Multi-degree-of-freedom grasping and positioning mechanism for emulsion explosive loading robot

Abstract

This application relates to the technical field of emulsion explosive loading equipment, and in particular to a multi-degree-of-freedom grasping and positioning mechanism for an emulsion explosive loading robot, comprising a grasping component, a positioning component, and an adjustment component. The grasping component features flexible contact pads and raised structures to increase gripping friction and reduce damage; the positioning component achieves horizontal and rotational freedom through slide rails, sliders, and a rotary table; the adjustment component employs telescopic rods and universal joints to enhance attitude adjustment capabilities. This application, through optimized mechanical structure design, solves the problems of insufficient flexibility and poor adaptability of existing equipment, significantly improving the efficiency and accuracy of grasping and positioning, and providing an efficient and precise solution for the emulsion explosive loading process.

Description

Technical Field

[0001] This utility model belongs to the field of industrial automation and robotics technology, specifically a multi-degree-of-freedom grasping and positioning mechanism for an emulsion explosive loading robot. Background Technology

[0002] In the loading of emulsion explosives, the gripping and positioning mechanism is a crucial component for achieving automated operation. Currently, some loading equipment based on multi-degree-of-freedom robotic arms and clamping devices exists on the market. However, these devices often have limited adaptability to complex working conditions, and their relatively fixed structural designs make it difficult to meet the precise gripping and positioning requirements of packages of different sizes. Furthermore, the lack of flexibility in their mechanical structure may lead to reduced work efficiency or decreased operational accuracy during operation.

[0003] Therefore, we have made improvements to this by proposing a multi-degree-of-freedom grasping and positioning mechanism for an emulsion explosive loading robot. Utility Model Content

[0004] The purpose of this invention is to solve the problems of insufficient adaptability and limited grasping and positioning accuracy of existing emulsion explosive loading equipment under complex working conditions, and at the same time improve the defects of reduced work efficiency and reduced operation accuracy caused by insufficient flexibility of mechanical structure.

[0005] To achieve the aforementioned objectives and address the aforementioned problems, this utility model provides a multi-degree-of-freedom gripping and positioning mechanism for an emulsion explosive loading robot, comprising a gripping component, a positioning component, and an adjustment component. The gripping component is located at the front end of the device and is used to clamp the emulsion explosive packaging; the positioning component is located at the rear end of the gripping component and is used to adjust the spatial position of the gripping component; the adjustment component connects the gripping component and the positioning component, and is used to achieve angle adjustment and attitude control of the gripping component.

[0006] The gripping assembly includes two symmetrically arranged grippers. Each gripper has a flexible contact pad on its inner side, which is fixed to the inner surface of the gripper by bolts. The flexible contact pad has multiple raised structures distributed on its surface to increase friction. The two grippers are connected by a connecting rod. One end of the connecting rod is hinged to the gripper, and the other end is connected to a driving component. The driving component drives the connecting rod to move through a gear transmission mechanism, thereby realizing the opening and closing action of the grippers.

[0007] As a preferred technical solution of this application, the positioning component includes a base, slide rails, and a slider. The base is fixedly mounted on the robot body and has two parallel slide rails inside. The slide rails have a T-shaped cross-section, and the slider is slidably connected to the slide rails through a T-slot. A rotating platform is fixed to the top of the slider by bolts. A bearing is located at the center of the rotating platform. The outer ring of the bearing is fixedly connected to the rotating platform, and the inner ring is fixedly connected to the bottom end of the adjustment component, thereby enabling the adjustment component to rotate around a vertical axis.

[0008] As a preferred technical solution of this application, the adjusting assembly includes a telescopic rod and a universal joint. One end of the telescopic rod is fixedly connected to the rotary table via a flange, and the other end is hinged to the input end of the universal joint. The output end of the universal joint is fixedly connected to the connecting rod of the gripping assembly. The telescopic rod is composed of multiple sleeves, and adjacent sleeves are connected by threaded pairs. By rotating the sleeves, the length of the telescopic rod can be changed, thereby adjusting the distance between the gripping assembly and the target object.

