Convenient material taking servo manipulator

Abstract

The utility model relates to the technical field of manipulators, and solves the problems that when materials are grabbed, mechanical clamping can apply pressure to the surfaces of the materials, so that the materials are damaged, and the clamping distance cannot be adjusted according to the sizes of the materials. The convenient material taking servo manipulator comprises a base, a connecting base is arranged at the top of the base, an electric hydraulic rod is movably connected to one side of the top of the connecting base, a mechanical arm A is arranged at one end of the electric hydraulic rod, a mechanical arm B is movably connected to one end of the mechanical arm A, a connector is arranged at one end of the mechanical arm B, and a positioning assembly is arranged on the surface of the connector; the positioning assembly comprises a clamping block arranged on the surface of the connector, a T-shaped block is arranged on the surface of the clamping block, side plates are arranged on the edges of the two sides of the surface of the T-shaped block in an axial symmetry mode, a plurality of penetrating holes are sequentially formed in the surfaces of the side plates from top to bottom at equal intervals, air cylinders are arranged in the penetrating holes, and the air cylinders are inserted into the side plates through the penetrating holes.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, specifically a convenient material handling servo robotic arm. Background Technology

[0002] A portable material handling servo robot disclosed in CN221850255U includes a connecting arm beam, a linear motor mounted on the connecting arm beam, a connecting plate mounted on the mover of the linear motor, a moving cylinder mounted on the connecting plate, a connecting seat connected to the output end of the moving cylinder, a drive cylinder mounted on the connecting seat, a connecting frame mounted on the base of the connecting seat, the output end of the drive cylinder extending toward the connecting frame, a rotating shaft and a clamping plate symmetrically mounted on the connecting frame, a torsion spring mounted on the outer periphery of the rotating shaft, the clamping plate being connected to the rotating shaft via the torsion spring, the torsion spring being used to drive the clamping plate to reset, and the two ends of the clamping plate serving as a clamping end and a pushing end, respectively.

[0003] The output end of the drive cylinder is equipped with a wedge-shaped block, and the pushing end is coupled to the wedge-shaped block. The drive cylinder drives the wedge-shaped block to move, thereby rotating the clamping plate and bringing the two clamping ends closer together to grasp the object. This utility model has the following advantages and effects: it can stably clamp materials while simplifying the gripping structure for easy overall use.

[0004] However, when gripping materials, mechanical clamping applies pressure to the surface of the materials, causing damage. Furthermore, the clamping distance cannot be adjusted according to the size of the materials. This solution is not very adaptable to material gripping and does not provide adequate protection. Utility Model Content

[0005] To address the shortcomings of existing technologies, this utility model provides a convenient material handling servo robot that solves the problems of mechanical gripping applying pressure to the surface of materials during material handling, causing material damage, and the inability to adjust the gripping distance according to the size of the materials.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a convenient material handling servo robot, including a base, a connecting seat on the top of the base, an electric hydraulic rod movably connected to one side of the top of the connecting seat, an A robotic arm at one end of the electric hydraulic rod, a B robotic arm movably connected to one end of the A robotic arm, a connector at one end of the B robotic arm, and a positioning component on the surface of the connector.

[0007] The positioning component includes a locking block disposed on the surface of the connector. The surface of the locking block is provided with a T-shaped block, and the two sides of the surface of the T-shaped block are provided with side plates symmetrically arranged on both sides. The surface of the side plates is provided with a number of through holes at equal intervals from top to bottom. A cylinder is disposed inside each through hole. The cylinder is inserted into the side plate through the through hole. One end of the cylinder is provided with an elastic conical disk and is connected to a vacuum generator through an elastic conduit. The vacuum generator is electrically connected to a control module. The extension and retraction distance of the cylinder is adjusted by the control module so that the elastic conical disk forms a relatively distributed material clamping space.

[0008] In one specific embodiment, the positioning component has a locking block fixed to the connector surface, a T-shaped block fixedly attached to the locking block, and side plates vertically arranged on both sides of the T-shaped block, with through holes arranged equidistantly along the length of the side plates.

[0009] In one specific embodiment, the two ends of the elastic conduit are respectively sealed and connected to the tail end of the cylinder and the output end of the vacuum generator, and the control module is connected to the power interface of the vacuum generator through a wire.

[0010] In one specific embodiment, the base end of the electro-hydraulic rod is hinged to the top of the connecting seat via a first rotating shaft, and its telescopic end is hinged to one side of the bottom of the A robotic arm via a second rotating shaft.

