Robot grabbing structure and lifting system thereof

Abstract

The utility model discloses a robot grabbing structure and a lifting system thereof, and relates to the technical field of robots, the grabbing structure comprises a base, a mechanical arm module is arranged on the base, and the tail end of the mechanical arm module is provided with a grabbing module used for grabbing tubular structure objects; the grabbing module comprises two sets of Y-shaped grabbing plates which are symmetrically arranged in parallel, the two sets of Y-shaped grabbing plates are fixed through a connecting plate, and the connecting plate is fixed to the mechanical arm module. A first grabbing wheel and a second grabbing wheel are rotationally arranged between the Y-shaped grabbing plates on the two sides, and a grabbing channel used for embedding tubular structure objects is formed between the first grabbing wheel and the second grabbing wheel. The grabbing module further comprises a driving module, and the driving module is used for driving the first grabbing wheel and the second grabbing wheel to synchronously rotate in the direction of the grabbing channel. According to the clamping device, the tubular structure object to be clamped does not need to be manually placed between the first grabbing wheel and the second grabbing wheel in advance, the grabbing efficiency is improved, and the safety coefficient is high.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a robot grasping structure and a lifting system thereof. Background Art

[0002] A robot is an automated machine. Existing robots mainly use vacuum suction cups or three-finger grippers to perform gripping operations with robotic arms. Vacuum suction cup robots install vacuum suction cups at the end of the robot, create negative pressure through a vacuum generator, generate suction, and pick up objects. Three-finger gripper robots use motors to drive the grippers to grab objects.

[0003] For some tubular products, due to their smooth and arc-shaped surfaces, current vacuum suction cup robots and three-finger gripper robots have difficulty in stably grasping them. In the prior art, for example, patent document CN210635365U discloses a three-section robotic arm automated loading and unloading device, and also discloses a technical solution for clamping items using elastic clamping plates.

[0004] In actual application, before the elastic clamping plates clamp the objects, manual labor or other equipment is required to place the objects to be clamped between the two sets of elastic clamping plates. This not only reduces the clamping efficiency, but also easily causes hand injuries when manually placing the objects between the two sets of elastic clamping plates, and the safety factor is low. Utility Model Content

[0005] The purpose of this utility model is to provide a robot grasping structure and its lifting system to solve the following technical problems:

[0006] Before the elastic clamping plates of the prior art clamp an object, manual labor or other equipment is required to place the object to be clamped between the two sets of elastic clamping plates, which not only reduces the clamping efficiency but also easily causes hand injuries.

[0007] The purpose of the utility model can be achieved through the following technical solutions:

[0008] A robot grasping structure comprises a base, a robotic arm module is provided on the base, and a grasping module for grasping tubular structure objects is provided at the end of the robotic arm module;

[0009] The grabbing module includes two sets of Y-shaped grabbing plates arranged in parallel and symmetrically, and the two sets of Y-shaped grabbing plates are fixed by a connecting plate, and the connecting plate is fixed to the robotic arm module;

[0010] Wherein, a first grabbing wheel and a second grabbing wheel are rotatably arranged between the Y-shaped grabbing plates on both sides, and a grabbing channel for embedding tubular structure items is formed between the first grabbing wheel and the second grabbing wheel;

[0011] The grabbing module further includes a driving module, which is used to drive the first grabbing wheel and the second grabbing wheel to rotate synchronously toward the grabbing channel.

[0012] Preferably, the surfaces of the first grabbing wheel and the second grabbing wheel are provided with elastic material.

[0013] Preferably, the first grabbing wheel is fixed on a first support shaft, which is rotatably arranged on a bracket on one side of the Y-shaped grabbing plate, and the second grabbing wheel is fixed on a second support shaft, which is rotatably arranged on a bracket on the other side of the Y-shaped grabbing plate;

[0014] The driving module includes a first driving part and a second driving part. The first driving part is used to drive the second support shaft to rotate, and the second driving part is used to drive the first support shaft to rotate.

