Flexible composite mechanical device for cleaning and grabbing

Abstract

The utility model discloses a flexible composite mechanical device for cleaning and grabbing, which comprises a wiping end and a grabbing end, the tail end of the wiping end is provided with a wiping disc for cleaning, the tail end of the grabbing end is provided with a three-finger clamping jaw for grabbing an object, the wiping end and the grabbing end are respectively fixed on two side surfaces of a U-shaped fixing plate, and the U-shaped fixing plate is fixed on the wiping disc. A flexible mechanism is arranged in the middle of the U-shaped fixing plate, the back of the flexible mechanism is fixed to the tail end of the mechanical arm, and through the flexible mechanism, the wiping end and the grabbing end conduct certain elastic movement in the axial direction of the guide column relative to the mechanical arm during operation. According to the device, the two functions of wiping and grabbing are integrated at the tail end of the same mechanical arm, rapid switching of functional ends can be achieved through rotation of the mechanical arm, meanwhile, through the design of the flexible mechanism, impact force in the operation process is effectively buffered, potential damage of vibration to the device is reduced, and the working efficiency is improved. Therefore, the service life of the equipment is prolonged, and the operation stability is ensured.

Description

TECHNICAL FIELD

[0001] The utility model relates to mechanical automation technology, in particular to a kind of flexible composite mechanical device for cleaning and grabbing. BACKGROUND

[0002] With the development of automation technology, automation robots are increasingly widely used in industry, medical treatment, service and other fields. The tool at the end of the robot's mechanical arm usually needs to be customized according to different application scenarios to complete specific tasks, such as grabbing, carrying, assembling, cleaning, etc. However, the existing end tool of the mechanical arm is often single-function, which cannot adapt to diversified operation requirements. For example, the mechanical man applied in restaurant service needs to switch between wiping the table and grabbing objects when arranging on the table. The limitation of such single function makes the restaurant service mechanical man not flexible and efficient enough in operation, which cannot meet the diversified service requirements. SUMMARY

[0003] The utility model aims to provide a kind of flexible composite mechanical device for cleaning and grabbing, which integrates wiping and grabbing functions and can adapt to various operation requirements.

[0004] Technical scheme: To achieve the above-mentioned purpose, the utility model discloses a kind of flexible composite mechanical device for cleaning and grabbing, installed at the end of mechanical arm, including wiping end and grabbing end, the end of wiping end is equipped with wiping disc for cleaning, the end of grabbing end is equipped with three-fingered gripper for grabbing object.

[0005] Among them, the wiping end and the grabbing end are respectively fixed on the two sides of the U-shaped fixed plate, the middle part of the U-shaped fixed plate is provided with a flexible mechanism, and the back of the flexible mechanism is fixed to the end of the mechanical arm.

[0006] Among them, the flexible mechanism includes a support frame, a guide column is arranged between the upper and lower support plates of the support frame, a movable plate is sleeved on the guide column and can move axially along the guide column, and the side surface of the movable plate is fixed to the U-shaped fixed plate.

[0007] Among them, the guide column on the two sides of the movable plate is sleeved with a spring.

[0008] Among them, a sensor is arranged on the movable plate for measuring the movement distance of the movable plate relative to the upper support plate or the lower support plate.

[0009] Among them, the wiping end includes a wiping disc and a motor, the wiping disc is a self-adhesive disc with self-adhesive wiping cloth, and the wiping disc is fixed to the output shaft of the motor through a connecting shaft.

[0010] The grabbing end comprises three-fingered clamps, clamp cylinders, the three-fingered clamps comprise left clamps, right clamps, movable plates and support plates, the left clamps and the right clamps comprise fingers and joints, the fingers and the joints are rotationally connected through pin shafts, the joints are rotationally connected with the side surface of the movable plates through pin shafts, and the fingers and the joints are rotationally connected with the side surface of the support plates through connecting rods respectively; the mounting surface of the clamp cylinders is fixed on the inner side surface of the U-shaped fixed plate, the telescopic rods of the clamp cylinders are fixedly connected with the movable plates through the U-shaped fixed plate, and the support plates are erected on the outer side surface of the U-shaped fixed plate through support columns and are located on the outer side of the movable plates.

