阅读说明：本技术 一种窄小物件抓取机器人 (Narrow article grabbing robot ) 是由 黄志红 李坚 于 2021-08-26 设计创作，主要内容包括：本发明涉及一种窄小物件抓取机器人,包括支撑组件和抓取组件两个部分；所述支撑组件设有旋转装置,可进行灵活的转动,进而使得与所述旋转装置固定连接的抓取组件可随着所述旋转装置的移动而移动；所述抓取组件设有多个相互适配的抓取板,能够将抓取的物件进行包裹抓取,从而在进行窄小物件抓取的过程中避免了物件掉落事件的发生。(The invention relates to a narrow and small object grabbing robot, which comprises a supporting component and a grabbing component; the supporting component is provided with a rotating device which can flexibly rotate, so that the grabbing component fixedly connected with the rotating device can move along with the movement of the rotating device; the grabbing component is provided with a plurality of grabbing plates which are mutually adaptive, and can wrap and grab the grabbed objects, so that the object falling event is avoided in the grabbing process of the narrow objects.)

1. A narrow article grasping robot characterized by comprising:

the supporting assembly comprises a base for integral supporting and a rotating device fixedly connected with the base, and the rotating device is fixedly connected with a switching device;

the grabbing assembly comprises a central column fixedly connected with the switching device and a gripping device fixedly connected with the central column.

2. The narrow article grasping robot according to claim 1, wherein the rotating device includes:

the base is fixedly connected with the base and used for supporting and positioning the whole rotating device;

and one end of the rotating seat is connected and fixed with the base in a shaft mode, and the rotating seat has flexibility in rotating around the horizontal direction of the base.

3. The narrow object grabbing robot according to claim 1, wherein the switching device comprises:

one end of the extension arm is connected and fixed with the other end of the rotating seat in a shaft mode, and the extension arm has flexibility of rotating around the vertical direction of the rotating seat;

the transfer arm is connected and fixed with the other end of the extension arm in a shaft mode and has flexibility of rotating around the vertical direction of the extension arm;

the switching post, the coupling is fixed in the one end of switching arm has around the flexibility ratio that the vertical direction of switching arm carries out the rotation.

4. The narrow article grasping robot according to claim 3, characterized in that the grasping means includes:

the base plate is fixedly connected with the central column and is used for bearing various components of the gripping device;

the telescopic arm is fixedly connected with the base plate, is arranged on the surface of the working surface of the base plate and can be adjusted according to the size of a grabbed object;

and the grabbing plate is fixed at one end of the telescopic arm and used for grabbing and fixing the object.

5. The narrow object grasping robot according to claim 4, characterized in that:

the surface of the working face of the substrate is provided with a sliding track, and the telescopic arm is connected in the sliding track on the surface of the substrate in a sliding mode and can slide along the sliding track on the surface of the substrate.

6. The narrow object grasping robot according to claim 4, characterized in that:

the plurality of telescopic arms are symmetrically distributed on the surface of the working surface of the substrate, and each telescopic arm is fixedly connected with a grabbing plate; the grabbing plate has a preset bending radian, and a plurality of grabbing plates can be mutually matched.

7. The narrow object grasping robot according to claim 3, characterized in that:

the switching post with center post coupling is fixed, the center post has around the flexibility ratio that the switching post horizontal direction carries out the rotation.

8. The narrow object grasping robot according to claim 4, characterized in that: the telescopic arm has a preset bending radian, so that the telescopic arm can wrap a grabbed object in the grabbing process.

Technical Field

The invention relates to the field of automatic logistics transportation, in particular to a robot for grabbing narrow and small objects.

Background

With the continuous development of science and technology, the field of automation is becoming more and more strong, and the manual work is gradually replaced by the automation device in each industry. Along with the development of science and technology, the development of the logistics transportation industry also advances at a rapid speed, the automation demand of logistics transportation is also continuously increased, and the automatic logistics transportation management not only can effectively reduce the labor force, but also can increase the logistics transportation efficiency to a certain extent. In the logistics transportation process, it is essential link to classify the article, and the kind of logistics transportation is various, and not lack to exist some like parts, mini cup, intelligent earphone etc. comparatively narrow and fragile article, in automatic logistics transportation process, how to snatch the article classification of being convenient for the later stage to narrow fragile article, also is one of the problem of necessary solution.

Although a common object grabbing robot in the prior art can grab and classify narrow objects, a certain space is left for the objects after grabbing, so that the objects are easy to slip and fall out in the process of being transferred again, and the objects are easy to damage.