[0015] Preferably, the first driving part includes a grabbing motor fixedly arranged between the two groups of Y-shaped grabbing plates, and the driving end of the grabbing motor is transmission-connected to the second support shaft through a first pulley mechanism.

[0016] Preferably, the second driving part includes a third support shaft rotatably arranged between the two sets of Y-shaped grabbing plates, and the third support shaft is connected to the first support shaft through a second pulley mechanism;

[0017] Among them, a transmission gear set is set on the outer side of the Y-shaped grabbing plate on one side, and the driving end of the grabbing motor is connected to the third support shaft through the transmission gear set.

[0018] Preferably, a plurality of groups of moving wheels are provided at the bottom of the base for driving the base to move.

[0019] A lifting system is applied to the above-mentioned robot grasping structure, including a lifting module arranged on a base, and the lifting module is used to drive the mechanical arm module to move up and down.

[0020] Preferably, the lifting module includes a first U-shaped frame fixed on the base, a second U-shaped frame is slidably arranged on the first U-shaped frame, and the robotic arm module is arranged on the second U-shaped frame;

[0021] Among them, a first guide wheel is rotatably arranged in the base, and the first guide wheel is fixed to the output end of the first drive motor fixed in the base. A second guide wheel is also rotatably arranged on the top of the first U-shaped frame, and a first pull rope is fixed on the first guide wheel. The other end of the first pull rope is fixed to the second U-shaped frame after passing through the second guide wheel.

[0022] Preferably, a positioning plate is slidably arranged on the second U-shaped frame, and the robotic arm module is fixed to one side of the positioning plate;

[0023] Among them, a third guide wheel is also rotatably arranged on the positioning plate, and the third guide wheel is fixed to the output end of the second drive motor fixed on the positioning plate. A fourth guide wheel is also rotatably arranged on the top of the second U-shaped frame, and a second pull rope is fixed on the third guide wheel, and the other end of the second pull rope is fixed to the fourth guide wheel.

[0024] Beneficial effects of the utility model:

[0025] (1) When the utility model grasps the tubular structure object, the base is first driven to move to the corresponding position, and then the grasping module is driven to move to the side of the tubular structure object to be grasped by the mechanical arm module. Then, the first grasping wheel and the second grasping wheel are synchronously driven to rotate in the direction of the grasping channel by the driving module. In this process, when the first grasping wheel or the second grasping wheel contacts the tubular structure object, the friction between the grasping wheel and the tubular structure object can be used to move the tubular structure object in the direction of the grasping channel until the tubular structure object is moved. The first and second grabbing wheels are driven by the robot arm module to move downward a certain distance, so that the first grabbing wheel and the second grabbing wheel are in synchronous contact with the tubular structure object. Since the first grabbing wheel and the second grabbing wheel rotate synchronously toward the direction of the grabbing channel, the tubular structure object can be moved into the grabbing channel to achieve the grabbing effect. Therefore, the utility model does not need to manually place the tubular structure object to be clamped between the first grabbing wheel and the second grabbing wheel in advance, which not only improves the grabbing efficiency but also has a higher safety factor.

[0026] (2) After the grabbing module of the present invention grabs the tubular structure item, it can start the first drive motor to drive the first guide wheel to rotate. The first guide wheel can wind the first pull rope during the rotation process. The first pull rope can synchronously drive the second U-shaped frame to slide on the first U-shaped frame to lift the second U-shaped frame to a corresponding height, and then synchronously drive the robotic arm module and the tubular structure item grabbed by the grabbing module to be lifted synchronously. The third guide wheel can also be driven to rotate by the second drive motor. During the rotation of the third guide wheel, the second pull rope is wound around the third guide wheel. At the same time, during the winding process, the positioning plate can be synchronously driven to slide upward on the second U-shaped frame to further lift the robotic arm module, so that the grabbed tubular structure item can be placed at a higher position. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The present invention will be further described below with reference to the accompanying drawings.

