A flexible adaptive handling robot
Patent Information
- Application Number
- CN202522266931.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-10-27
- Publication Date
- 2026-10-23
- Estimated Expiration
- 2035-10-27
AI Technical Summary
[0002]当前智能制造向柔性化、多品种生产转型，搬运机器人需适配不同规格工件，传统专用搬运设备已难以满足多场景需求；同时，精密制造对工件搬运的精准度要求提升，定位偏差易导致工件损坏或装配失误，亟须兼具柔性适配与精准定位的搬运设备；
[0010]与现有技术相比，本实用新型的有益效果是：本实用新型通过挂钩与不同规格夹爪配合，机械臂带动四爪卡盘通过连接块卡槽更换夹爪，便于快速适配不同工件，减少设备调试时间，提高适配性，进而实现柔性换爪功能；通过工业相机与小型相机配合，工业相机引导机械臂定位工件，小型相机辅助四爪卡盘精准夹持，便于降低定位偏差，提高夹持成功率，进而实现精准定位功能；通过第一电机与第一丝杆、安装板配合，第一电机驱动安装板沿导向槽移动，调整机械臂位置，便于扩大作业范围，减少机器人整体移动频次，提高搬运效率，进而实现灵活移位功能；通过第二电机与双向丝杆、滑移板配合，第二电机驱动滑移板调整夹持间距与力度，便于适配不同尺寸工件，避免夹持损坏，提高工件保护效果，进而实现柔性夹持功能；最终解决了现有机器人适配性差以及定位不准的问题。
Smart Images
Figure CN224880624U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of adaptive handling equipment technology, and in particular to a flexible adaptive handling robot. Background Technology
[0002] As intelligent manufacturing transforms towards flexible and multi-variety production, handling robots need to be adapted to workpieces of different specifications. Traditional special handling equipment can no longer meet the needs of multiple scenarios. At the same time, precision manufacturing has increased the requirements for the accuracy of workpiece handling. Positioning deviations can easily lead to workpiece damage or assembly errors. There is an urgent need for handling equipment that combines flexible adaptation and precise positioning. Existing handling robots have significant drawbacks. Traditional robots consist of a fixed base plate, a single robotic arm, and a dedicated gripper. The gripper cannot be replaced, and it can only handle workpieces of specific sizes. Changing the workpiece requires re-adjusting the equipment, which is cumbersome. They lack auxiliary positioning structures, and the robotic arm relies on a preset program for movement, making it prone to gripping errors due to workpiece placement deviations. There is no temporary workpiece storage structure, requiring frequent back-and-forth picking and placing during handling, resulting in low efficiency. The gripping force of the gripper is not adjustable, which can easily damage flexible workpieces due to excessive force or cause workpieces to fall due to insufficient force, ultimately leading to poor adaptability and inaccurate positioning. Therefore, this application designs a flexible adaptive handling robot to solve the above problems. Utility Model Content
[0003] The purpose of this invention is to address the shortcomings of existing technologies by proposing a flexible adaptive handling robot.
[0004] To achieve the above objectives, the present invention adopts the following technical solution: a flexible adaptive handling robot, comprising a base plate, tires rotatably mounted at the four corners of the lower end of the base plate, and two boxes mounted on both sides of the upper end of the base plate. The upper end of the base plate is provided with a guide groove, and a mounting plate is slidably mounted on the upper end of the guide groove. A robotic arm is mounted on the upper end of the mounting plate, and a four-jaw chuck is mounted at the end of the robotic arm. A gripper is mounted on one side of the gripping end of the four-jaw chuck, and a gripping component is provided inside the gripper.
[0005] Preferably, multiple hooks are installed at both ends and the front end of the base plate, and the sides of the multiple hooks are equipped with grippers for adapting to different sizes of workpieces.
[0006] Preferably, a first lead screw is rotatably mounted inside the guide groove, the lower end of the mounting plate is threadedly connected to the first lead screw, and a first motor is mounted at the rear end of the base plate, with the output shaft of the first motor being coaxially fixed to the first lead screw.
