CN106393148A - Bottle body grabbing manipulator end effector - Google Patents

Abstract

The invention discloses an end effector of a bottle grabbing manipulator. The end effector of the manipulator is composed of a connecting rod plate, a mechanical claw, a driving mechanism and a transmission mechanism. The peripheral device is a mechanical arm, and the connecting rod plate is horizontally installed at the end of the mechanical arm. , the mechanical claw is vertically installed on the connecting rod plate, and the mechanical claw realizes the rotation on the horizontal circle and the adjustment of the grabbing distance under the control of the driving mechanism and the transmission mechanism. The invention can freely rotate on the horizontal circumference, adapts to different postures and sizes of target bottles, expands the working area of the overall device, and improves the practicability of the overall device.

Description

A bottle grabbing robot end effector

technical field

The invention relates to a manipulator end effector, in particular to a bottle grabbing manipulator end effector, which belongs to the technical field of manipulators.

Background technique

With the continuous development of robot technology, manipulators have been popularized in industrial production lines. At present, there are two main types of end effectors for bottle grabbing manipulators. The first is double pliers with arc-shaped grabbing grooves. When working, the arc-shaped grasping groove will tightly clamp the target bottle. The application range of this device is relatively narrow. Once the double clamp is processed, the size of the bottle that can be grasped is uniquely determined, and it cannot be applied to different At the same time, the uncontrollable clamping force may cause damage to some fragile bottles; the second is to grasp and place the bottle through the absorption and release of air pressure. Although this traditional device It can smoothly grab the bottle body, but it also faces the problem of causing damage to the fragile bottle body.

The retrieval of the prior art literature found that the patent CN204868852U proposed a bottle material grasping device, which realizes the grasping of the bottle body through the clamping of the arc-shaped grasping groove, although it reduces the grasping capacity through the optimization of the structure. The contact area between the groove and the bottle body reduces the risk of damage to the bottle body due to excessive clamping force, but it also faces the problem of a single application object, and it cannot be applied to different postures of the bottle body, and the practicability is greatly reduced.

Contents of the invention

In view of this, the present invention provides a bottle grabbing manipulator end effector, the manipulator end effector can freely rotate on the horizontal circumference, adapt to different postures and sizes of the target bottle, and expand the working range of the overall device. The practicability of the overall device is improved.

A bottle grabbing manipulator end effector, the manipulator end effector is composed of a connecting rod plate, a mechanical claw, a driving mechanism and a transmission mechanism, and the peripheral equipment is a mechanical arm;

The connecting rod plate is installed horizontally at the end of the mechanical arm, and the mechanical claw is vertically installed on the connecting rod plate. The mechanical claw realizes the rotation on the horizontal circle and the adjustment of the grasping distance under the control of the driving mechanism and the transmission mechanism.

Further, the drive mechanism is divided into a drive mechanism I for controlling the rotation of the gripper and a drive mechanism II for controlling the distance between two fingers of the gripper.

Further, the transmission mechanism is divided into a transmission mechanism I for realizing the rotation of the mechanical claw and a transmission mechanism II for realizing the adjustment of the distance between two fingers of the mechanical claw.

Further, the driving mechanism is a steering gear.

Further, the mechanical gripper includes a left finger, a right finger and finger connectors;

Two or more left fingers and two or more right fingers are fixedly connected through finger connectors, and the fingers of the left and right fingers are arranged in a staggered manner.

Further, the mechanical gripper includes left slave finger I, left slave finger II, the remaining three left fingers, right slave finger I, right slave finger II, the remaining three right fingers, left drive shaft I, left drive shaft Ⅱ, right transmission shaft Ⅰ, right transmission shaft Ⅱ and finger connectors;

The left driven finger Ⅰ and left driven finger Ⅱ rotate with the left transmission shaft Ⅱ, and the remaining three left fingers rotate with the left transmission shaft Ⅰ. The left driven finger Ⅰ, left driven finger Ⅱ and the remaining three left There are five left fingers in total, and the five left fingers are fixedly connected by finger connectors. The right driven finger Ⅰ and right driven finger Ⅱ rotate with the right transmission shaft Ⅱ, and the remaining three right fingers rotate with the right transmission shaft Ⅰ. Cooperate, right follower finger Ⅰ, right follower finger Ⅱ and the remaining three right fingers, a total of five right fingers, the five right fingers are fixedly connected by finger connectors, and the five left fingers and five right fingers are interlaced arrangement.

Further, the transmission mechanism I is a central shaft, and the transmission mechanism II is a gear pair.

Further, two rubber pads are provided on the left finger and the right finger.

Further, the gears of the gear pair are fixedly connected with the mechanical pawl.