Disclosure of Invention

The purpose of the invention is as follows: provides a narrow object grabbing robot to solve the above problems in the prior art.

The technical scheme is as follows: a narrow object grabbing robot comprises a supporting assembly and a grabbing assembly. The supporting assembly comprises a base, a rotating device and a switching device, the base is used for integrally supporting the grabbing robot, one end of the rotating device is fixedly connected with the base, and the other end of the rotating device is fixedly connected with the switching device; the grabbing assembly comprises a central column and a grabbing device, one end of the central column is fixedly connected with the switching device, and the other end of the central column is fixedly connected with the grabbing device.

In a further embodiment, the rotating device comprises two parts, namely a base and a rotating seat. The base is fixedly connected with the base and used for supporting and positioning the whole rotating device; one end of the rotating seat is fixedly connected with the base in a shaft coupling mode, so that the rotating seat has flexibility in rotating around the horizontal direction of the base.

In a further embodiment, the adapter device comprises three parts, namely an extension arm, an adapter arm and an adapter column. One end of the extension arm is fixedly connected with the other end of the rotating seat in a shaft connection mode, so that the extension arm has flexibility of rotating around the vertical direction of the rotating seat; the transfer arm is fixed with the other end of the extension arm in a shaft connection mode and has flexibility of rotating around the vertical direction of the extension arm; the switching post with the other end coupling of extension arm is fixed, makes the switching post have around the flexibility ratio that the vertical direction of switching arm carries out the rotation.

In a further embodiment, the gripping device comprises three parts, a base plate, a telescopic arm and a gripping plate. The base plate is fixedly connected with the central column and is used for bearing various components of the gripping device; the telescopic arm is fixedly connected with the base plate, is arranged on the surface of the working surface of the base plate and can be adjusted according to the size of an object to be grabbed; the grabbing plate is fixed at one end of the telescopic arm and used for fixing an object to be grabbed.

In a further embodiment, a sliding rail is disposed on the surface of the substrate working surface, and the telescopic arm is slidably connected in the sliding rail on the surface of the substrate working surface, so that the telescopic arm has a flexibility in sliding along the sliding rail on the surface of the substrate working surface.

In a further embodiment, the plurality of telescopic arms are symmetrically distributed on the surface of the working surface of the substrate, each telescopic arm is fixedly connected with a grabbing plate, and the grabbing plates have a preset bending radian; the grabbing plates can be mutually matched, so that a grabbing containing space with preset accommodation performance can be formed between the grabbing plates in the later grabbing process.

In a further embodiment, the adapter column is fixed to the central column by means of shaft connection, and the central column has flexibility in rotating around the adapter column in the horizontal direction; the telescopic arm has a preset bending radian, so that the telescopic arm can wrap a grabbed object in the grabbing process.

Has the advantages that: the invention relates to a narrow object grabbing robot which consists of a supporting component and a grabbing component. The supporting component is provided with a rotating device, so that the whole grabbing robot can flexibly rotate, and different grabbing angles can be met. Meanwhile, the grabbing component is provided with a plurality of grabbing plates which are matched with each other in a matching mode, and an object to be grabbed can be wrapped; the grabbing component is further provided with a telescopic arm, and the distance can be adjusted according to the width and the size of an object, so that the object to be grabbed can be firmly clamped, and the problem that the object falls off due to factors such as inertia and shaking in the process of grabbing and moving the narrow object is solved.

Drawings

Fig. 1 is an overall schematic view of a narrow object grabbing robot according to the present invention.

Fig. 2 is a schematic view of a gripping device according to the present invention.

The figures are numbered: the device comprises a base 1, a base 2, a rotating seat 3, a central column 4, a gripping device 5, an extension arm 6, a switching arm 7, a switching column 8, a base plate 501, a telescopic arm 502 and a grabbing plate 503.

Detailed Description

In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the invention.

The first embodiment is as follows:

the narrow object grabbing robot provided by the embodiment comprises a supporting component and a grabbing component. The supporting assembly comprises a base 1, a rotating device and a switching device, wherein the base 1 is used for integrally supporting the grabbing robot, one end of the rotating device is fixedly connected with the base 1, and the other end of the rotating device is fixedly connected with the switching device; the grabbing assembly comprises a central column 4 and a grabbing device 5, wherein one end of the central column 4 is fixedly connected with the switching device, and the other end of the central column 4 is fixedly connected with the grabbing device 5. The rotating device comprises a base 2 and a rotating seat 3. The base 2 is fixedly connected with the base 1 and is used for supporting and positioning the whole rotating device; 3 one end of roating seat with 2 coupling of base are fixed, make roating seat 3 have wind 2 horizontal direction of base carry out the pivoted flexibility ratio, and the later stage can rotate according to the demand of snatching to carry out the regulation of angle. The adapter device comprises three parts, namely an extension arm 6, an adapter arm 7 and an adapter column 8. One end of the extension arm 6 is fixed with the other end of the rotating base 3 in a shaft connection mode, so that the extension arm 6 has flexibility of rotating around the vertical direction of the rotating base 3, and the height of the extension arm can be adjusted according to different positions of a grabbed object in the later grabbing process; the transfer arm 7 is fixed with the other end of the extension arm 6 in a shaft connection manner, has flexibility of rotating around the vertical direction of the extension arm 6, and can perform corresponding height adjustment according to different heights of positions for grabbing objects in the later grabbing process; the switching post 8 is fixed with the other end of the extension arm 6 in a shaft connection mode, so that the switching post 8 has flexibility in rotating around the vertical direction of the switching arm 7. The gripping device 5 comprises three parts, a base plate 501, a telescopic arm 502 and a gripping plate 503. The base plate 501 is fixedly connected with the central column 4 and is used for bearing various components of the gripping device 5; the telescopic arm 502 is fixedly connected with the base plate 501, is arranged on the surface of the working surface of the base plate 501, and can be adjusted according to the size of an object to be grabbed; the grabbing plate 503 is fixed to one end of the telescopic arm 502, and is used for fixing an object to be grabbed.

Example two:

on the basis of the first embodiment, a sliding track is arranged on the surface of the working surface of the base plate 501, and the telescopic arm 502 is slidably connected in the sliding track on the surface of the working surface of the base plate 501, so that the telescopic arm 502 has flexibility in sliding along the sliding track on the surface of the working surface of the base plate 501. The plurality of telescopic arms 502 are symmetrically distributed on the surface of the working surface of the substrate 501, and each telescopic arm 502 is fixedly connected with a grabbing plate 503; further, the grabbing plates 503 have a predetermined curvature, and the grabbing plates 503 can be mutually engaged, so that a grabbing and containing space with a predetermined accommodating property can be formed between the grabbing plates 503 in the later grabbing process. The surface of the working surface of the base plate 501 is provided with a sliding track, the telescopic arm 502 is connected in the sliding track on the surface of the working surface of the base plate 501 in a sliding manner, so that the telescopic arm 502 has flexibility in sliding along the sliding track on the surface of the working surface of the base plate 501, the telescopic arm 502 can adjust the distance according to the width of an object to be grabbed in the later grabbing process, the object to be grabbed can be firmly clamped between the telescopic arms 502, meanwhile, the telescopic arm 502 can also adjust the length according to the thickness of the object to be grabbed, and the object to be grabbed can be wrapped and clamped. The adapter column 8 is fixed with the central column 4 in a shaft connection mode, the central column 4 has flexibility in rotating around the adapter column 8 in the horizontal direction, and therefore the adapter column 8 can be adjusted according to different grabbing requirements in the grabbing operation process; the telescopic arm 502 has a predetermined curvature, so that the telescopic arm 502 can wrap the object to be grabbed during the grabbing process.

Based on the above embodiment, the working process of the present invention is as follows: firstly, the rotating device rotates to drive the switching device and the grabbing assembly to integrally move, the whole grabbing robot is adjusted to the corresponding position of an object to be grabbed; then, the extension arm 6 and the transfer arm 7 are adjusted to corresponding heights, so that the objects to be grabbed can be grabbed conveniently at the later stage; then, the transfer column 8 is adjusted along the vertical direction of the transfer arm 7, so that the overall adjustment of the grabbing component is driven, and the grabbing component can grab the object; then, the central column 4 can adjust the angle again to meet the grabbing requirements of objects in different directions; finally, the telescopic arms 502 slide along the sliding tracks on the surface of the working surface of the substrate 501, the distance between the telescopic arms 502 is adjusted, and the length of the telescopic arms 502 is adjusted according to different requirements of objects. After the telescopic arms 502 are adjusted to the corresponding distance and length, the telescopic arms 502 are folded, so that the plurality of grabbing plates 503 can be folded to form a holding space with a predetermined holding capacity, and an object to be grabbed is clamped and wrapped. After the grabbing operation is completed, the rotating device rotates again, so that the object which is grabbed can be moved and placed. And sequentially repeating the steps to grab different narrow objects until all the objects to be grabbed are grabbed.

As noted above, while the present invention has been shown and described with reference to certain preferred embodiments, it is not to be construed as limited thereto. Various changes in form and detail may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.