Multi-joint adaptive gripping robot

Abstract

The application relates to the technical field of industrial automation, and discloses a multi-joint adaptive grabbing manipulator, which comprises two symmetrically arranged manipulator joints, the manipulator joints are multi-joint, a base is fixedly arranged between the two manipulator joints, two movable plates are symmetrically and slidably connected to the lower end of the base, a driving assembly for driving the two movable plates to move is arranged on the base, a clamping plate is fixedly arranged on the side wall of each movable plate, and a cleaning plate with an internal cavity is rotatably connected to the side wall of each movable plate. The application can automatically clean the debris left on the clamping plate after clamping the object through the cooperation between the manipulator joint, the base, the movable plate, the clamping plate, the cleaning plate, the first motor, the bidirectional screw rod, the sliding block, the sliding rod, the second motor, the fan, the air conveying pipe and the air hole, thereby reducing the manual labor and improving the applicability of the device.

Description

Technical Field

[0001] This application relates to the field of industrial automation technology, specifically to a multi-joint adaptive gripping robot. Background Technology

[0002] In the field of industrial automation, robotic arms, as core execution devices, are widely used in scenarios such as automobile manufacturing and electronic product assembly, undertaking high-precision tasks such as welding, assembly, and handling. The use of multi-joint adaptive gripping robotic arms is particularly common.

[0003] Currently, existing multi-joint adaptive gripping robots often leave some residue from the object on the gripper after gripping it, requiring manual cleaning, which increases labor costs and reduces applicability. Utility Model Content

[0004] The purpose of this application is to provide a multi-joint adaptive grasping robot that solves the problems mentioned in the background art.

[0005] To solve the above-mentioned technical problems, this utility model is achieved through the following technical solution: This application provides a multi-joint adaptive grasping robot, including two symmetrically arranged robot joints, each of which is multi-joint. A base is fixedly installed between the two robot joints. Two movable plates are symmetrically slidably connected to the lower end of the base. A drive assembly for moving the two movable plates is installed on the base. Clamping plates are fixedly installed on the sidewalls of the two movable plates facing each other. A cleaning plate with an internal cavity is rotatably connected to the sidewalls of the two movable plates facing each other. A rotating assembly for driving the cleaning plate to rotate is installed on the movable plate. Brush bristles are installed on the sidewall of the cleaning plate near the corresponding movable plate. The cleaning plate and the clamping plate are positioned opposite each other. An air blowing assembly for cleaning debris from the brush bristles is installed on the movable plate.

[0006] By adopting the above technical solution, during use, the position of the base is adjusted by the robotic arm joint, and the movable plate is moved by the drive component. The movement of the movable plate will drive the clamping plate to move, and the two clamping plates will clamp the object. When it is necessary to clean the debris on the clamping plate, the cleaning plate is rotated by the rotation component. When the cleaning plate contacts the clamping plate, the bristles on the cleaning plate will clean the debris on the cleaning plate. At the same time, the air blowing component will clean the debris on the bristles. Through the above structure, after the object is clamped, the debris left on the clamping plate can be automatically cleaned, reducing manual labor and thus improving the applicability of the device.

[0007] Optionally, the drive assembly includes a first motor fixedly mounted on the lower end of the base, the output end of the first motor being connected to a bidirectional lead screw via a coupling, and the bidirectional lead screw being threadedly connected to two movable plates.

[0008] By adopting the above technical solution, the first motor is started, which drives the bidirectional lead screw to rotate. The rotation of the bidirectional lead screw causes the two movable plates to move through the screw thread.

[0009] Optionally, two symmetrical grooves are provided at the lower end of the base, and two sliders are symmetrically slidably connected in the grooves. The lower ends of the sliders are fixedly connected to the corresponding movable plates.

[0010] By adopting the above technical solution, the movable plate is limited to prevent it from rotating.

[0011] Optionally, a slide rod is fixedly connected to the inner wall of the chute, the slide rod passes through the slider, and the slider is slidably connected to the slide rod.

[0012] By adopting the above technical solution, the slider is prevented from detaching from the groove.

[0013] Optionally, the rotating assembly includes a second motor fixedly mounted on one side wall of the movable plate, and the output end of the second motor is connected to the cleaning plate via a coupling.

[0014] By adopting the above technical solution, the second motor is started, and the second motor will drive the cleaning plate.

[0015] Optionally, the air blowing assembly includes a fan fixedly installed on one side wall of the movable plate. The fan is connected to an air supply pipe, the other end of which is rotatably connected to the cleaning plate. The center of the end of the air supply pipe is on the same axis as the output end of the second motor. A number of air vents are evenly spaced on the side wall of the cleaning plate near the corresponding movable plate.