Beneficial effect:

1. The present invention can rotate freely on the horizontal circumference, and realize the grabbing and placing of the bottle body in the form of the left finger and the right finger approaching or moving away, so that the mechanical claw can adapt to different postures and sizes of the target bottle body, and expand the overall device The working area improves the practicability of the overall device.

2. The end of the mechanical arm of the present invention is not directly connected to the mechanical claw, but connected to the horizontal link plate first, which expands the working area of the overall device.

3. The present invention can transmit the movement to the left and right fingers only through the driving gear, which is simple and efficient.

4. In the present invention, two rubber pads are placed on each finger, which increases the friction between the finger and the target bottle and increases the stability during work.

5. The staggered arrangement of fingers in the present invention enables the mechanical claws to adapt to longer bottles, and also increases the torque during work, thereby increasing the stability of the bottle during work.

6. The present invention allows the mechanical claws to rotate on a horizontal circle under the drive of the steering gear, so that the mechanical claws can make corresponding rotation adjustments according to different attitudes of the target bottle, so that the grasping work can be carried out at a better angle , increasing the applicability of the device.

Description of drawings

Fig. 1 is the overall structure schematic diagram of the present invention;

Fig. 2 is a sectional view of the present invention.

Among them, 1-steering gear Ⅰ, 2-vertical connecting plate, 3-driving gear, 4-left driven finger Ⅱ, 5-driven gear, 6-steering gear installation block Ⅰ, 7-right driven finger Ⅱ, 8 -Steering gear II, 9-rubber pad, 10-connecting rod plate, 11-left drive shaft I, 12-serving gear mounting block II, 13-left follower finger I, 14-pin, 15-screw, 16-left Transmission shaft Ⅱ, 17-bearing sleeve, 18-right transmission shaft Ⅱ, 19-right driven finger Ⅰ, 20-steering gear installation block Ⅰ, 21-finger connector, 22-right transmission shaft Ⅰ, 23-wrist joint Junction.

detailed description

The present invention will be described in detail below with reference to the accompanying drawings and examples.

The invention provides an end effector of a bottle grabbing manipulator. The end effector of the manipulator is composed of a connecting rod plate, a mechanical claw, a driving mechanism and a transmission mechanism, and the peripheral equipment is a mechanical arm.

The connecting rod plate is installed horizontally at the end of the mechanical arm, and the mechanical claw is vertically installed on the connecting rod plate. The mechanical claw realizes the rotation on the horizontal circle and the adjustment of the grasping distance under the control of the driving mechanism and the transmission mechanism. The driving mechanism is divided into the driving mechanism Ⅰ that controls the rotation of the mechanical claw, the driving mechanism Ⅱ that controls the distance between the two fingers of the mechanical claw, and the transmission mechanism is divided into the transmission mechanism Ⅰ that realizes the rotation of the mechanical claw and the transmission mechanism that realizes the distance adjustment between the two fingers of the mechanical claw II.

In this embodiment, the driving mechanism is steering gear I1 and steering gear II8, the transmission mechanism is a central shaft and a gear pair, and the end effector of the manipulator is composed of a connecting rod plate 10, mechanical claws, a central shaft, a vertical connecting plate 2, steering gear I1, Steering gear II8, steering gear mounting block I6, steering gear mounting block II12, transmission shaft and gear pair, as shown in Figure 1.

A central axis is installed at the end of the connecting rod plate 10, and the axis direction is perpendicular to the plane where the connecting rod plate 10 is located. The upper end of the central axis is connected to the steering gear I1, and the lower end is fixedly connected to the vertical connecting plate 2. The vertical connecting plate 2 is connected to the upper surface of the steering gear mounting block II12. Fixed connection, the mechanical claw is fixedly connected in the steering gear installation block II12 through the transmission shaft, the steering gear II8 is installed in the steering gear installation block II12, the gear pair is installed on the mechanical claw, and the steering gear II8 adjusts the grabbing distance by driving the gear pair. To control the grabbing and placing action of the mechanical claw, the steering gear I1 realizes the rotational movement of the mechanical claw in the horizontal plane by driving the rotation of the central axis, and the steering gear I1 is installed in the steering gear installation block I6.

The mechanical claw includes left driven finger Ⅰ13, left driven finger Ⅱ4, the other three left fingers, right driven finger Ⅰ19, right driven finger Ⅱ7, the remaining three right fingers, left transmission shaft Ⅰ11, left transmission shaft Ⅱ16, right Transmission shaft I22, right transmission shaft II18 and finger connector 21.

As shown in Figure 2, the left driven finger I13 and left driven finger II4 are in rotation with the left drive shaft II16, and the remaining three left fingers are in rotation with the left drive shaft I11. The left driven finger I13, left driven finger II4 and The remaining three left fingers have five left fingers in total, and the five left fingers are fixedly connected to the finger connector 21 through screws 15. The right driven finger I19 and the right driven finger II7 are in rotation with the right transmission shaft II18, and the right drive A bearing sleeve 17 is arranged outside the shaft II18, and the remaining three right fingers are in rotation with the right transmission shaft I22. The five left fingers and the five right fingers are arranged in a staggered manner, and two rubber pads 9 are provided on the left and right fingers.

