CN106239486A - A kind of industrial robot - Google Patents
A kind of industrial robot Download PDFInfo
- Publication number
- CN106239486A CN106239486A CN201610880476.8A CN201610880476A CN106239486A CN 106239486 A CN106239486 A CN 106239486A CN 201610880476 A CN201610880476 A CN 201610880476A CN 106239486 A CN106239486 A CN 106239486A
- Authority
- CN
- China
- Prior art keywords
- pawl
- main part
- snap finger
- industrial robot
- control machine
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0093—Programme-controlled manipulators co-operating with conveyor means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/085—Force or torque sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
- B25J15/0293—Gripping heads and other end effectors servo-actuated comprising parallel grippers having fingers directly connected to actuator
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/915—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems with rotary movements only
Abstract
A kind of industrial robot, including pedestal, mechanical hand, control machine, feeding steering wheel, conveyer belt, described mechanical hand, control machine, feeding steering wheel, conveyer belt are respectively positioned on pedestal, and described mechanical hand includes mechanical arm and air-actuated jaw；Described air-actuated jaw includes the card claw of main part and three circumferential array, described main part upper end connects mechanical arm, inside is provided with the driving pump for driving card claw, described card claw connects main part lower end, three described card claws all include interconnective interior pawl and outer pawl, outer pawl includes L-type pawl body and snap finger portion, and described snap finger portion is positioned at the lower end of L-type pawl body, and constitutes hinged cooperation with L-type pawl body；Steer motor that described feeding steering wheel includes being sequentially connected with, rotating shaft, disk body, described disk body is provided with circumferentially distributed multiple troughs, and described trough includes middle circular groove and circumferentially distributed three snap finger grooves, and described snap finger groove is corresponding with snap finger portion.
Description
Technical field
The present invention relates to mechanical field, be specifically related to a kind of industrial robot.
Background technology
The goods that existing industrial robot is captured is the most square, but has once encountered collar plate shape goods, often
More difficult adaptation.Additionally, the industrial robot of routine is when having higher requirement to the stability of goods, it is impossible to avoid goods moving
Dynamic process run-off the straight phenomenon.
Summary of the invention
In order to solve the problems referred to above, the invention provides a kind of industrial robot:
A kind of industrial robot, including pedestal, mechanical hand, control machine, feeding steering wheel, conveyer belt, described mechanical hand, control
Machine processed, feeding steering wheel, conveyer belt are respectively positioned on pedestal, and described mechanical hand includes mechanical arm and air-actuated jaw, described mechanical arm
Including the most hinged support arm, pole, expansion link, union joint；
Described air-actuated jaw includes the card claw of main part and three circumferential array, and described main part upper end connects machinery
Arm, inside is provided with the driving pump for driving card claw, and described card claw connects main part lower end, and three described card claws all wrap
Including interconnective interior pawl and outer pawl, described outer pawl is positioned at outside pawl, and both constitute spacing cooperation, and outer pawl includes that L-type pawl is originally
Body and snap finger portion, described snap finger portion is positioned at the lower end of L-type pawl body, and constitutes hinged cooperation with L-type pawl body；
Steer motor that described feeding steering wheel includes being sequentially connected with, rotating shaft, disk body, described steer motor is positioned at pedestal
And realizing the course changing control to disk body by rotating shaft, described disk body is provided with circumferentially distributed multiple troughs, described trough bag
Including middle circular groove and circumferentially distributed three snap finger grooves, described snap finger groove is corresponding with snap finger portion；
Described conveyer belt is for the transmission of material.
Preferably, being provided with boss in described middle circular groove, described boss connects pressure transducer, and described pressure transducer is even
Connect control machine.
Preferably, described conveyer belt both sides are provided with protection edge, are used for preventing material from departing from conveyer belt.
Preferably, the described T-shaped structure of interior pawl, described main part lower end is provided with the chute of circumferential array, the root of interior pawl
Constitute sliding with chute to coordinate.
Preferably, being provided with pulling force sensor inside described main part, described pulling force sensor connects L-type pawl body, is used for
Detecting the weight of captured goods, described control machine connects pulling force sensor, for receiving the data message of pulling force sensor.