[0011] In one specific embodiment, robotic arm A and robotic arm B are movably connected by a third rotating shaft, and the axis of the third rotating shaft is arranged spatially perpendicular to the axis of the second rotating shaft.

[0012] In a specific embodiment, the working surface of the elastic conical disk is provided with an annular rubber layer, and the cone apex directions of the two elastic conical disks are arranged opposite to each other.

[0013] Compared with the prior art, this utility model provides a convenient material handling servo robot, which has the following beneficial effects:

[0014] In the technical solution disclosed in this utility model, the combination design of the adjustable-spacing cylinder and the elastic conical disk in the positioning component, together with the negative pressure adsorption force generated by the vacuum generator, achieves flexible clamping and adsorption dual fixation of the material. When the cylinder extends and retracts, the elastic conical disks on both sides adaptively adjust the clamping spacing according to the material size. At the same time, the vacuum adsorption is uniformly applied to the material surface through the elastic conduit. This not only avoids the hard squeezing damage to the material by traditional mechanical grippers, but also solves the problem of high surface flatness requirements for single adsorption methods. It is especially suitable for gripping fragile or irregularly shaped materials.

[0015] By setting up side plates and through holes vertically distributed on both sides of the T-shaped block, the cylinder can be flexibly inserted and fixed along the length of the side plates. By adjusting the installation position of the cylinder, it can quickly adapt to materials of different specifications, which solves the limitation of the fixed gripping range of traditional robotic arms and significantly improves the equipment's versatility and material changing efficiency. Attached Figure Description

[0016] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0017] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0018] Figure 2 This is a schematic diagram of the structure of robotic arm A and robotic arm B of this utility model;

[0019] Figure 3 This is a schematic diagram of the positioning component structure of this utility model;

[0020] Figure 4 This is a schematic diagram of the card block structure of this utility model.

[0021] In the diagram: 1. Base; 2. Connecting seat; 3. Electro-hydraulic rod; 4. Robotic arm A; 5. Robotic arm B; 6. Connector; 7. Positioning assembly; 71. Clamping block; 72. T-block; 73. Side plate; 74. Through hole; 75. Cylinder; 76. Elastic conical disc; 77. Elastic conduit; 78. Vacuum generator; 79. Control module. Detailed Implementation

[0022] The following will describe in detail the implementation of this application with reference to the accompanying drawings and embodiments, so that the implementation process of how this application uses technical means to solve technical problems and achieve technical effects can be fully understood and implemented accordingly.

[0023] Figures 1-4 As an embodiment of this utility model, a convenient material handling servo robot includes a base 1, a connecting seat 2 on the top of the base 1, an electric hydraulic rod 3 movably connected to one side of the top of the connecting seat 2, an A robotic arm 4 at one end of the electric hydraulic rod 3, a B robotic arm 5 movably connected to one end of the A robotic arm 4, a connector 6 at one end of the B robotic arm 5, and a positioning component 7 on the surface of the connector 6.

[0024] The specific problem addressed in this embodiment is that mechanical gripping applies pressure to the surface of materials during material handling, leading to material damage, and the inability to adjust the gripping distance according to the size of the materials. This invention achieves both flexible gripping and adsorption of materials through a combination of an adjustable-distance cylinder 75 and an elastic conical disk 76 in the positioning component 7, along with the negative pressure adsorption force generated by the vacuum generator 78. When the cylinder 75 extends or retracts, the elastic conical disks 76 on both sides adaptively adjust the gripping distance according to the material size. Simultaneously, vacuum adsorption is applied evenly to the material surface through the elastic conduit 77. This avoids the hard compression damage to materials caused by traditional mechanical grippers and solves the problem of high surface flatness requirements for single adsorption methods, making it particularly suitable for gripping fragile or irregularly shaped materials.

[0025] Control module 75: integrates PLC or microcontroller (such as STM32 series), configured with digital input / output module, controls the on / off of cylinder solenoid valve and vacuum generator solenoid valve through relay; built-in PID algorithm can adjust cylinder movement speed and vacuum suction force; cylinder 75: adopts double-acting linear cylinder, stroke adjustable, piston rod end connected to actuator (such as mechanical gripper), controls air circuit on / off through solenoid valve to realize push-pull action; working pressure range 0.2-0.8MPa, adaptable to industrial air source standard; vacuum generator 78: selects venturi vacuum generator, air inlet connected to air source, air extraction port connected to vacuum suction cup through pipeline, vacuum degree ≥-80kPa, response time ≤0.5s, and is linked with control module (75) signal through solenoid valve.