[0016] By adopting the above technical solution, when the fan is started, the fan will blow air into the cleaning plate through the air supply pipe, and the airflow will be discharged through the vent, blowing away the debris adhering to the bristles.

[0017] Optionally, anti-slip textures are provided on the sidewalls of both clamps facing each other.

[0018] By adopting the above technical solution, the clamping force of the clamping plate is increased.

[0019] Compared with the prior art, the beneficial effects of the technical solution of this application are as follows: The technical solution of this application, through the cooperation of structures such as the robotic arm joint, base, movable plate, clamping plate, cleaning plate, first motor, bidirectional lead screw, slider, slide bar, second motor, fan, air supply pipe and ventilation hole, can automatically clean the debris left on the clamping plate after clamping the object, reduce manual labor, and thus improve the applicability of the device. Attached Figure Description

[0020] Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings: Figure 1 This is a schematic diagram of the overall structure of a multi-joint adaptive grasping robot according to this application; Figure 2 This is a bottom view of a multi-joint adaptive grasping robot according to this application; Figure 3 This is a schematic diagram of the internal structure of the cleaning plate in a multi-joint adaptive gripper of this application.

[0021] In the diagram: 1. Robotic arm joint; 2. Base; 3. Movable plate; 4. Clamping plate; 5. Cleaning plate; 6. First motor; 7. Two-way lead screw; 8. Slider; 9. Slide bar; 10. Second motor; 11. Fan; 12. Air duct; 13. Vent. Detailed Implementation

[0022] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present utility model.

[0023] Please see Figure 1-3 This application provides a technical solution: a multi-joint adaptive grasping robot, including two symmetrically arranged robot joints 1, and the robot joints 1 are multi-joint. The robot joints 1 are prior art and are not shown in this application, so they will not be described in detail. A base 2 is fixedly installed between the two robot joints. Two movable plates 3 are symmetrically slidably connected to the lower end of the base 2. A drive component for driving the two movable plates 3 to move is installed on the base 2. A clamping plate 4 is fixedly installed on the side wall of the two movable plates 3 facing each other. A cleaning plate 5 with an internal cavity is rotatably connected to the side wall of the two movable plates 3 facing each other. A rotating component for driving the cleaning plate 5 to rotate is installed on the movable plate 3. Brush bristles are installed on the side wall of the cleaning plate 5 near the corresponding movable plate 3. The cleaning plate 5 and the clamping plate 4 are positioned correspondingly. An air blowing component for cleaning debris on the brush bristles is installed on the movable plate 3.

[0024] In the technical solution of this application, during use, the position of the base 2 is adjusted by the robotic arm joint 1, and the movable plate 3 is moved by the drive component. The movement of the movable plate 3 will drive the clamping plate 4 to move, and the two clamping plates 4 will clamp the object. When it is necessary to clean the debris on the clamping plate 4, the cleaning plate 5 is rotated by the rotation component. When the cleaning plate 5 contacts the clamping plate 4, the bristles on the cleaning plate 5 will clean the debris on the cleaning plate 5. At the same time, the air blowing component will clean the debris on the bristles. Through the above structure, after the object is clamped, the debris left on the clamping plate 4 can be automatically cleaned, reducing manual labor and thus improving the applicability of the device.

[0025] In the technical solution of this application, the drive assembly includes a first motor 6 fixedly installed at the lower end of the base 2. The output end of the first motor 6 is connected to a bidirectional lead screw 7 through a coupling. The bidirectional lead screw 7 is threadedly connected to two movable plates 3. When the first motor 6 is started, the first motor 6 will drive the bidirectional lead screw 7 to rotate. The rotation of the bidirectional lead screw 7 will cause the two movable plates 3 to move through the thread action.

[0026] In the technical solution of this application, two sliding grooves are symmetrically opened at the lower end of the base 2, and two sliders 8 are symmetrically slidably connected in the sliding grooves. The lower end of the slider 8 is fixedly connected to the corresponding movable plate 3 to limit the movable plate 3 and prevent the movable plate 3 from rotating.

[0027] In the technical solution of this application, a slide rod 9 is fixedly connected to the inner wall of the chute, the slide rod 9 passes through the slider 8, and the slider 8 is slidably connected to the slide rod 9 to prevent the slider 8 from detaching from the chute.

[0028] In the technical solution of this application, the rotating component includes a second motor 10 fixedly installed on one side wall of the movable plate 3. The output end of the second motor 10 is connected to the cleaning plate 5 through a coupling. When the second motor 10 is started, the second motor 10 will drive the cleaning plate 5.