[0009] As a preferred technical solution of this application, the driving component includes a motor and a reducer. The motor is fixed to one side of the base by bolts, and its output shaft is connected to the input shaft of the reducer via a coupling. The output shaft of the reducer is fixedly connected to the driving wheel of the gear transmission mechanism via a keyway. The gear transmission mechanism includes a driving wheel and a driven wheel. The driving wheel meshes with the driven wheel, and the driven wheel is fixedly connected to the connecting rod via a pin, thereby converting the rotational motion of the motor into the linear motion of the connecting rod.

[0010] As a preferred technical solution of this application, the flexible contact pad is made of polyurethane with a thickness of 5mm to 10mm, the height of the raised structure is 2mm to 3mm, and the spacing between adjacent raised structures is 4mm to 6mm. The edges of the flexible contact pad are chamfered with a radius of 1mm to 2mm to reduce damage to the surface of the packaged item when the grippers close.

[0011] As a preferred technical solution of this application, baffles are provided on both sides of the slide rail. The baffles are fixed to the base by welding and have a height of 10mm to 15mm to prevent the slider from detaching from the slide rail during sliding. A ball bearing is provided at the bottom of the slider. The ball bearing is embedded in the bottom surface of the slider and fixed by a retainer to reduce the friction between the slider and the slide rail.

[0012] As a preferred technical solution of this application, the outer ring of the rotary table is provided with scale markings, the smallest division of which is 1°, for accurately indicating the rotation angle of the adjustment component. A locking bolt is provided on the top of the rotary table, passing through the rotary table and threadedly connected to the base; tightening the locking bolt can fix the position of the rotary table.

[0013] As a preferred technical solution of this application, the universal joint has a ball head at both its input and output ends. The diameter of the ball head is 20mm to 30mm. A ball bearing is provided between the ball head and the housing of the universal joint. The number of ball bearings is 8 to 12, which are evenly distributed around the ball head to improve the rotational flexibility of the universal joint.

[0014] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0015] This invention forms a complete multi-degree-of-freedom gripping and positioning system by incorporating a gripping component, a positioning component, and an adjustment component. The flexible contact pads and raised structures in the gripping component provide sufficient friction during clamping while reducing damage to the packaging surface. The slide rails and sliders in the positioning component allow the gripping component to move flexibly in the horizontal direction, while the rotary table provides additional rotational freedom, enhancing the system's spatial adaptability. The telescopic rods and universal joints in the adjustment component further improve the gripping component's posture adjustment capability, enabling it to adapt to packaging of different sizes and shapes.

[0016] The connections between the aforementioned components are clear and reliable, with methods such as bolt fixing, hinges, and flange connections ensuring the stability of the overall structure. Furthermore, the material selection for the flexible contact pad and the design of the raised structure fully consider practical usage requirements, ensuring clamping force while preventing damage to the packaged goods. The design of the slide rail and slider, along with the ball bearing layout of the universal joint, significantly improves the system's operating efficiency and precision.

[0017] In summary, this utility model, through optimized mechanical structure design, solves the problems of insufficient flexibility and poor adaptability of the grasping and positioning mechanism in the prior art, and provides a more efficient and precise solution for the loading process of emulsion explosives. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0019] Figure 2 This is a partial schematic diagram of the crawling component;

[0020] Figure 3 This is a structural diagram of the positioning component;

[0021] Figure 4 This is a schematic diagram of the adjustment component.