[0026] The positioning component 7 includes a locking block 71 disposed on the surface of the connector 6. A T-shaped block 72 is disposed on the surface of the locking block 71, and side plates 73 are symmetrically disposed on both sides of the surface of the T-shaped block 72. A plurality of through holes 74 are equidistantly opened from top to bottom on the surface of the side plates 73. A cylinder 75 is disposed inside each through hole 74. The cylinder 75 is inserted into the side plate 73 through the through hole 74. One end of the cylinder 75 is provided with an elastic conical disc 76 and is connected to a vacuum generator 78 via an elastic conduit 77. The vacuum generator 78 is electrically connected to a control module 79. The extension and retraction distance of cylinder 75 is adjusted by control module 79 to create a relatively distributed material clamping space for the elastic conical disks 76. In this specific embodiment, the electro-hydraulic rod 3 drives robotic arm A 4 and robotic arm B 5 to adjust to the target position. Control module 79 activates vacuum generator 78 and provides negative pressure to cylinder 75 through elastic conduit 77. Cylinder 75 extends and retracts, pushing the elastic conical disks 76 to form a clamping space. The distance between the two elastic conical disks 76 is adaptively adjusted according to the material size. The material is gripped through the dual action of negative pressure adsorption and flexible clamping. The flexible clamping of cylinder 75 and elastic conical disk 76 combined with vacuum adsorption avoids mechanical compression damage to the material, adapts to workpieces of different sizes and shapes, and improves gripping safety and versatility.

[0027] In this specific embodiment, the locking block 71 of the positioning component 7 is fixed to the surface of the connector 6, a T-shaped block 72 is fixedly connected to the locking block 71, the side plate 73 is vertically arranged on both sides of the T-shaped block 72, and the through holes 74 are equidistantly arranged along the length direction of the side plate 73.

[0028] The clamping block 71 is fixed on the surface of the connector 6. The side plates 73 are vertically installed on both sides of the T-block 72. The through holes 74 are arranged at equal intervals along the length of the side plates 73. The cylinder 75 is inserted and fixed according to the material height by selecting the position of the through holes 74. The vertical layout of the side plates 73 and the equidistant design of the through holes 74 support the cylinder 75 to quickly adjust the installation height, adapt to the clamping requirements of materials of different specifications, and improve the adjustment efficiency and equipment adaptability.

[0029] In this specific embodiment, the two ends of the elastic conduit 77 are respectively sealed and connected to the tail end of the cylinder 75 and the output end of the vacuum generator 78, and the control module 79 is connected to the power interface of the vacuum generator 78 through a wire.

[0030] The flexible conduit 77 is sealed to connect the cylinder 75 and the vacuum generator 78. The control module 79 controls the start and stop of the vacuum generator 78 and the negative pressure intensity through wires to ensure stable adsorption force. The flexible conduit 77 is sealed to prevent air leakage. The control module 79 precisely regulates the negative pressure parameters to ensure adsorption reliability and operational safety.

[0031] In this specific embodiment, the base end of the electric hydraulic rod 3 is hinged to the top of the connecting seat 2 via a first rotating shaft, and its telescopic end is hinged to one side of the bottom of the robotic arm A via a second rotating shaft.

[0032] The electric hydraulic rod 3 is hinged to the connecting seat 2 via the first rotating shaft, and its telescopic end is hinged to the A robotic arm 4 via the second rotating shaft, enabling the robotic arm to swing at multiple angles. The dual-rotating shaft hinge design gives the A robotic arm 4 flexible movement capabilities, expands the working range of the robotic arm, and improves the flexibility of material picking path planning.

[0033] In this specific embodiment, robotic arm A 4 and robotic arm B 5 are movably connected by a third rotating shaft, and the axis of the third rotating shaft is arranged spatially perpendicular to the axis of the second rotating shaft.

[0034] Robotic arm A (4) and robotic arm B (5) are connected by a third rotating axis. The axis of the third rotating axis is perpendicular to the axis of the second rotating axis, forming a spatial cross motion degree of freedom. The spatial vertical rotating axis layout enables the three-dimensional motion of the robotic arms, avoids motion interference, and accurately positions materials in complex spaces.