Preferably, described main part is provided with display screen, and described display screen connects control machine, for showing what control machine received
Data message.
Preferably, being provided with T-slot outside described interior pawl, described T-slot constitutes sliding with outer pawl and coordinates.
After there is advantages that mechanical hand captures goods on a moving belt, turn buckle claw holds goods
Bottom thing, it is to avoid goods drops, control machine drives the rotation of mechanical arm to be positioned over after making industrial robot discharging of goods
On material steering wheel, then snap finger portion of turning up, by industrial robot separation goods, again extract new goods, feeding steering wheel rotation, incite somebody to action
New dead slot correspondence mechanical hand.
Accompanying drawing explanation
Accompanying drawing 1 is the structural representation of the present invention.
Accompanying drawing 2 is the schematic top plan view of the present invention.
Accompanying drawing 3 is the structural representation of mechanical hand.
Accompanying drawing 4 is the structural representation of air-actuated jaw.
Detailed description of the invention
With embodiment, the present invention is further described below in conjunction with the accompanying drawings.
A kind of industrial robot, including pedestal 1, mechanical hand 4, control machine 5, feeding steering wheel 6, conveyer belt 7, described machinery
Hands 4, control machine 5, feeding steering wheel 6, conveyer belt 7 are respectively positioned on pedestal 1, and described mechanical hand 4 includes mechanical arm 2 and air-actuated jaw
3, described mechanical arm 2 includes the most hinged support arm 21, pole 22, expansion link 23, union joint 24；
Described air-actuated jaw 3 includes the card claw of main part and three circumferential array, and described main part upper end connects machinery
Arm 2, inside is provided with the driving pump for driving card claw, and described card claw connects main part lower end, and three described card claws are equal
Including interconnective interior pawl 8 and outer pawl 9, being provided with T-slot outside described interior pawl 8, described T-slot constitutes sliding with outer pawl 9 and joins
Closing, outer pawl 9 includes L-type pawl body and snap finger portion, and described snap finger portion is positioned at the lower end of L-type pawl body, and constitutes with L-type pawl body
Hinged cooperation；
Steer motor that described feeding steering wheel 6 includes being sequentially connected with, rotating shaft, disk body, described steer motor is positioned at pedestal 1
In and by the rotating shaft realization course changing control to disk body, described disk body is provided with circumferentially distributed multiple troughs, described trough
Including middle circular groove 10 and circumferentially distributed three snap finger grooves 11, described snap finger groove 11 is corresponding with snap finger portion；
The described conveyer belt 7 transmitted for material, its both sides are provided with protection edge 71, prevent material from departing from conveyer belt 7.
After mechanical hand 4 captures goods on conveyor belt 7, turn buckle claw is held bottom goods, it is to avoid goods drops, control
Machine 5 processed drives the rotation of mechanical arm 2 to be positioned on feeding steering wheel 6 after making industrial robot discharging of goods, then the button that turns up
Claw, by industrial robot separation goods, extracts new goods again, and feeding steering wheel 6 rotates, by new dead slot correspondence mechanical hand
4。
Being provided with boss in described middle circular groove 10, described boss connects pressure transducer 12, and described pressure transducer 12 is even
Connecing control machine 5, when goods is positioned on boss, pressure transducer 12 will detect that pressure signal, and be it is believed that by dependency number
Breath transmission is to controlling machine 5.
The described T-shaped structure of interior pawl 8, described main part lower end is provided with the chute of circumferential array, the root of interior pawl 8 and chute
Constitute sliding to coordinate, the crawl dilatability starting air-actuated jaw 3 can be regulated according to the specification of captured goods.
Being provided with pulling force sensor inside described main part, described pulling force sensor connects L-type pawl body, is used for detecting and is grabbed
The weight of picking thing, described control machine 5 connects L-type pawl body, for receiving the data message of pulling force sensor.
Main part is additionally provided with display screen 13, and described display screen 13 connects control machine 5, for showing the number that control machine 5 receives
It is believed that breath.