[0028] Figure 1 This is a schematic diagram of the structure of a robot grasping structure of the utility model Figure 1 ;

[0029] Figure 2 This is a schematic diagram of the structure of a robot grasping structure of the utility model Figure 2;

[0030] Figure 3 This is a structural diagram of a grabbing wheel in a robot grabbing structure of the utility model;

[0031] Figure 4 This is a structural diagram of the first pull rope in a robot lifting system of the utility model;

[0032] Figure 5 This is a schematic structural diagram of the second pull rope in a robot lifting system of the utility model;

[0033] Figure 6 This is a schematic diagram of the structure of a robot grasping structure after secondary lifting in the utility model;

[0034] Figure 7 The utility model is a schematic structural diagram of a robot grasping structure grasping a tubular structure object.

[0035] In the figure: 1. base; 2. second U-shaped frame; 3. positioning plate; 4. grabbing module; 5. robotic arm module; 101. first U-shaped frame; 102. second guide wheel; 103. first pull rope; 104. first guide wheel; 301. third guide wheel; 302. second pull rope; 303. fourth guide wheel; 401. Y-shaped grabbing plate; 402. first support shaft; 403. first grabbing wheel; 404. second grabbing wheel; 405. connecting plate; 406. transmission gear set; 407. third support shaft; 408. second support shaft; 501. first pulley mechanism; 502. second pulley mechanism; 503. grabbing motor. DETAILED DESCRIPTION

[0036] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0037] Example 1

[0038] See also Figure 1-Figure 3 as well as Figure 7 As shown, the utility model is a robot grasping structure, including a base 1, a robotic arm module 5 is provided on the base 1, and a grasping module 4 for grasping tubular structure objects is provided at the end of the robotic arm module 5; specifically, the robotic arm module 5 of this embodiment adopts the robotic arm structure of the existing technology, and this embodiment does not limit its specific model and structure. It is used to drive the grasping module 4 to move in multiple directions to facilitate the grasping and movement of tubular structure objects.

[0039] The base 1 is a movable structure, and a plurality of moving wheels are provided at the bottom thereof. The moving wheels are driven by electricity, thereby driving the base 1 to move to the position to be grasped.

[0040] In this embodiment, the grabbing module 4 includes two sets of Y-shaped grabbing plates 401 arranged in parallel and symmetrically. The two sets of Y-shaped grabbing plates 401 are fixed by a connecting plate 405, and the connecting plate 405 is fixed to the robot arm module 5;

[0041] Among them, a first grabbing wheel 403 and a second grabbing wheel 404 are rotatably arranged between the Y-shaped grabbing plates 401 on both sides, and a grabbing channel for inserting tubular structure items is formed between the first grabbing wheel 403 and the second grabbing wheel 404;

[0042] As a further solution of this embodiment, the grabbing module 4 further includes a driving module, which is used to drive the first grabbing wheel 403 and the second grabbing wheel 404 to rotate synchronously toward the grabbing channel;

[0043] It can be explained that, see Figure 3 and Figure 7 When grabbing a tubular structure object, this embodiment first drives the base 1 to move to the corresponding position, and then drives the grabbing module 4 to move to the side of the tubular structure object to be grabbed through the robotic arm module 5. Secondly, the driving module synchronously drives the first grabbing wheel 403 and the second grabbing wheel 404 to rotate toward the direction of the grabbing channel. In this process, when the first grabbing wheel 403 or the second grabbing wheel 404 contacts the tubular structure object, based on the friction between the grabbing wheel and the tubular structure object, the tubular structure object can be moved toward the direction of the grabbing channel until the tubular structure object moves to the grabbing channel. Directly below the grabbing channel, the gripping module 4 is then driven by the robotic arm module to move downward a certain distance so that the first gripping wheel 403 and the second gripping wheel 404 are in synchronous contact with the tubular structure object. Since the first gripping wheel 403 and the second gripping wheel 404 rotate synchronously toward the grabbing channel, the tubular structure object can be moved into the gripping channel to achieve the gripping effect. Therefore, this embodiment does not require manual pre-placement of the tubular structure object to be clamped between the first gripping wheel 403 and the second gripping wheel 404, which not only improves the gripping efficiency but also has a higher safety factor.