[0007] Preferably, a connecting block is installed at one end of the gripper, and a slot corresponding to the four-jaw chuck is opened on the side end of the connecting block. A sliding groove is opened at the other end of the gripper. The clamping assembly consists of two sliding plates and a bidirectional lead screw. The bidirectional lead screw is rotatably installed inside the sliding groove. The two sliding plates are symmetrically slidably installed inside the sliding groove. The two sliding plates are respectively symmetrically threaded to both ends of the bidirectional lead screw. A second motor is installed at the side end of the gripper, and the output shaft of the second motor is coaxially fixed to the bidirectional lead screw.
[0008] Preferably, two baffles are hinged to the inner sides of both boxes, and a third motor for controlling the opening and closing of the baffles is installed at the upper end of the hinge joint between the four baffles and the boxes.
[0009] Preferably, industrial cameras for guiding the robotic arm to accurately position the workpiece are installed on both sides of the upper end of the mounting plate, and multiple small cameras for assisting in precise clamping are installed at equal intervals on the side end of the four-jaw chuck.
[0010] Compared with existing technologies, the beneficial effects of this utility model are as follows: This utility model uses hooks to cooperate with grippers of different specifications. The robotic arm drives a four-jaw chuck to change grippers through the connecting block slots, facilitating rapid adaptation to different workpieces, reducing equipment debugging time, improving adaptability, and thus achieving flexible gripper changing functionality. Through the cooperation of an industrial camera and a small camera, the industrial camera guides the robotic arm to position the workpiece, while the small camera assists the four-jaw chuck in precise clamping, reducing positioning deviations and increasing clamping success rates, thus achieving precise positioning functionality. Through the cooperation of a first motor, a first lead screw, and a mounting plate, the first motor drives the mounting plate to move along the guide groove, adjusting the position of the robotic arm, facilitating an expanded working range, reducing the overall movement frequency of the robot, and improving handling efficiency, thus achieving flexible displacement functionality. Through the cooperation of a second motor, a bidirectional lead screw, and a sliding plate, the second motor drives the sliding plate to adjust the clamping spacing and force, facilitating adaptation to workpieces of different sizes, avoiding clamping damage, improving workpiece protection, and thus achieving flexible clamping functionality. Ultimately, this solves the problems of poor adaptability and inaccurate positioning of existing robots. Attached Figure Description
[0011] The accompanying drawings, which are included to provide a further understanding of the present invention and form part of this application, illustrate exemplary embodiments of the present invention and, together with the description thereof, serve to explain the present invention and do not constitute an undue limitation thereof. In the drawings: Figure 1 This is a schematic diagram of the overall first-view three-dimensional structure proposed in this utility model; Figure 2 This is a schematic diagram of the overall second-view three-dimensional structure proposed in this utility model; Figure 3 This is a three-dimensional cross-sectional structural diagram of the box body proposed in this utility model; Figure 4 This is a cross-sectional three-dimensional structural diagram of the clamping component proposed in this utility model.
[0012] The numbers in the diagram are: 1. Base plate; 2. Robotic arm; 3. Box body; 4. Mounting plate; 5. Gripper; 6. Connecting block; 7. Hook; 8. First motor; 9. First lead screw; 10. Industrial camera; 11. Second motor; 12. Baffle; 13. Third motor; 14. Bidirectional lead screw; 15. Four-jaw chuck. Detailed Implementation
[0013] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.
[0014] Example: See Figures 1 to 4 This utility model discloses a flexible adaptive handling robot, comprising a base plate 1, tires rotatably mounted at the four corners of the lower end of the base plate 1, and two housings 3 mounted on both sides of the upper end of the base plate 1. A guide groove is formed at the upper end of the base plate 1, and a mounting plate 4 is slidably mounted at the upper end of the guide groove. A robotic arm 2 is mounted on the upper end of the mounting plate 4, and a four-jaw chuck 15 is mounted at the end of the robotic arm 2. A gripper 5 is mounted on one side of the gripping end of the four-jaw chuck 15, and a gripping component is provided inside the gripper 5. The base plate 1 provides the mounting foundation, the tires enable robot movement, the housings 3 can temporarily store workpieces, the robotic arm 2 drives the four-jaw chuck 15 and the gripper 5 to transport workpieces, and the gripping component adjusts the gripping state to improve handling flexibility. Multiple hooks 7 are installed at both ends and the front end of the robot arm 2. The sides of the hooks 7 are equipped with grippers 5 for handling workpieces of different sizes. The hooks 7 store grippers 5 of different sizes, which facilitates quick access and replacement of the robot arm 2 without the need for additional storage devices, reducing gripper replacement time and improving adaptability. A first lead screw 9 is rotatably installed inside the guide groove. The lower end of the mounting plate 4 is threadedly connected to the first lead screw 9. A first motor 8 is installed at the rear end of the base plate 1. The output shaft of the first motor 8 is coaxially fixed to the first lead screw 9. The first motor 8 drives the first lead screw 9 to rotate, causing the mounting plate 4 to slide along the guide groove, adjusting the lateral position of the robot arm 2, expanding the working range, eliminating the need to frequently move the robot body, and improving efficiency.