[0011] The sensor, the motor and the clamp cylinder are controlled and operated by a main control device of the mechanical arm.

[0012] Advantages: the device has the following advantages: 1, the device integrates the wiping and grabbing functions in the same mechanical arm end, the quick switching of the functional end head can be realized through the rotation of the mechanical arm, and the multi-task processing capacity and working efficiency of the robot are improved; 2, the wiping end and the grabbing end can elastically move in the axial direction of the guide column through the design of the flexible mechanism, which effectively buffers the impact force in the operation process, reduces the potential damage of vibration to the device, thereby prolonging the service life of the equipment and ensuring the stability of the operation; 3, the distance measuring sensor can detect the moving distance of the movable plate in real time, the distance change is used to determine whether the robot end is in contact with the table top or the object and the distance of the pressing, so that more fine and accurate operation is realized; 4, the overall structure is simple and compact, the mounting flange can be changed according to different mechanical arm end specifications, and the device is convenient to install. BRIEF DESCRIPTION OF DRAWINGS

[0013] Figure 1 It is a structural schematic diagram of the device;

[0014] Figure 2 It is a schematic diagram of the connection between the wiping end and the grabbing end and the U-shaped fixed plate;

[0015] Figure 3 It is a structural schematic diagram of the flexible mechanism;

[0016] Figure 4 It is a schematic diagram of the closed state of the grabbing end;

[0017] Figure 5 It is a schematic diagram of the open state of the grabbing end. DETAILED DESCRIPTION

[0018] The technical scheme of the device will be described in detail in combination with the embodiments and the drawings.

[0019] As Figures 1-3As shown, the flexible composite mechanical device can be installed at the end of the mechanical arm through the I-shaped flange 5, and the composite mechanical device comprises two ends: a wiping end 1 and a grabbing end 2, the wiping end 1 is provided with a self-adhesive disc 1.1 at the end, the self-adhesive disc 1.1 can directly adhere to the self-adhesive cloth to perform cleaning work, and the grabbing end 2 is provided with a three-fingered clamp 2.1 at the end, which is used for grabbing objects. The wiping end 1 and the grabbing end 2 are fixed on the two side surfaces of the U-shaped fixing plate 3, the middle part of the U-shaped fixing plate 3 is fixed with the flexible mechanism 4, and the I-shaped flange 5 is fixed on the back surface of the flexible mechanism 4, so that the whole device is installed at the end of the mechanical arm.

[0020] The flexible mechanism 4 comprises a support frame 4.1, which is an open box structure with one side, including upper and lower support plates, left and right support plates, and a back support plate. Inside the support frame 4.1, the upper and lower support plates are provided with a spring 4.2 structure, including four groups of springs 4.2 and a movable plate 4.3. One end of two groups of springs 4.2 is fixed on the upper support plate, and the other two groups of springs 4.2 is fixed on the upper support plate. The other end of the four groups of springs 4.2 is fixed on the upper and lower surfaces of the movable plate 4.3 respectively. The movable plate 4.3 is not in contact with the inner wall of the support frame around, so that the movable plate 4.3 has a certain elastic movement between the upper and lower support plates. A distance measuring sensor 4.4 is arranged on the upper and lower surfaces (or one of the surfaces) of the movable plate 4.3. The distance measuring sensor 4.4 measures the movement distance of the movable plate 4.3 between the upper and lower support plates. In order to ensure that the movable plate 4.3 moves vertically and stably between the upper and lower support plates, two groups of guide columns can be arranged between the upper and lower support plates. The movable plate 4.3 is sleeved on the two groups of guide columns and can move axially along the guide columns. The springs 4.2 are sleeved on the guide columns on both sides of the movable plate 4.3.

[0021] The back support plate is fixed at one end of the I-shaped flange 5, and the outer side surface of the movable plate 4.3 is fixed in the middle part of the U-shaped fixing plate 3, that is, the axial direction of the guide column is coaxial with the connecting shaft 1.2 of the wiping end 1 and the grabbing end 2. Through the flexible mechanism 4, the wiping end 1 and the grabbing end 2 can perform certain elastic movement in the axial direction of the guide column relative to the mechanical arm during operation.