[0022] The attached figures are labeled as follows:

[0023] 1. Gripping component; 2. Gripper; 3. Flexible contact pad; 4. Raised structure; 5. Linkage rod; 6. Drive component; 7. Positioning component; 8. Base; 9. Slide rail; 10. Slider; 11. Rotary table; 12. Adjustment component; 13. Telescopic rod; 14. Universal joint; 15. Motor; 16. Reducer; 17. Gear transmission mechanism. Detailed Implementation

[0024] This utility model provides a multi-degree-of-freedom grasping and positioning mechanism for an emulsion explosive loading robot, the overall structure of which is as follows: Figure 1 As shown, the device includes a gripping component 1, a positioning component 7, and an adjusting component 12. The gripping component 1 is located at the front end of the device and is used to clamp the emulsion explosive package. The positioning component 7 is located at the rear end of the gripping component 1 and is used to adjust the spatial position of the gripping component 1. The adjusting component 12 connects the gripping component 1 and the positioning component 7 and is used to adjust the angle and control the attitude of the gripping component 1. The specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings.

[0025] Crawler component 1, for example Figure 2 As shown, the device includes two symmetrically arranged grippers 2. Each gripper 2 has a flexible contact pad 3 on its inner side, which is fixed to the inner surface of the gripper 2 by bolts. The surface of the flexible contact pad 3 has multiple raised structures 4 to increase friction. The grippers 2 are made of high-strength aluminum alloy, and the flexible contact pad 3 is made of polyurethane with a thickness of 8mm. The height of the raised structures 4 is 2.5mm, and the spacing between adjacent raised structures is 5mm. The edges of the flexible contact pad 3 are chamfered with a radius of 1.5mm. The two grippers 2 are connected by a connecting rod 5. One end of the connecting rod 5 is hinged to the gripper 2, and the other end is connected to a drive unit 6. The hinged part uses a pin connection with a diameter of 6mm, and both ends of the pin are fixed with retaining springs to prevent it from falling off. The drive unit 6 drives the connecting rod 5 through a gear transmission mechanism 17, thereby realizing the opening and closing action of the grippers 2. The gear transmission mechanism 17 includes a driving gear and a driven gear. The gear ratio between the driving gear and the driven gear is 2:1. The driven gear is fixedly connected to the connecting rod 5 by a pin. The pin has a diameter of 8mm and both ends of the pin are also fixed by snap rings.

[0026] Drive component 6, such as Figure 4As shown, the system includes a motor 15 and a reducer 16. The motor 15 is fixed to one side of the base 8 by four M8 bolts, evenly distributed on the mounting flange of the motor 15. The output shaft of the motor 15 is connected to the input shaft of the reducer 16 via a coupling. The coupling is a perforated flexible coupling with an outer diameter of 30mm and an inner diameter of 10mm. The output shaft of the reducer 16 is fixedly connected to the driving wheel of the gear transmission mechanism 17 via a keyway. The keyway is 5mm wide, 3mm deep, and 20mm long. Both the driving and driven wheels of the gear transmission mechanism 17 are spur gears with a module of 2, a pressure angle of 20°, and a tooth width of 15mm.

[0027] Positioning component 7, such as Figure 3 As shown, the system includes a base 8, slide rails 9, and a slider 10. The base 8 is fixedly mounted on the robot body and is made of cast iron. Inside the base 8 are two parallel slide rails 9, each with a T-shaped cross-section, a width of 20mm, and a height of 15mm. The slider 10 is slidably connected to the slide rails 9 via T-slots. The slider 10 is made of stainless steel and has 12 ball bearings (5mm in diameter) evenly distributed on its bottom surface. The ball bearings are secured by a retainer made of engineering plastic. Baffles are located on both sides of the slide rails 9 and are welded to the base 8. The baffles are 12mm high and 3mm thick, preventing the slider 10 from detaching from the slide rails 9 during sliding. A rotary table 11 is bolted to the top of the slider 10 using six M10 bolts evenly distributed on its top surface. A bearing is located at the center of the rotary table 11. The outer ring of the bearing is fixedly connected to the rotary table 11, and the inner ring is fixedly connected to the bottom end of the adjusting assembly 12, thereby enabling the adjusting assembly 12 to rotate around the vertical axis. The outer ring of the rotary table 11 is marked with scale markings, the smallest division of which is 1°. A locking bolt is located on the top of the rotary table 11. The locking bolt passes through the rotary table 11 and is threadedly connected to the base 8. The thread specification is M12. The position of the rotary table 11 can be fixed by tightening the locking bolt.

