• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    Automatic retraction clip for robot and robot comprising the automatic retraction clip, configured to be linked to a robot to pick up and drop an object (11) on a plane (10) located inferiorly to the clip, comprising at least two modules (6) facing each other longitudinally moving to approach and move away horizontally to the object (11), in which each of said modules (6) comprises in turn an articulated mechanism (9), a deployable elastic mechanism composed of a plurality of scissor modules solidariamente linked together that fold and unfold driven by the actuator (7), to approach and move vertically away from the object (11), and a finger (13) to contact the object (11), linked to the second end of the expandable elastic mechanism. An actuator (7) linked to an external control from which it receives signals drives the articulated mechanisms (9) and the elastic mechanisms. (Machine-translation by Google Translate, not legally binding)
    公开号:ES2667440A1
    申请号:ES201631425
    申请日:2016-11-10
    公开日:2018-05-10
    发明作者:Jose María MARIN LÓPEZ；Óscar REINOSO GARCÍA；David UBEDA GONZÁLEZ；Luis M. JIMÉNEZ GARCÍA；Arturo Gil Aparicio；Luis PAYA CASTELLO；Mónica BALLESTA GALDEANO；Adrián PEIDRO VIDAL
    申请人:Universidad Miguel Hernandez de Elche；
    IPC主号:
    专利说明:

    OBJECT OF THE INVENTION
    The present invention falls within the technical field of apprehension heads, more specifically in those with the possibility of lifting or changing at a distance from the head or parts of it, as well as from those with elements in shape of fingers, and refers in particular to a clamp-type device attachable in robots that has a single degree of freedom and allows a precise vertical approach to an element that is intended to be apprehended or released, as well as to a robot that incorporates the clamp as described.
    BACKGROUND OF THE INVENTION
    In the technical field of robotics, more specifically in the field of transport robots, there is a need to provide these robots with mechanisms capable of carrying out a plurality of coordinated movements in several directions, with the aim of being able to approach an object located in a lower plane and take it to proceed with its displacement, or release it once reached the desired transport point, which is especially applicable in sectors such as logistics or automatic manufacturing and assembly. It is of special interest that, mainly for reasons of constructive economy, these mechanisms can be activated by means of a single engine.
    In mechanics, a union between two members of a mechanism is called a kinematic pair. The kinematic pairs are classified into different types according to the movement they allow, and are a fundamental element in the construction of a mechanism, since it defines the type of movement that will be between the joined pieces. In a prismatic or translational pair, five of the six possible degrees of freedom between two elements are eliminated, whereby a first member of the mechanism can perform a translation along an axis defined in a second member, but cannot rotate around said second member. This can be achieved, for example, by linking the first and second members of the mechanism together by means of a sliding guide.
    On the other hand, a linear actuator is called a device that converts the rotational movement, for example that generated by a low-voltage direct current motor, into a linear movement, such as the thrust or traction movement. In this way, and with a single drive control, it is possible to lift, adjust, tilt, push or pull heavy or hard-to-reach objects by other means.
    Various types of hands or tweezers attachable to robots are known in the state of the art, which present different ways of taking objects, as well as different models of terminal elements or fingers and different forms of actuators. It is worth mentioning those tweezers that have a plurality of fingers, those that maintain the parallelism between the means by incorporating parallelograms, or those that include additional mechanisms to achieve the centering and symmetrical movement of the fingers.
    There are clamps consisting of two identical modules, linked to each other in a mobile way by the actuation of a linear actuator, in which each of said modules comprises elastic elements that open and close the fingers of the clamp with longitudinal horizontal movements , whereby the movement of said fingers is carried out in the same plane in which the element to be taken is located
    Also known are devices that comprise pistons for performing ascent and descent movements of the fingers, and therefore have two degrees of freedom. This type of device requires the presence of at least two actuators to achieve an adequate positioning of the fingers that allows the capture of the element.
    However, a clamp is not contemplated in which the fingers make movements in a direction perpendicular to the plane in which the element is located, that is, that they approach said element horizontally and vertically, with orthogonal directions and simultaneously, with a single degree of freedom and, therefore, that can be operated by a single actuator.
    DESCRIPTION OF THE INVENTION
    The object of the invention consists of a retraction clamp-type device, attachable to robots, capable of collecting and releasing elements on a platform, with a single degree of freedom and great versatility in terms of its adaptability depending on size and geometry.
    of the element in question, it already allows modifications in its width and height, as well as in the pressure exerted on said element, which prevents the creation of damage and deformations.
    For this, the retraction clamp comprises a support that can be coupled, preferably by means of a flange, to a robot, which robot can be of a series, parallel or mixed structure. In said support, preferably by prismatic pairs, at least two identical modules are arranged symmetrically facing each other with respect to a longitudinal axis through the center of the support, and a linear actuator arranged between both modules. The prismatic pairs allow the sliding of each of the modules along a defined longitudinal rail on the surface of the support.