[0044] Correspondingly, when the grasped tubular structure article needs to be placed, the first grasping wheel 403 and the second grasping wheel 404 are driven to rotate in opposite directions by the driving module.

[0045] Example 2

[0046] Based on Example 1, please refer to Figure 7In order to further improve the clamping stability of tubular structure articles, the surfaces of the first grabbing wheel 403 and the second grabbing wheel 404 are provided with elastic material; specifically, in this embodiment, by providing an elastic structure on the surface of the grabbing wheel, during grabbing, as the grabbing wheel moves downward and squeezes the tubular structure article, the elastic structure can produce compression deformation, so that the tubular structure article can pass through the grabbing channel and move to abut against the Y-shaped grabbing plate 401, thereby achieving the effect of grabbing and positioning; at the same time, the clamping stability of the tubular structure article can be further improved under the action of elastic force.

[0047] In this embodiment, the elastic material may be rubber.

[0048] As a further solution of this embodiment, please refer to Figure 1-Figure 3 The first grabbing wheel 403 is fixed on the first support shaft 402, and the first support shaft 402 is rotatably arranged on a side bracket of the Y-shaped grabbing plate 401. The second grabbing wheel 404 is fixed on the second support shaft 408, and the second support shaft 408 is rotatably arranged on the other side bracket of the Y-shaped grabbing plate 401. The driving module includes a first driving part and a second driving part. The first driving part is used to drive the second support shaft 408 to rotate, and the second driving part is used to drive the first support shaft 402 to rotate. Specifically, in this embodiment, the second support shaft 408 can be driven to rotate by the first driving part, and the second support shaft 408 drives the second grabbing wheel 404 to rotate. The first support shaft 402 is driven to rotate by the second driving part, and the first support shaft 402 drives the first grabbing wheel 403 to rotate.

[0049] In this example, see Figure 2-Figure 3 The first driving part includes a grabbing motor 503 fixedly arranged between the two groups of Y-shaped grabbing plates 401, and the driving end of the grabbing motor 503 is connected to the second support shaft 408 through the first pulley mechanism 501; in this embodiment, the grabbing motor 503 is started, and the grabbing motor 503 can drive the second support shaft 408 to rotate through the first pulley mechanism 501.

[0050] Furthermore, the second driving unit includes a third support shaft 407 rotatably arranged between the two sets of Y-shaped grabbing plates 401. The third support shaft 407 is transmission-connected to the first support shaft 402 via a second pulley mechanism 502. A transmission gear set 406 is provided on the outer side of one side of the Y-shaped grabbing plate 401. The driving end of the grabbing motor 503 is transmission-connected to the third support shaft 407 via the transmission gear set 406. It can be explained that in this embodiment, when the grabbing motor 503 is working, while driving the second support shaft 408 to rotate, the third support shaft 407 is driven to rotate via the transmission gear set 406. The third support shaft 407 can synchronously drive the first support shaft 402 to rotate via the second pulley mechanism 502.

[0051] It should be noted that this embodiment does not limit the specific number of transmission gear sets 406, so as to keep the first grabbing wheel 403 and the second grabbing wheel 404 driven in opposite directions; accordingly, this embodiment only needs to set up a set of grabbing motors 503 to synchronously drive the first grabbing wheel 403 and the second grabbing wheel 404 to rotate, which not only improves the synchronization and stability of the rotation, but also reduces the cost.

[0052] See also Figure 1-Figure 2 as well as Figure 4-Figure 6 , a lifting system for a robot grasping structure, including a lifting module arranged on a base 1, the lifting module is used to drive the robot arm module 5 to lift and lower; it can be explained that this embodiment sets a lifting module to drive the robot arm module 5 and the grasped tubular structure object to lift and lower in the vertical direction, so as to transport the tubular structure object to the corresponding placement position.