[0015] In this invention, a connecting block 6 is installed at one end of the gripper 5. The side end of the connecting block 6 has a slot corresponding to the four-jaw chuck 15. A sliding groove is provided at the other end of the gripper 5. The clamping assembly consists of two sliding plates and a bidirectional lead screw 14. The bidirectional lead screw 14 is rotatably mounted inside the sliding groove. The two sliding plates are symmetrically slidably mounted inside the sliding groove. The two sliding plates are symmetrically threaded to both ends of the bidirectional lead screw 14. A second motor 11 is installed at the side end of the gripper 5. The output shaft of the second motor 11 is coaxially fixed to the bidirectional lead screw 14. The slot in the connecting block 6 facilitates quick assembly and disassembly of the gripper 5 by the four-jaw chuck 15. The second motor 11 drives the bidirectional lead screw 14 to adjust the spacing of the sliding plates, adapting to workpieces of different sizes and achieving flexible clamping. Two baffles are hinged to the inner sides of both housings 3. 12. A third motor 13 is installed at the upper end of the hinge joint between the four baffles 12 and the housing 3 to control the opening and closing of the baffles 12. The third motor 13 drives the baffles 12 to rotate, thereby opening and closing the housing 3, which facilitates temporary storage of workpieces, reduces the number of times the workpiece is moved back and forth, and improves the continuity of operation. Industrial cameras 10 are installed on both sides of the upper end of the mounting plate 4 to guide the robotic arm 2 to accurately position the workpiece. Multiple small cameras for assisting in precise clamping are installed at equal intervals on the side end of the four-jaw chuck 15. The industrial cameras 10 identify the position of the workpiece and guide the movement of the robotic arm 2. The small cameras observe the clamping status to avoid deviation and improve the clamping accuracy and success rate. All motors used in this device are YD series variable speed motors. All cameras used are Hikvision CU series cameras. The model of the robotic arm 2 used is IRB120.
[0016] Working Principle: When using this utility model, specifically the flexible adaptive handling robot, the power is first turned on. According to the specifications of the workpiece to be handled, the robotic arm 2, mounted on the upper end of the mounting plate 4, will drive the four-jaw chuck 15 at its end to move to the multiple hooks 7 mounted at both ends and the front end of the base plate 1. Through the slots on the connecting block 6 at one end of the gripper 5 that correspond to the four-jaw chuck 15, the gripper 5 will grab the gripper 5 on the hook 7 with the appropriate specifications. Then, the industrial cameras on both sides of the upper end of the mounting plate 4 for precise positioning will be activated. The industrial cameras 10 will identify the position of the workpiece and guide the robotic arm 2 to move above the workpiece. At the same time, the multiple small cameras equidistantly mounted on the side of the four-jaw chuck 15 will assist in adjusting the position to ensure that the gripper 5 is accurately aligned with the workpiece. Next, the second motor 11 mounted on the side of the gripper 5 will be activated. The output shaft of the second motor 11 will drive the bidirectional lead screw 14, which is rotatably mounted inside the sliding groove at the other end of the gripper 5, to rotate. Since the two sliding plates are symmetrically slidably installed in the sliding groove and are respectively symmetrically threaded to both ends of the bidirectional lead screw 14, the rotation of the bidirectional lead screw 14 will drive the two sliding plates to slide along the sliding groove, thereby clamping the workpiece; if it is necessary to temporarily store small workpieces, the workpiece can be placed directly inside the two boxes 3 installed on both sides of the upper end of the base plate 1 by the robotic arm 2; if it is necessary to adjust the lateral position of the robotic arm 2 during operation, the first motor 8 installed at the rear end of the base plate 1 will be started, and the output shaft of the first motor 8 will drive the first lead screw 9 installed inside the guide groove to rotate coaxially. Since the lower end of the mounting plate 4 is threadedly connected to the