The gear pair includes the driving gear 3 and the driven gear 5. The driving gear 3 and the driven gear 5 mesh with each other. The left driven finger I13 is fixedly connected to the driving gear 3 through the pin 14, and the right driven finger I is connected to the driven gear through a screw. 5 fixed connections, the gears directly drive the movement of the fingers.

When working, the wrist joint joint 23 at the head end of the connecting rod plate 10 is connected to the mechanical arm, and the connecting rod plate 10 needs to maintain a horizontal state and be perpendicular to the axial direction of the central axis. The positive and negative rotation of the steering gear I1 directly drives the rotation of the central shaft, and the central shaft transmits the motion to the vertical connecting plate 2 and the steering gear installation block II6, driving the steering gear II8 and the mechanical claw to rotate on the horizontal circle. In this way, the mechanical claw can make corresponding rotation adjustments according to different attitudes of the target bottle body, so as to implement the grasping work at a better angle, which increases the applicability of the device.

The steering gear Ⅱ8 directly drives the driving gear 3 on the left to rotate, and the driving gear 3 transmits the motion to the left slave finger I13, and then the left slave finger I13 transmits the motion to the rest of the left slave fingers; for the movement of the right finger, The driving gear 3 transmits the motion to the driven gear 5, and then the driven gear 5 drives the right driven finger I19 to move, and then the right driven finger I19 transmits the motion to the rest of the right driven fingers, ensuring the movement between the left and right fingers In this way, the distance between the two fingers can be adjusted by controlling the forward and reverse rotation of the servo Ⅱ8, so as to realize the clamping and loosening between the left finger and the right finger.

To sum up, the above are only preferred embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims (9)

1. A bottle grabbing manipulator end effector is characterized in that the manipulator end effector is composed of a connecting rod plate, a mechanical claw, a driving mechanism and a transmission mechanism, and the peripheral equipment is a mechanical arm; The connecting rod plate is installed horizontally at the end of the mechanical arm, and the mechanical claw is vertically installed on the connecting rod plate. The mechanical claw realizes the rotation on the horizontal circle and the adjustment of the grasping distance under the control of the driving mechanism and the transmission mechanism. 2. The end effector of the bottle grabbing manipulator according to claim 1, wherein the driving mechanism is divided into a driving mechanism I for controlling the rotation of the gripper and a driving mechanism II for controlling the distance between two fingers of the gripper. 3. The end effector of the bottle grabbing manipulator according to claim 1, wherein the transmission mechanism is divided into a transmission mechanism I for realizing the rotation of the gripper and a transmission mechanism II for realizing the distance adjustment between two fingers of the gripper. 4. The end effector of the bottle grabbing manipulator according to claim 1 or 2, wherein the driving mechanism is a steering gear. 5. The end effector of the bottle grabbing manipulator according to claim 1, wherein the mechanical claws include left fingers, right fingers and finger connectors; Two or more left fingers and two or more right fingers are fixedly connected through finger connectors, and the fingers of the left and right fingers are arranged in a staggered manner. 6. The end effector of the bottle grabbing manipulator according to claim 1, wherein the mechanical gripper includes left slave finger I, left slave finger II, the remaining three left fingers, and right slave finger I , right driven finger II, the other three right fingers, left transmission shaft I, left transmission shaft II, right transmission shaft I, right transmission shaft II and finger connectors; The left driven finger Ⅰ and left driven finger Ⅱ rotate with the left transmission shaft Ⅱ, and the remaining three left fingers rotate with the left transmission shaft Ⅰ. The left driven finger Ⅰ, left driven finger Ⅱ and the remaining three left There are five left fingers in total, and the five left fingers are fixedly connected by finger connectors. The right driven finger Ⅰ and right driven finger Ⅱ rotate with the right transmission shaft Ⅱ, and the remaining three right fingers rotate with the right transmission shaft Ⅰ. Cooperate, right follower finger Ⅰ, right follower finger Ⅱ and the remaining three right fingers, a total of five right fingers, the five right fingers are fixedly connected by finger connectors, and the five left fingers and five right fingers are interlaced arrangement. 7. The end effector of the bottle grabbing manipulator according to claim 1 or 3, wherein the transmission mechanism I is a central shaft, and the transmission mechanism II is a gear pair. 8. The end effector of the bottle grabbing manipulator according to claim 5 or 6, wherein two pieces of rubber pads are provided on the left finger and the right finger. 9 . The end effector of the bottle grabbing manipulator according to claim 7 , wherein the gears of the gear pair are fixedly connected with the claws.