[0022] The wiping end 1 comprises a self-adhesive disc 1.1, a connecting shaft 1.2 fixed with the self-adhesive disc 1.1 at one end, and a motor 1.3. The other end of the connecting shaft 1.2 is fixed with the output shaft of the motor 1.3. The specific structure is that the motor 1.3 is fixed on one inner side surface of the U-shaped fixing plate 3, and the output shaft of the motor 1.3 is fixed with the connecting shaft 1.2 through a small flange.

[0023] The grabbing end 2 comprises a pneumatic three-fingered gripper 2.1, a gripper cylinder 2.2, the three-fingered gripper 2.1 comprising a single-fingered left gripper and a double-fingered right gripper, a movable plate, and a support plate. The mounting surface of the gripper cylinder 2.2 is fixed on an inner side surface of the U-shaped fixing plate 3, the telescopic rod thereof passes through a side surface of the U-shaped fixing plate 3 and is fixedly connected with the movable plate, and the support plate is erected on an outer side surface of the U-shaped fixing plate 3 and is located outside the movable plate. The left gripper and the right gripper comprise fingers and joints, the fingers and the joints are rotationally connected through pin shafts, and the joints are rotationally connected to the side surface of the movable plate through pin shafts. The fingers and the joints are rotationally connected to the side surface of the support plate through connecting rods respectively. Through the structural design, when the telescopic rod of the gripper cylinder 2.2 is in the telescopic process, the movable plate is moved between the support plate and the outer side surface of the U-shaped fixing plate 3. Since the fingers and the joints are rotationally connected to the side surface of the support plate through the connecting rods respectively, and the support plate is fixed, the movable plate synchronously drives the joints to move in the moving process, and the movement of the joints drives the opening and closing of the fingers through the connecting action of the connecting rods, so as to realize the grabbing and placing of objects.

[0024] As shown in Figure 4 , the telescopic rod is stretched, the movable plate and the joints are moved upward, and the joints are moved upward. Since the joints are connected to the connecting rods, the angle with the vertical direction is increased, the fingers are further expanded outward, the upper ends of the fingers are drawn together in the middle under the action of the corresponding connecting rods, and a closed state is presented. By adjusting the length of the connecting rod, the degree of closing can be further adjusted.

[0025] As shown in Figure 5 , the telescopic rod is retracted, the movable plate and the joints are moved downward, and the joints are moved downward. Since the joints are connected to the connecting rods, the angle with the vertical direction is reduced, the fingers are further moved downward, and the fingers are straightened to present an open state under the action of the corresponding connecting rods. By adjusting the length of the connecting rod, the degree of opening of the fingers can be further adjusted.

[0026] The U-shaped fixing plate 3 is provided with a cover 6, so that the motor 1.3, the gripper cylinder 2.2, and the connecting line are enclosed in the cover 6. The cover 6 is fixedly provided with a visual camera 7, the motor 1.3, the gripper cylinder 2.2, and the visual camera 7 are connected with a controller for controlling the mechanical arm, the visual camera 7 feeds back the collected image data to the controller, the controller analyzes the image, and identifies the object and the stain in the image. If the stain is to be wiped, the controller controls the mechanical arm to move and rotate, so that the wiping end 1 adheres to the self-adhesive disc 1.1 of the self-adhesive wiping cloth, aligns with the stain, and at this time the controller controls the motor 1.3 to drive the self-adhesive disc 1.1 to rotate and wipe. If the object is to be grabbed, the controller controls the mechanical arm to move and rotate, so that the three-fingered gripper 2.1 aligns with the object, and at this time the controller controls the gripper cylinder 2.2 to drive the three-fingered gripper 2.1 to expand and close.

[0027] The combination of the self-adhesive disc 1.1 and the self-adhesive cloth can not only meet the requirement of quick replacement of the cloth, but also can be adjusted in size according to the size of the table top. Through the quick rotation of the motor 1.3, the table top can be quickly cleaned, and the residual cloth or excess water can also be cleaned through high-speed rotation.