[0028] Adjustment component 12 such as Figure 4As shown, the assembly includes a telescopic rod 13 and a universal joint 14. One end of the telescopic rod 13 is fixedly connected to the rotary table 11 via a flange with a diameter of 50mm and a thickness of 10mm. The flange has eight bolt holes with M8 bolts for fixing the telescopic rod 13 to the rotary table 11. The other end of the telescopic rod 13 is hinged to the input end of the universal joint 14 using a pin connection with a diameter of 10mm. Both ends of the pin are secured by retaining rings. The output end of the universal joint 14 is fixedly connected to the connecting rod 5 of the gripping assembly 1 using a bolt connection with four M10 bolts evenly distributed on the output flange of the universal joint 14. The telescopic rod 13 consists of three sleeve sections connected by a threaded pair with an M16 thread and a pitch of 2mm. Rotating the sleeves changes the length of the telescopic rod 13, thereby adjusting the distance between the gripping assembly 1 and the target object. Both the input and output ends of the universal joint 14 are provided with ball heads, the diameter of which is 25mm. There are 10 ball bearings between the ball head and the housing of the universal joint 14, which are evenly distributed around the ball head. The diameter of the ball bearings is 5mm, and the cage of the ball bearings is made of engineering plastic.

[0029] In practical use, the base 8 is first fixedly installed on the main body of the emulsion explosive loading robot. The base 8 is connected to the robot body by bolts, with M12 bolts, eight in total, evenly distributed on the mounting flange of the base 8. Then, the motor 15 is started. The output shaft of the motor 15 drives the input shaft of the reducer 16 to rotate via a coupling. The output shaft of the reducer 16 drives the drive wheel of the gear transmission mechanism 17 to rotate via a keyway. The drive wheel meshes with the driven wheel, and the driven wheel drives the connecting rod 5 to move via a pin. The linear motion of the connecting rod 5 is converted into the opening and closing action of the gripper 2, thereby achieving the gripping of the emulsion explosive package. When it is necessary to adjust the spatial position of the gripping component 1, the slider 10 slides along the slide rail 9, and the ball rolls between the slider 10 and the slide rail 9, reducing sliding friction. The slider 10's movement range is 0 to 500 mm, and its movement speed is 10 mm / s. When the angle of the gripping component 1 needs to be adjusted, the rotary table 11 rotates around the vertical axis, with a rotation angle range of 0 to 360° and a rotation speed of 5° / s. After rotating to the correct position, the position of the rotary table 11 is fixed by tightening the locking bolts. When the posture of the gripping component 1 needs to be adjusted, the length of the telescopic rod 13 is changed by rotating the sleeve. The length adjustment range of the telescopic rod 13 is 300mm to 600mm, with an adjustment accuracy of 1mm. At the same time, the ball head of the universal joint 14 rotates flexibly under the action of the ball bearing, with a rotation angle range of ±45°, thereby realizing the posture adjustment of the gripping component 1.

[0030] In the above embodiments, the connections between the components are clear and reliable, ensuring the stability of the overall structure through methods such as bolt fixing, hinges, and flange connections. The material selection of the flexible contact pad 3 and the design of the raised structure 4 fully consider actual usage requirements, ensuring clamping force while avoiding damage to the packaged goods. The matching design of the slide rail 9 and the slider 10, as well as the ball bearing layout of the universal joint 14, significantly improve the system's operating efficiency and operational accuracy.

[0031] To enable those skilled in the art to fully understand and implement this utility model, the specific implementation principles of this utility model are further explained below in conjunction with specific application scenarios.