[0029] In the technical solution of this application, the air blowing assembly includes a fan 11 fixedly installed on one side wall of the movable plate 3. The fan 11 is connected to the cleaning plate 5 through an air supply pipe 12, and the other end of the air supply pipe 12 is rotatably connected to the cleaning plate 5. The center of the end of the air supply pipe 12 is on the same axis as the output end of the second motor 10. Several ventilation holes 13 are evenly spaced on the side wall of the cleaning plate 5 near the corresponding movable plate 3. When the fan 11 is started, the fan 11 will blow air into the cleaning plate 5 through the air supply pipe 12. The airflow will be discharged through the ventilation holes 13, blowing away the debris adhering to the brush bristles.

[0030] In the technical solution of this application, anti-slip textures are provided on the side walls of the two clamping plates 4 facing each other to increase the clamping force of the clamping plates 4.

[0031] In use, the position of the base 2 is adjusted by the robotic arm joint 1. The first motor 6 is started, which drives the bidirectional lead screw 7 to rotate. The rotation of the bidirectional lead screw 7 causes the two movable plates 3 to move through the thread action. The movement of the movable plates 3 causes the clamping plates 4 to move, and the two clamping plates 4 clamp the object. When it is necessary to clean the debris on the clamping plates 4, the second motor 10 is used to rotate the cleaning plate 5. When the cleaning plate 5 contacts the clamping plates 4, the bristles on the cleaning plate 5 will clean the debris on the cleaning plate 5. At the same time, the blower 11 is started, and the blower 11 blows air into the cleaning plate 5 through the air supply pipe 12. The airflow will be discharged through the vent 13, blowing away the debris adhering to the bristles and cleaning the debris on the bristles.

[0032] In the description of this specification, references to terms such as "an embodiment," "example," "specific example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0033] The preferred embodiments of this utility model disclosed above are merely illustrative of the present utility model. These preferred embodiments do not exhaustively describe all details, nor do they limit the utility model to the specific implementations described. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of this utility model, thereby enabling those skilled in the art to better understand and utilize it. This utility model is limited only by the claims and their full scope and equivalents.

Claims

1. A multi-joint adaptive gripping manipulator, comprising two symmetrically arranged manipulator joints (1), and the manipulator joints (1) are multi-joint, and a base (2) is fixedly installed between the two manipulator joints, characterized in that: The base (2) has two movable plates (3) symmetrically slidably connected at its lower end. The base (2) is equipped with a drive assembly for moving the two movable plates (3). Clamping plates (4) are fixedly installed on the side walls of the two movable plates (3) facing each other. Cleaning plates (5) with internal cavities are rotatably connected to the side walls of the two movable plates (3) facing each other. Rotating assembly for driving the cleaning plate (5) to rotate is installed on the movable plate (3). Brush bristles are installed on the side wall of the cleaning plate (5) near the corresponding movable plate (3). The cleaning plate (5) and clamping plate (4) are positioned opposite each other. An air blowing assembly for cleaning debris from the brush bristles is installed on the movable plate (3).

2. The multi-joint adaptive gripping manipulator according to claim 1, wherein, The drive assembly includes a first motor (6) fixedly installed at the lower end of the base (2). The output end of the first motor (6) is connected to a bidirectional lead screw (7) via a coupling. The bidirectional lead screw (7) is threadedly connected to two movable plates (3).

3. The multi-joint adaptive grasping manipulator according to claim 2, wherein, The base (2) has two symmetrical grooves at its lower end, and two sliders (8) are symmetrically connected in the grooves. The lower ends of the sliders (8) are fixedly connected to the corresponding movable plates (3).

4. The multi-joint adaptive gripping manipulator according to claim 3, wherein, A slide rod (9) is fixedly connected to the inner wall of the chute. The slide rod (9) passes through the slider (8), and the slider (8) is slidably connected to the slide rod (9).

5. The multi-joint adaptive grasping manipulator of claim 1, wherein, The rotating assembly includes a second motor (10) fixedly installed on one side wall of the movable plate (3), and the output end of the second motor (10) is connected to the cleaning plate (5) through a coupling.

6. The multi-joint adaptive grasping manipulator of claim 1, wherein, The air blowing assembly includes a fan (11) fixedly installed on one side wall of the movable plate (3). The fan (11) is connected to the air supply pipe (12) at the other end of which is rotatably connected to the cleaning plate (5). The center of the end of the air supply pipe (12) is on the same axis as the output end of the second motor (10). The cleaning plate (5) has several air holes (13) evenly spaced on the side wall of the side closest to the movable plate (3).

7. The multi-joint adaptive grasping manipulator of claim 1, wherein, Anti-slip textures are provided on the sidewalls of the two clamps (4) facing each other.

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