Flexible mechanical gripper and carrying robot with same

Abstract

The invention belongs to the field of industrial automation and relates to a flexible mechanical gripper used for grabbing stack-type bagged goods and materials. The flexible mechanical gripper comprises a connecting frame (1), a flat plate (3), a double-acting air cylinder, a driving mechanism, a transmission mechanism and a clamping mechanism. The transmission mechanism comprises a horizontal transmission block (9), transmission plates (10), vertical transmission blocks (11), connecting blocks (12), long pin shafts (13) and short pin shafts (14). The clamping mechanism comprises clamping distance adjusting mechanisms and clamping plates (22). The clamping distance adjusting mechanisms each comprise a connecting block (12) and a sliding block (23). The driving mechanism comprises a mechanical arm control system, an air pump, a 24 V power source module, a five-position three-way electromagnetic valve and a pneumatic switch. By adopting the thin clamping plates and the spacing-adjustable clamping mechanism, the gripper can be adapted to carry and grab the goods and materials of different specifications and sizes and has the characteristics of reliable grabbing, flexible moving and the like.

Description

technical field [0001] The invention belongs to the field of industrial automation, and in particular relates to a flexible mechanical gripper for grabbing stacked bagged materials, and also relates to a handling robot with the flexible mechanical gripper. Background technique [0002] At present, the warehouse handling and loading and unloading methods of bagged materials in my country are mainly carried by shoulders and pulled by trolleys. The loading and unloading workers are not only labor-intensive and low-efficiency, but also work in a dusty environment, which is easy to endanger physical and mental health. [0003] There are two types of equipment widely used for loading and unloading bagged materials at home and abroad: vacuum suction grippers and mechanical grippers. For the vacuum suction cup gripper, although the operation is simple and fast, it cannot satisfy the requirements of grabbing heavy bagged materials. Moreover, it is difficult to create a vacuum enviro...

AI Technical Summary

Problems solved by technology

[0006] The present invention aims at the problems that the bending structure of the existing mechanical claws needs a large operating space, and the direct grasping method of the claws is easy to cause damage to the packaging bags, etc., and provides a flexible mechanical mechanism for grasping stacked bagged materials. Hand claws, using the telescopic reciprocating motion of the cylinder to control the grabbing of the mechanical claws, combined with visual recognition technology to grab and carry the bagged materials, it solves the problem that the packaging bags are easily damaged during the grabbing process

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