamping component to adsorb the clamped items, thereby adding a positioning point to the clamped items, and the distance for transporting the items is longer than the distance for transporting items clamped by a single clamping component; on the other hand, items that are not suitable for clamping can be adsorbed and transported, which increases the adaptability of the robot claw and makes it more versatile. When putting down the clamped items, the application will first expand the distance between the third joint and the fourth joint. During this process, even if the speed of expansion of the distance is very slow, for heavier objects, they will still fall quickly and then the items will be damaged. Utility Model Content

[0004] The utility model aims to solve one of the technical problems existing in the prior art or related technologies.

[0005] To this end, the technical solution adopted in this utility model is:

[0006] A robot grasping and placing device includes a clamping mechanism and a pushing mechanism. The clamping mechanism includes a base, two transmission clamps movably connected to the base, and a pushing mechanism. The pushing mechanism includes two rods vertically passing through the transmission clamps, a placing plate slidably connected between two adjacent rods, and a hydraulic cylinder connected to the base. Two sliding grooves suitable for the sliding of the bottom ends of the rods are provided on the top of the placing plate.

[0007] By adopting the above technical solution, when grabbing an object, the two transmission clamps approach each other, and then the object is clamped and scooped up by the two material placement plates at the same time. Then, when putting the object down, the base is controlled to be close to the ground, and then the distance between the two transmission clamps is controlled to expand, and then the two material placement plates support the object. After that, the movable end of the hydraulic cylinder is controlled to slowly extend, and then the object is slowly pushed to the ground, effectively preventing the object from being broken.

[0008] In a preferred example, the present invention can be further configured as follows: the bottom end of the rod body is configured to be in a “⊥” shape, and the vertical cross-section of the slide groove is configured to be in a convex shape.

[0009] In a preferred example, the present invention can be further configured as follows: the hydraulic cylinder is located between the two transmission jaws, and the hydraulic cylinder is electrically connected to an external PLC.

[0010] In a preferred example, the present invention can be further configured as follows: a spring is provided inside the slide groove, the spring is located inside the slide groove, and the diameter of the spring is greater than the width of the top of the slide groove.

[0011] In a preferred example, the present invention can be further configured as follows: a connecting piece is installed at one end of the base, and a plurality of threaded holes are opened on the connecting piece, and the plurality of threaded holes are arranged in a ring with equal spacing.

[0012] In a preferred example, the present invention can be further configured as follows: two material placing plates are fitted together, and a slope is provided on the top of each material placing plate, and the slope is located on the inner side of the chute.

[0013] By adopting the above technical solution, the beneficial effects achieved by the utility model are as follows:

[0014] In the utility model, when grabbing an object, the two transmission clamps approach each other, and then the object is clamped and scooped up by the two material placing plates at the same time. Then, when putting the object down, the base is controlled to be close to the ground, and then the distance between the two transmission clamps is controlled to expand. Then, the two material placing plates support the object, and then the movable end of the hydraulic cylinder is controlled to slowly extend, and then the object is slowly pushed to the ground, effectively preventing the object from being damaged. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a three-dimensional diagram of the overall structure of the utility model;

[0016] Figure 2 This is a schematic diagram of the clamping mechanism of the utility model;

[0017] Figure 3 It is a schematic diagram of the material placing mechanism of the present utility model.

[0018] Reference numerals:

[0019] 100. Clamping mechanism; 110. Base; 120. Transmission clamp;

[0020] 200, pushing mechanism; 210, rod; 220, placing plate; 230, chute;

[0021] 300, hydraulic cylinder;

[0022] 400, spring;

[0023] 500, connector;

[0024] 600. Incline. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical solution and advantages of the present invention more clear, the present invention is further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings. It should be noted that the embodiments of the present invention and the features therein can be combined with each other unless there is any conflict.

[0026] It should be understood that these descriptions are only exemplary and are not intended to limit the scope of the present invention.

[0027] A robot grasping and placing device provided by some embodiments of the present invention will be described below with reference to the accompanying drawings.