[0053] In this embodiment, the lifting module includes a first U-shaped frame 101 fixed on the base 1, a second U-shaped frame 2 is slidably arranged on the first U-shaped frame 101, and the robotic arm module 5 is arranged on the second U-shaped frame 2, wherein the base 1 is rotatably provided with a first guide wheel 104, the first guide wheel 104 is fixed to the output end of the first drive motor fixed in the base 1, and the top of the first U-shaped frame 101 is also rotatably provided with a second guide wheel 102, and the first guide wheel 104 is fixedly provided with a first pull rope 103, and the other end of the first pull rope 103 is passed around The second guide wheel 102 is fixed to the second U-shaped frame 2; it can be explained that after the grabbing module 4 of this embodiment grabs the tubular structure item, the first drive motor can be started to drive the first guide wheel 104 to rotate. The first guide wheel 104 winds the first pull rope 103 during the rotation process. The first pull rope 103 can synchronously drive the second U-shaped frame 2 to slide on the first U-shaped frame 101 to lift the second U-shaped frame 2 to the corresponding height, and then synchronously drive the robotic arm module 5 and the grabbing module 4 to synchronously lift the tubular structure item after grabbing.

[0054] As a further solution of this embodiment, in order to further improve the lifting height of the robot arm module 5, please refer to Figure 4-Figure 6The second U-shaped frame 2 is provided with a positioning plate 3 for sliding movement, and the robot arm module 5 is fixed to one side of the positioning plate 3, wherein a third guide wheel 301 is also rotatably provided on the positioning plate 3, and the third guide wheel 301 is fixed to the output end of the second driving motor fixed on the positioning plate 3. A fourth guide wheel 303 is also rotatably provided on the top of the second U-shaped frame 2, and a second pull rope 302 is fixed on the third guide wheel 301, and the other end of the second pull rope 302 is fixed to the fourth guide wheel 303; it can be explained that, when the robot arm module 5 is lifted, the third guide wheel 301 can also be driven to rotate by the second driving motor. During the rotation of the third guide wheel 301, the second pull rope 302 is wound around the third guide wheel 301. At the same time, during the winding process, the positioning plate 3 can be synchronously driven to slide upward on the second U-shaped frame 2 to further lift the robot arm module 5, so as to place the grasped tubular structure items at a higher position.

[0055] A lifting method for a lifting system of a robot grasping structure comprises the following steps:

[0056] See also Figure 1-Figure 2 as well as Figure 4-Figure 6 S1: After the grabbing module 4 grabs the tubular structure object, it starts the first drive motor to drive the first guide wheel 104 to rotate. The first guide wheel 104 winds the first pull rope 103 during the rotation process. The first pull rope 103 synchronously drives the second U-shaped frame 2 to slide on the first U-shaped frame 101 to lift the second U-shaped frame 2 to the corresponding height, and synchronously drives the robotic arm module 5 and the grabbing module 4 to synchronously lift the tubular structure object;

[0057] S2. During the lifting process of the second U-shaped frame 2, the third guide wheel 301 is driven to rotate by the second drive motor. During the rotation of the third guide wheel 301, the second pull rope 302 is wound around the third guide wheel 301. During the winding process, the positioning plate 3 is synchronously driven to slide upward on the second U-shaped frame 2 to further lift the robotic arm module 5 and place the grasped tubular structure items at a higher position.

[0058] In the description of the present invention, it should be understood that the terms "upper", "lower", "left", "right" and the like indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, and a specific direction structure and operation, and therefore, cannot be understood as a limitation on the present invention. In addition, "first" and "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0059] In the description of this utility model, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on the specific circumstances.

[0060] The above describes an embodiment of the present invention in detail. However, the above content is only a preferred embodiment of the present invention and should not be considered to limit the scope of implementation of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the scope of the patent application of the present invention.