first lead screw 9 and the mounting plate 4 is slidably set at the upper end of the guide groove, the rotation of the first lead screw 9 will drive the mounting plate 4 to slide along the guide groove to the target position; if it is necessary to temporarily store small workpieces, the workpiece can be placed directly inside the two boxes 3 installed on both sides of the upper end of the base plate 1 ... To store larger workpieces, the third motor 13 at the upper end of the hinge point between the four baffles 12 hinged to the inner sides of the two boxes 3 is activated. The third motor 13 drives the baffles 12 of the two boxes 3 to rotate and open simultaneously. At this time, the adjacent space of the two boxes 3 can be used to store larger workpieces. Then, the robotic arm 2 puts the workpiece into the large storage space formed by this combination. After the robotic arm 2 moves the workpiece to the designated location, the second motor 11 rotates in the opposite direction, driving the bidirectional lead screw 14 to rotate in the opposite direction, so that the two sliding plates slide in the opposite direction along the sliding groove, releasing the workpiece. After completing a single handling task, the robotic arm 2 will drive the gripper 5 to move to the corresponding hook 7 again, put the gripper 5 back on the hook 7, and finally turn off the power, thus completing the entire handling process.
[0017] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.
Claims
1. A flexible adaptive handling robot, comprising a base plate (1), tires rotatably mounted at the four corners of the lower end of the base plate (1), and two boxes (3) mounted on both sides of the upper end of the base plate (1), characterized in that: The upper end of the base plate (1) is provided with a guide groove, and the upper end of the guide groove is provided with a mounting plate (4). The upper end of the mounting plate (4) is provided with a robotic arm (2), and the end of the robotic arm (2) is provided with a four-jaw chuck (15). A jaw (5) is provided on one side of the clamping end of the four-jaw chuck (15), and a clamping component is provided inside the jaw (5).
2. The flexible adaptive handling robot according to claim 1, characterized in that: Multiple hooks (7) are installed at both ends and the front end of the base plate (1), and the sides of the multiple hooks (7) are equipped with grippers (5) for adapting to different specifications of workpieces.
3. The flexible adaptive handling robot according to claim 2, characterized in that: The first lead screw (9) is rotatably installed inside the guide groove. The lower end of the mounting plate (4) is threadedly connected to the first lead screw (9). The rear end of the base plate (1) is equipped with a first motor (8). The output shaft of the first motor (8) is coaxially fixed to the first lead screw (9).
4. A flexible adaptive handling robot according to claim 3, characterized in that: One end of the gripper (5) is equipped with a connecting block (6), and the side end of the connecting block (6) is provided with a slot corresponding to the four-jaw chuck (15). The other end of the gripper (5) is provided with a sliding groove. The clamping assembly consists of two sliding plates and a bidirectional lead screw (14). The bidirectional lead screw (14) is rotatably installed inside the sliding groove. The two sliding plates are symmetrically slidably installed inside the sliding groove. The two sliding plates are symmetrically threaded to both ends of the bidirectional lead screw (14). A second motor (11) is installed on the side end of the gripper (5). The output shaft of the second motor (11) is coaxially fixed to the bidirectional lead screw (14).
5. A flexible adaptive handling robot according to claim 4, characterized in that: Two baffles (12) are hinged to the inner side of each of the two boxes (3), and a third motor (13) for controlling the opening and closing of the baffles (12) is installed at the upper end of the hinge joint between the four baffles (12) and the box (3).
6. A flexible adaptive handling robot according to claim 5, characterized in that: Industrial cameras (10) for guiding the robotic arm (2) to accurately position the workpiece are installed on both sides of the upper end of the mounting plate (4), and multiple small cameras for assisting in precise clamping are installed at equal intervals on the side end of the four-jaw chuck (15).