[0028] Example 1:

[0029] Combine Figure 1-3 As shown, the present invention provides a robot grasping and placing device, comprising a clamping mechanism 100 and a pushing mechanism 200, wherein the clamping mechanism 100 comprises a base 110 and two transmission clamps 120 movably connected to the base 110;

[0030] The pushing mechanism 200 includes two rod bodies 210 vertically passing through the transmission clamp 120, a material placement plate 220 slidably connected between two adjacent rod bodies 210, and a hydraulic cylinder 300 connected to the base 110. Two sliding grooves 230 suitable for the sliding of the bottom end of the rod body 210 are provided on the top of the material placement plate 220.

[0031] Furthermore, the bottom end of the rod body 210 is configured to be in a “⊥” shape, and the vertical cross-section of the chute 230 is configured to be convex. With this shape design, the material placement plate 220 will not fall off the rod body 210.

[0032] Furthermore, the hydraulic cylinder 300 is located between the two transmission jaws 120. The hydraulic cylinder 300 is electrically connected to an external PLC. The external PLC can control the start time of the hydraulic cylinder 300 to ensure that the movable end of the hydraulic cylinder 300 will extend only when the object is close to the ground, so that the object falls safely to the ground.

[0033] Furthermore, the two material placing plates 220 are fitted together, and a slope 600 is provided on the top of the material placing plates 220 . The slope 600 is located inside the chute 230 . The slope 600 is provided to facilitate the material placing plates 220 to scoop up items.

[0034] Example 2:

[0035] Combine Figure 1As shown, based on Example 1, a spring 400 is provided inside the slide groove 230. The spring 400 is located inside the slide groove 230. The diameter of the spring 400 is larger than the groove width at the top of the slide groove 230. The spring 400 is provided so that the two material loading plates 220 can fit firmly together, ensuring that the items can be stably placed on the top of the two material loading plates 220.

[0036] Example 3:

[0037] Combine Figure 1 As shown, in the above embodiment, a connector 500 is installed at one end of the base 110, and a plurality of threaded holes are opened on the connector 500. The plurality of threaded holes are equally spaced and arranged in a ring shape. The connector 500 is provided to facilitate the connection of the base 110 to the external power equipment.

[0038] The working principle and usage process of the present invention are as follows: when the device is put into actual use, the base 110 is connected to the external power equipment (manipulator, excavator and other equipment) through the connecting piece 500, and then when grabbing an object, the two transmission claws 120 are close to each other, and then the object is clamped and scooped up by the two material placing plates 220 at the same time, and then when putting down the object, the base 110 is controlled to be close to the ground, and then the distance between the two transmission claws 120 is controlled to expand, and then the two material placing plates 220 support the object, and then the movable end of the hydraulic cylinder 300 is controlled to slowly extend, and then the object is slowly pushed to the ground, effectively preventing the object from being broken.

[0039] Although the embodiments of the present invention have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principles and purpose of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A robotic pick-and-place device, characterized in that: include: A clamping mechanism (100), the clamping mechanism (100) comprising a base (110) and two transmission clamping claws (120) movably connected to the base (110); A pushing mechanism (200) includes two rods (210) vertically penetrating the transmission clamp (120), a material placement plate (220) slidably connected between two adjacent rods (210), and a hydraulic cylinder (300) connected to the base (110). Two sliding grooves (230) suitable for sliding the bottom ends of the rods (210) are provided on the top of the material placement plate (220).

2. A robotic gripping and placing device according to claim 1, characterized in that: The bottom end of the rod body (210) is configured to be in a "⊥" shape, and the vertical cross-section of the sliding groove (230) is configured to be in a convex shape.

3. A robotic grasping and placing device according to claim 1, characterized in that: The hydraulic cylinder (300) is located between the two transmission clamps (120), and the hydraulic cylinder (300) is electrically connected to an external PLC.

4. A robotic grasping and placing device according to claim 1, characterized in that: A spring (400) is provided inside the slide groove (230), and the spring (400) is located inside the slide groove (230). The diameter of the spring (400) is greater than the width of the top groove of the slide groove (230).

5. A robotic grasping and placing device according to claim 1, characterized in that: A connecting piece (500) is installed at one end of the base (110), and a plurality of threaded holes are provided on the connecting piece (500), and the plurality of threaded holes are arranged at equal intervals and in a ring shape.

6. A robotic grasping and placing device according to claim 1, characterized in that: The two material placing plates (220) are attached to each other, and a slope (600) is provided on the top of the material placing plates (220), and the slope (600) is located inside the slide groove (230).

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