[0028] In the above process, due to the design of the flexible mechanism 4, the wiping end 1 and the grabbing end 2 fixed on both sides of the U-shaped fixed plate 3 can perform elastic movement in the axial direction of the guide column of the mechanical arm. The pre-tightening force generated by the spring 4.2 sleeved on the guide shaft can support the U-shaped fixed plate 3 and keep it stable. When the mechanical arm drives the wiping end 1 or the grabbing end 2 to contact the table top or the object and generates a certain impact force, the movable plate 4.3 generates displacement, and the spring 4.2 deforms, thereby buffering the impact force during contact and reducing the vibration caused by the impact to the device. At the same time, the mechanical arm can adapt to the surface of objects with different hardness and shape, and improve the flexibility and reliability of the operation

[0029] The distance sensor 4.4 can detect the movement distance of the movable plate 4.3 in real time and feed back to the controller. The controller determines whether the robot end contacts the table top or the object and the distance of the pressing through the change of the distance, thereby realizing more fine and accurate operation.

Claims

1. A flexible composite robotic device for cleaning and grasping, mounted at the end of a robotic arm, characterized in that, The utility model provides a kind of multi-functional robot, including wiping end (1) and grabbing end (2), the end of wiping end (1) is equipped with wiping disc for cleaning, the end of grabbing end (2) is equipped with three-fingered gripper (2.1) for grabbing object, the three-fingered gripper (2.1) includes left gripper, right gripper, movable plate, support plate, left gripper, right gripper includes finger, joint, finger, joint are connected by pin shaft rotation, joint is connected by pin shaft with the side of movable plate rotation, finger, joint are respectively connected by connecting rod with the side of support plate rotation.

2. The flexible compound robotic device for cleaning and grasping according to claim 1, wherein, The wiping end (1) and the grabbing end (2) are respectively fixed on the two side surfaces of the U-shaped fixing plate (3), and the middle part of the U-shaped fixing plate (3) is provided with a flexible mechanism (4), and the back of the flexible mechanism (4) is fixed on the end of the mechanical arm.

3. The flexible compound robotic device for cleaning and grasping according to claim 2, wherein, The flexible mechanism (4) includes a support frame (4.1), and a guide column is arranged between the upper and lower support plates of the support frame (4.1), and a movable plate (4.3) capable of moving axially along the guide column is sleeved on the guide column, and the side surface of the movable plate (4.3) is fixed on the U-shaped fixing plate (3).

4. The flexible compound robotic device for cleaning and grasping according to claim 3, wherein, The guide column on the two sides of the movable plate (4.3) is sleeved with a spring (4.2).

5. The flexible compound robotic device for cleaning and grasping according to claim 3, wherein, A sensor (4.4) for measuring the movement distance of the movable plate (4.3) relative to the upper support plate or the lower support plate is arranged on the movable plate (4.3).

6. The flexible compound robotic device for cleaning and grasping according to claim 1, wherein, The wiping end (1) includes a wiping disc, a motor (1.3), the wiping disc is a self-adhesive disc (1.1) with a self-adhesive cloth, and the wiping disc is fixed with the output shaft of the motor (1.3) through a connecting shaft (1.2).

7. The flexible compound robotic device for cleaning and grasping according to claim 1, wherein, The grabbing end (2) includes a gripper cylinder (2.2), the mounting surface of the gripper cylinder (2.2) is fixed on one inner side surface of the U-shaped fixing plate (3), the telescopic rod of the gripper cylinder (2.2) is fixedly connected with the movable plate through the U-shaped fixing plate (3), the support plate is erected on the outer side surface of the U-shaped fixing plate (3) through a support column, and is located on the outer side of the movable plate.

8. The flexible compound robotic device for cleaning and grasping according to claim 5, wherein, The sensor (4.4) is controlled and operated by a main controller for controlling the mechanical arm.

9. The flexible compound robotic device for cleaning and grasping according to claim 6, wherein, The motor (1.3) is controlled and operated by a main controller for controlling the mechanical arm.

10. The flexible compound robotic device for cleaning and grasping according to claim 7, wherein, The gripper cylinder (2.2) is controlled and operated by a main controller for controlling the mechanical arm.

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