[0032] First, the base 8 is fixedly installed on the main body of the emulsion explosive loading robot. The base 8 is connected to the robot body by bolts, with M12 bolts evenly distributed on the mounting flange of the base 8. Then, the motor 15 is started. The output shaft of the motor 15 drives the input shaft of the reducer 16 to rotate through the coupling. The output shaft of the reducer 16 drives the drive wheel of the gear transmission mechanism 17 to rotate through the keyway. After the drive wheel meshes with the driven wheel, the driven wheel drives the connecting rod 5 to move, which is converted into the opening and closing action of the gripper 2. At this time, the flexible contact pad 3 on the inner side of the gripper 2 has increased friction due to the raised structure 4 distributed on its surface, ensuring that the emulsion explosive packaging is firmly clamped. At the same time, the material and chamfer design of the flexible contact pad 3 avoid damage to the surface of the packaging.

[0033] When the spatial position of the gripping component 1 needs to be adjusted, the slider 10 slides along the slide rail 9. The ball bearings at the bottom of the slider 10 roll within the T-groove of the slide rail 9, significantly reducing sliding friction and allowing the slider 10 to move smoothly on the slide rail 9. The slider 10 has a movement range of 0 to 500 mm and a movement speed of 10 mm / s, ensuring that the gripping component 1 can quickly reach the target position. The baffles on both sides of the slide rail 9 effectively prevent the slider 10 from detaching from the track during sliding, ensuring the operational stability of the system.

[0034] If the angle of the gripping component 1 needs to be adjusted, it can be achieved by rotating the rotary table 11 around the vertical axis. The rotation angle range of the rotary table 11 is 0 to 360°, and the rotation speed is 5° / s. After rotating to the correct position, the position of the rotary table 11 is fixed by tightening the locking bolts. The minimum graduation value of the scale markings on the outer ring of the rotary table 11 is 1°, which facilitates the operator to accurately control the rotation angle, thereby meeting the positioning requirements under different working conditions.

[0035] When the posture of the gripping component 1 needs to be adjusted, this can be achieved by adjusting the length of the telescopic rod 13. The telescopic rod 13 consists of three sleeve sections, with adjacent sleeves connected by threaded joints. Its length adjustment range is 300mm to 600mm, with an adjustment accuracy of 1mm. By rotating the sleeves to change the length of the telescopic rod 13, the distance between the gripping component 1 and the target object can be adjusted. In addition, the ball joint 14's ball head rotates flexibly under the action of ball bearings, with a rotation angle range of ±45°, further enhancing the posture adjustment capability of the gripping component 1.

[0036] In actual operation, the coordinated work of the aforementioned components enables precise gripping and positioning of the emulsion explosive packaging. For example, during the clamping process, the polyurethane material of the flexible contact pad 3 and the design of the raised structure 4 ensure sufficient friction while avoiding damage to the surface of the packaging. The matching design of the slide rail 9 and the slider 10, as well as the ball bearing layout, significantly reduces sliding friction and improves the system's operating efficiency. Meanwhile, the ball bearing layout of the universal joint 14 ensures the flexibility and stability of the gripping assembly 1 during attitude adjustment.

[0037] In summary, this utility model, through optimized mechanical structure design, solves the problems of insufficient flexibility and poor adaptability of the grasping and positioning mechanism in the prior art, and provides a more efficient and precise solution for the loading process of emulsion explosives.

[0038] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A multi-degree-of-freedom grasping and positioning mechanism for an emulsion explosive loading robot, characterized in that, The device includes a gripping component (1), a positioning component (7), and an adjusting component (12). The gripping component (1) is located at the front end of the device and is used to clamp the emulsion explosive packaging. The positioning component (7) is located at the rear end of the gripping component (1) and is used to adjust the spatial position of the gripping component (1). The adjusting component (12) connects the gripping component (1) and the positioning component (7) and is used to realize the angle adjustment and attitude control of the gripping component (1).