    Each of said modules comprises an articulated mechanism linked to an elastic scissor extension and retraction mechanism, to which it operates. Said scissor structure, composed of a plurality of modules jointly linked to each other, allows extension and folding in a normal direction to a plane on which the object to be picked up or released is arranged. A terminal element, preferably a finger-like structure intended to directly contact said element, surrounds and contains the free end of the scissors and transmits a pair of forces, exerted by the displacement of the modules along the rail, to the element.
    The clamp thus described is capable of collecting objects from a flat platform so that, once caught in the clamp, the robot can move without varying its height relative to a plane parallel to the platform where the objects rest.
    For this, a series of coordinated movements is necessary. First, the clamp is positioned on the object to be picked up, after which the clamp is lowered to cover the object, followed by a pressure exerted by the fingers on the surface of the body to immobilize it, to finally raise the clamp-object assembly To the robot. The robot then executes the corresponding movement to the new point where the object is to be placed, bypassing without problem other elements that are on the platform. Once positioned on the desired place, the object is left on the platform. Now, the clamp-object assembly is lowered, the clamp is opened by releasing the object, and the clamp is raised again to the reference plane.
    It is contemplated that the working height of the clamp can be variable depending on the object or the conditions in which the operations are performed. For this, scissor modules can be added or removed to the articulated mechanism. Likewise, it is envisioned that the terminal elements or fingers coupled to the scissors can be interchangeable, in order to adapt to different
    5 geometries and dimensions of the object to be transferred.
    The retraction clamp thus described is also capable of being linked to a robot of the type used in logistics for automated vertical storage, so that the robot and clamp movements would be rotated 90 ° with respect to those indicated above.
    DESCRIPTION OF THE DRAWINGS
    To complement the description being made and in order to help a better understanding of the features of the invention, according to a preferred example of
    15 practical implementation of it, is accompanied as an integral part of said description, a set of drawings where illustrative and not limiting, the following has been represented:
    Figure 1.- Shows a schematic view of a longitudinal section made in the clamp of
    20 retraction in a resting position, in which its main constituent elements are appreciated.
    Figure 2.- Shows a schematic view of a first stage of the transport sequence of an element by the retraction clamp.
    25 Figure 3.- Shows a schematic view of a second stage of the transport sequence of an element by the retraction clamp.
    Figure 4.- Shows a schematic view of a third stage of the transport sequence 30 of an element by the retraction clamp.
    Figure 5.- Shows a schematic view of a fourth stage of the transport sequence of
    an element by the retraction clamp.
    Figure 6.- Shows a schematic view of a fifth stage of the transport sequence of an element by the retraction clamp.
    Figure 7.- Shows a schematic view of a sixth stage of the transport sequence of an element by the retraction clamp.
    PREFERRED EMBODIMENT OF THE INVENTION
    Next, a detailed explanation of a preferred embodiment of the object of the present invention is provided with the aid of the aforementioned figures.
    The automatic retraction clamp for robot described is made up of a base
    (1) of plate-type support, with an essentially parallelepipedic and flat geometry, comprising an upper face (2) and a lower face (3). From the upper face (2) of the base (1) a connecting element (4), which in this preferred embodiment is a flange, is superiorly designed to link said base (1) with a robot.
    In the lower face (3) a rail (5) is defined, along which they move longitudinally two identical modules (6), which in addition to moving in the rail (5) approach and move away from each other due to the actuation of a actuator (7) to which they are linked. In this preferred embodiment, the actuator (7) is of the linear type and is located between both modules (6).
    Each of said modules (6) in turn comprises a housing (8) within which an articulated mechanism (9) disposed perpendicular to a plane (10) is disposed on whose surface an object (11) is located which is located It is intended to catch by means of the clamp to be transferred to a different point, as shown in Figure 1. The articulated mechanism (9) comprises a first upper end, through which it is connected to the actuator (7), and a second end lower by means of which it is jointly linked to an upper end of a collapsible elastic mechanism, of the scissor mechanism type (12), in turn composed of a plurality of scissor modules jointly linked to each other.
    The scissor mechanism (12), which inferiorly of the housing (8), folds and unfolds,
    operated by the articulated mechanism (9), in a direction perpendicular to the plane (10) on which the object rests (11). Said scissor mechanism (12) comprises a lower end to which a terminal element, referred to as a finger (13), is connected in solidarity with an external surface intended to contact the surface of the object (11).