[0035] In this specific embodiment, the working surface of the elastic conical disk 76 is provided with an annular rubber layer, and the cone apex directions of the two elastic conical disks 76 are arranged opposite to each other.

[0036] The working surface of the elastic conical disc 76 is covered with an annular rubber layer. The cone apexes of the two conical discs are set opposite each other. When the negative pressure is adsorbed, the rubber layer adheres to the material surface and buffers the clamping pressure. The rubber layer increases the friction and buffering effect. The opposite cone apex design makes the clamping force evenly distributed, preventing the material surface from being scratched or damaged due to uneven force.

[0037] Working principle: The electric hydraulic rod 3 drives robotic arm A 4 and robotic arm B 5 to adjust to the target position. The control module 79 starts the vacuum generator 78 and provides negative pressure to the cylinder 75 through the elastic conduit 77. The cylinder 75 extends and retracts to push the elastic conical discs 76 on both sides to form an adaptive clamping distance. The annular rubber layer of the elastic conical disc 76 is in contact with the material surface. The material is gripped by the dual action of negative pressure adsorption and flexible clamping. At the same time, the side plates 73 on both sides of the T-block 72 allow the cylinder 75 to adjust the installation height along the through hole 74 to adapt to materials of different sizes, so as to achieve non-damaging gripping and quick shape change.

[0038] The control method of this utility model is automatic control through a controller. The control circuit of the controller can be implemented by simple programming by those skilled in the art. The power supply is also common knowledge in the field. Since this utility model is mainly used to protect mechanical devices, the control method and circuit connection will not be explained in detail.

[0039] It should be noted that, in this document, the terms “comprising,” “including,” or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0040] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A portable material taking servo manipulator comprising a base (1), characterized in that: The base (1) top is equipped with the connecting seat (2), the connecting seat (2) top one side swing connection has electric hydraulic rod (3), and one end of electric hydraulic rod (3) is equipped with A mechanical arm (4), and one end of A mechanical arm (4) swing connection has B mechanical arm (5), and one end of B mechanical arm (5) is equipped with joint (6), and the surface of joint (6) is equipped with positioning assembly (7); The positioning assembly (7) includes a clamping block (71) disposed on the surface of the joint (6), the surface of the clamping block (71) is provided with a T-shaped block (72), and the edges of the T-shaped block (72) are symmetrically provided with side plates (73), a plurality of penetrating holes (74) are sequentially and equidistantly formed on the surface of the side plate (73) from top to bottom, and a gas cylinder (75) is arranged in each penetrating hole (74), the gas cylinder (75) is inserted into the side plate (73) through the penetrating hole (74), one end of the gas cylinder (75) is provided with an elastic conical disc (76) and is connected to a vacuum generator (78) through an elastic conduit (77), the vacuum generator (78) is electrically connected to a control module (79), and the extension distance of the gas cylinder (75) is adjusted by the control module (79) to form a relatively distributed material clamping space.

2. The portable material taking servo manipulator according to claim 1, characterized in that: The clamping block (71) of the positioning assembly (7) is fixed on the surface of the joint (6), the T-shaped block (72) is fixed on the clamping block (71), the side plates (73) are vertically arranged on the edges of the T-shaped block (72), and the penetrating holes (74) are equidistantly arranged along the length direction of the side plates (73).

3. The portable material taking servo manipulator according to claim 1, characterized in that: The two ends of the elastic conduit (77) are sealingly connected to the tail end of the gas cylinder (75) and the output end of the vacuum generator (78), respectively, and the control module (79) is connected to the power interface of the vacuum generator (78) through wires.

4. The portable material taking servo manipulator according to claim 1, characterized in that: The base end of the electric hydraulic rod (3) is hingedly connected to the top of the connecting seat (2) through a first rotating shaft, and the telescopic end is hingedly connected to one side of the bottom of the A mechanical arm (4) through a second rotating shaft.

5. The portable material handling servo manipulator of claim 1 wherein: The A mechanical arm (4) and the B mechanical arm (5) are swingably connected through a third rotating shaft, and the axis of the third rotating shaft is vertically arranged with the axis of the second rotating shaft.

6. The portable material handling servo manipulator of claim 1 wherein: The working surface of the elastic conical disc (76) is provided with an annular rubber layer, and the cone top directions of the two elastic conical discs (76) are oppositely arranged.

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