2. The multi-degree-of-freedom grasping and positioning mechanism for the emulsion explosive loading robot according to claim 1, characterized in that, The gripping component (1) includes two symmetrically arranged grippers (2). Each gripper (2) has a flexible contact pad (3) on its inner side. The flexible contact pad (3) is fixed to the inner surface of the gripper (2) by bolts. The surface of the flexible contact pad (3) is distributed with multiple protrusions (4). The two grippers (2) are connected by a connecting rod (5). One end of the connecting rod (5) is hinged to the gripper (2), and the other end is connected to the drive member (6). The drive member (6) drives the connecting rod (5) to move through a gear transmission mechanism (17), thereby realizing the opening and closing action of the gripper (2).

3. The multi-degree-of-freedom grasping and positioning mechanism for the emulsion explosive loading robot according to claim 1, characterized in that, The positioning component (7) includes a base (8), a slide rail (9), and a slider (10). The base (8) is fixedly installed on the robot body and has two parallel slide rails (9) inside. The slide rail (9) has a T-shaped cross section. The slider (10) is slidably connected to the slide rail (9) through a T-shaped groove. A rotating platform (11) is fixed to the top of the slider (10) by bolts. A bearing is provided at the center of the rotating platform (11). The outer ring of the bearing is fixedly connected to the rotating platform (11), and the inner ring is fixedly connected to the bottom end of the adjustment component (12).

4. The multi-degree-of-freedom grasping and positioning mechanism for the emulsion explosive loading robot according to claim 1, characterized in that, The adjustment assembly (12) includes a telescopic rod (13) and a universal joint (14). One end of the telescopic rod (13) is fixedly connected to the rotary table (11) via a flange, and the other end is hinged to the input end of the universal joint (14). The output end of the universal joint (14) is fixedly connected to the connecting rod (5) of the gripping assembly (1). The telescopic rod (13) is composed of multiple sleeves, and adjacent sleeves are connected by threaded pairs.

5. The multi-degree-of-freedom grasping and positioning mechanism for the emulsion explosive loading robot according to claim 2, characterized in that, The driving component (6) includes a motor (15) and a reducer (16). The motor (15) is fixed to one side of the base (8) by bolts. Its output shaft is connected to the input shaft of the reducer (16) by a coupling. The output shaft of the reducer (16) is fixedly connected to the driving wheel of the gear transmission mechanism (17) by a keyway. The gear transmission mechanism (17) includes a driving wheel and a driven wheel. The driving wheel meshes with the driven wheel. The driven wheel is fixedly connected to the connecting rod (5) by a pin.

6. The multi-degree-of-freedom grasping and positioning mechanism for the emulsion explosive loading robot according to claim 2, characterized in that, The flexible contact pad (3) is made of polyurethane and has a thickness of 5 mm to 10 mm. The height of the raised structure (4) is 2 mm to 3 mm, the spacing between adjacent raised structures is 4 mm to 6 mm, and the edge of the flexible contact pad (3) is chamfered with a radius of 1 mm to 2 mm.

7. The multi-degree-of-freedom grasping and positioning mechanism for the emulsion explosive loading robot according to claim 3, characterized in that, The slide rail (9) has baffles on both sides, which are fixed to the base (8) by welding and have a height of 10 mm to 15 mm. The bottom of the slider (10) is provided with balls, which are embedded in the bottom surface of the slider (10) and fixed by a retainer.

8. The multi-degree-of-freedom grasping and positioning mechanism for the emulsion explosive loading robot according to claim 4, characterized in that, The universal joint (14) has a ball head at both its input and output ends. The diameter of the ball head is 20 mm to 30 mm. A ball bearing is provided between the ball head and the housing of the universal joint (14). The number of ball bearings is 8 to 12, and they are evenly distributed around the ball head.

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