    Figures 2 to 7 show the different successive stages of collection, transport and placement of the object (11). Figure 2 shows a first stage, in which the actuator (7) receives a control signal by means of which the respective articulated mechanisms (9) of each of the modules (6), to which it is jointly linked, perform a longitudinal displacement of approach between both articulated mechanisms (9). This displacement of the articulated mechanisms (9) in turn produces a deployment of the scissor mechanisms (12), and consequently a downward vertical movement of said scissor mechanisms (12) that approximates the fingers (13) towards the object ( eleven). As can be seen in said figure 2, the position of the modules (6) in the base (1) does not vary with respect to the initial rest position illustrated in figure 1.
    In a second stage, as seen in Figure 3, the actuator (7) produces a linear approach displacement between the modules (6) along the rail (5), until the contact of the fingers (13) occurs ) with the surface of the object (11). At that time the modules (6) are in their maximum approach situation, in which the actuator (7) displaces each of the respective articulated mechanisms (9) so that the folding of the scissor mechanisms ( 12), which elevates the object (1 1), trapped by pressure between both fingers (13), vertically on the plane (10) in which it rested, as seen in Figure 4. The actuator (7) ends the displacement of the articulated mechanisms (9) once the scissor mechanism (12) is fully retracted, whereby the robot moves the object (11) to a different point.
    Once the robot has placed the object (11) on the point at which it is desired to deposit, the actuator (7) receives a new control signal based on which the respective articulated mechanisms (9) of each of the modules (6), perform a longitudinal displacement of separation. This displacement of the articulated mechanisms (9) in turn produces a new deployment of the scissor mechanisms (12), and consequently a downward vertical movement of said scissor mechanisms (12), with the object (11) caught between their fingers (13), until said object (11) rests on the plane (10), as shown in Figure 5.
    Once said object (11) is deposited on the plane (10), the actuator (7) continues to receive a signal to separate the articulated mechanisms (9) which moves the fingers (13) away from the object
    5 (11), as well as to move linearly the modules (6) along the rail (5), which move away from each other until each of them is located at each of the respective ends of said lane (5), as seen in figure 6.
    Finally, as shown in Figure 7, the separation of articulated mechanisms (9)
    10 by the actuator (7) folds the scissor mechanisms (12) until the fingers (13) are placed in an elevated position, similar to the rest position shown in Figure 1, which allows the robot to move without the clamp interferes with any other element located on the plane (10). At that time, the actuator (7) receives an order from the controller to finish its work stroke, the clip being prepared to perform a new movement.
    权利要求:
    Claims (5)
    [1]
    1. Automatic retraction clamp for robot, configured to be linked to a robot to pick up and drop an object (11) on a plane (10) located inferior to the clamp, which comprises:
    - a base (1) comprising an upper face (2) and a lower face (3) in which
    a lane (5) is defined, -a joint element (4) for linking the base (1) with the robot, -at least two modules (6) facing each other, adapted to move
    longitudinally along the rail (5) of the base (1) in order to approach and move away
    horizontally to the object (11), where each of said modules (6) in turn comprises: -an articulated mechanism (9), -a folding elastic mechanism, which in turn comprises a first end, through which it is linked to the articulated mechanism (9), and a second end, and - a finger (13) intended to contact the object (11), linked to the second end of the elastic folding mechanism, and
    an actuator (7) linked to an external control from which it receives signals and to the articulated mechanisms (9) to which it operates, the retraction clamp being characterized in that the collapsible elastic mechanism comprises a scissor mechanism (12), composed of a plurality of scissor modules jointly linked to each other, in which the scissor mechanism (12) is operated by the actuator (7), to approach and move vertically away from the object (11).
    [2]
    2. Automatic retraction clamp according to claim 1 characterized in that the actuator (7) is of the linear type.
    [3]
    3. Automatic retraction clamp according to claim 1 characterized in that the connecting element (4) is a flange.
    [4]
    Four. Automatic retraction clamp according to claim 1 characterized in that it additionally comprises, in each module (6), a housing (8) in which the articulated mechanism (9) and the elastic folding mechanism are housed.
    [5]
    5. Robot characterized in that it incorporates the automatic retraction clamp described in claims 1 to 4.
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    同族专利:
    公开号 | 公开日
    ES2667440B1|2019-02-20|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    WO2020035324A1|2018-08-16|2020-02-20|Bausch + Ströbel Maschinenfabrik Ilshofen GmbH + Co. KG|Transport device having transport rake and counter rake|
    法律状态:
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    申请号 | 申请日 | 专利标题
    ES201631425A|ES2667440B1|2016-11-10|2016-11-10|AUTOMATIC RETRACTION CLAMP FOR ROBOT AND ROBOT COMPRISING THE AUTOMATIC RETRACTION CLAMP|ES201631425A| ES2667440B1|2016-11-10|2016-11-10|AUTOMATIC RETRACTION CLAMP FOR ROBOT AND ROBOT COMPRISING THE AUTOMATIC RETRACTION CLAMP|
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