Claims

1. A robot grasping structure, comprising a base (1), characterized in that: The base (1) is provided with a robotic arm module (5), and a grabbing module (4) for grabbing tubular structured objects is provided at the end of the robotic arm module (5); The grabbing module (4) comprises two sets of Y-shaped grabbing plates (401) arranged in parallel and symmetrical manner, the two sets of Y-shaped grabbing plates (401) are fixed by a connecting plate (405), and the connecting plate (405) is fixed to the robot arm module (5); A first grabbing wheel (403) and a second grabbing wheel (404) are rotatably arranged between the Y-shaped grabbing plates (401) on both sides, and a grabbing channel for embedding tubular structure items is formed between the first grabbing wheel (403) and the second grabbing wheel (404); The grabbing module (4) further comprises a driving module, which is used to drive the first grabbing wheel (403) and the second grabbing wheel (404) to rotate synchronously in the direction of the grabbing channel.

2. A robot grasping structure according to claim 1, characterized in that: The surfaces of the first grabbing wheel (403) and the second grabbing wheel (404) are provided with elastic material.

3. The robot grasping structure according to claim 1, characterized in that: The first grabbing wheel (403) is fixed on a first support shaft (402), and the first support shaft (402) is rotatably arranged on a bracket on one side of the Y-shaped grabbing plate (401); the second grabbing wheel (404) is fixed on a second support shaft (408), and the second support shaft (408) is rotatably arranged on a bracket on the other side of the Y-shaped grabbing plate (401); The driving module comprises a first driving part and a second driving part, the first driving part is used to drive the second support shaft (408) to rotate, and the second driving part is used to drive the first support shaft (402) to rotate.

4. A robot grasping structure according to claim 3, characterized in that: The first driving unit comprises a grabbing motor (503) fixedly arranged between two groups of Y-shaped grabbing plates (401), and a driving end of the grabbing motor (503) is connected to the second support shaft (408) via a first pulley mechanism (501).

5. The robot grasping structure according to claim 4, characterized in that: The second driving part comprises a third support shaft (407) rotatably arranged between the two groups of Y-shaped grabbing plates (401), and the third support shaft (407) is transmission-connected to the first support shaft (402) via a second pulley mechanism (502); A transmission gear set (406) is provided on the outer side of the Y-shaped grabbing plate (401) on one side, and the driving end of the grabbing motor (503) is connected to the third support shaft (407) through the transmission gear set (406).

6. The robot grasping structure according to claim 1, characterized in that: A plurality of groups of moving wheels are provided at the bottom of the base (1) for driving the base (1) to move.

7. A lifting system, characterized in that: A robot grasping structure as claimed in any one of claims 1 to 6, comprising a lifting module arranged on a base (1), the lifting module being used to drive a robotic arm module (5) to move up and down.

8. A lifting system according to claim 7, characterized in that: The lifting module comprises a first U-shaped frame (101) fixed on a base (1), a second U-shaped frame (2) is slidably arranged on the first U-shaped frame (101), and the robotic arm module (5) is arranged on the second U-shaped frame (2); A first guide wheel (104) is rotatably arranged in the base (1), the first guide wheel (104) is fixed to the output end of a first drive motor fixed in the base (1), a second guide wheel (102) is rotatably arranged on the top of the first U-shaped frame (101), a first pull rope (103) is fixedly arranged on the first guide wheel (104), and the other end of the first pull rope (103) is passed around the second guide wheel (102) and then fixed to the second U-shaped frame (2).

9. A lifting system according to claim 8, characterized in that: A positioning plate (3) is slidably provided on the second U-shaped frame (2), and the robotic arm module (5) is fixed to one side of the positioning plate (3); The positioning plate (3) is also provided with a third guide wheel (301) which is rotatably mounted thereon. The third guide wheel (301) is fixed to the output end of the second drive motor fixed to the positioning plate (3). A fourth guide wheel (303) is also rotatably mounted on the top of the second U-shaped frame (2). A second pull rope (302) is fixedly mounted on the third guide wheel (301). The other end of the second pull rope (302) is fixed to the fourth guide wheel (303).

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