Obviously, the above embodiment of the present invention is intended to be merely illustrative of the present example, and not to the present invention
The restriction of embodiment.For those of ordinary skill in the field, can also make on the basis of the above description
The change of other multi-forms or variation.Here without also all of embodiment being given poor example.And these belong to this
Obvious change or variation that the connotation of invention is amplified out still fall within protection scope of the present invention.
Claims (7)
1. an industrial robot, it is characterised in that: include pedestal (1), mechanical hand (4), control machine (5), feeding steering wheel
(6), conveyer belt (7), described mechanical hand (4), control machine (5), feeding steering wheel (6), conveyer belt (7) are respectively positioned on pedestal (1),
Described mechanical hand (4) includes mechanical arm (2) and air-actuated jaw (3), and described mechanical arm (2) includes the most hinged support arm
(21), pole (22), expansion link (23), union joint (24)；
Described air-actuated jaw (3) includes the card claw of main part and three circumferential array, and described main part upper end connects mechanical arm
(2), inside is provided with the driving pump for driving card claw, and described card claw connects main part lower end, and three described card claws are equal
Including interconnective interior pawl (8) and outer pawl (9), described outer pawl (9) is positioned at pawl (8) outside, and both constitute spacing cooperation, outward
Pawl (9) includes L-type pawl body and snap finger portion, and described snap finger portion is positioned at the lower end of L-type pawl body, and constitutes hinge with L-type pawl body
Connect cooperation；
Steer motor that described feeding steering wheel (6) includes being sequentially connected with, rotating shaft, disk body, described steer motor is positioned at pedestal (1)
In and by the rotating shaft realization course changing control to disk body, described disk body is provided with circumferentially distributed multiple troughs, described trough
Including middle circular groove (10) and circumferentially distributed three snap finger grooves (11), described snap finger groove (11) is corresponding with snap finger portion；
Described conveyer belt (7) is for the transmission of material.
A kind of industrial robot the most according to claim 1, it is characterised in that: it is provided with convex in described middle circular groove (10)
Platform, described boss connects pressure transducer (12), and described pressure transducer (12) connects control machine (5).
A kind of industrial robot the most according to claim 1, it is characterised in that: described conveyer belt (7) both sides are provided with protection
Limit (71), is used for preventing material from departing from conveyer belt (7).
A kind of industrial robot the most according to claim 1, it is characterised in that: the T-shaped structure of described interior pawl (8), described
Main part lower end is provided with the chute of circumferential array, and the root of interior pawl (8) constitutes sliding with chute and coordinates.
A kind of industrial robot the most according to claim 4, it is characterised in that: it is provided with pull sensing inside described main part
Device, described pulling force sensor connects L-type pawl body, and for detecting the weight of captured goods, described control machine (5) connects pulling force
Sensor, for receiving the data message of pulling force sensor.
A kind of industrial robot the most according to claim 5, it is characterised in that: described main part is provided with display screen (13),
Described display screen (13) connects control machine (5), is used for showing the data message that control machine (5) receives.
A kind of industrial robot the most according to claim 6, it is characterised in that: described interior pawl (8) outside is provided with T-slot,
Described T-slot constitutes sliding with outer pawl (9) and coordinates.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610880476.8A CN106239486B (en) | 2016-09-29 | 2016-09-29 | A kind of industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610880476.8A CN106239486B (en) | 2016-09-29 | 2016-09-29 | A kind of industrial robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106239486A true CN106239486A (en) | 2016-12-21 |
| CN106239486B CN106239486B (en) | 2018-05-15 |
Family
ID=57612621
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610880476.8A Active CN106239486B (en) | 2016-09-29 | 2016-09-29 | A kind of industrial robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106239486B (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106875819A (en) * | 2017-04-21 | 2017-06-20 | 成都福莫斯佰龙智能科技有限公司 | A kind of robot charging equipment for being easy to teaching to show |
| CN107738911A (en) * | 2017-11-25 | 2018-02-27 | 苏州听毅华环保科技有限公司 | One kind, which is hung, send carrying mechanism |
| CN108045838A (en) * | 2017-12-30 | 2018-05-18 | 广州泰行智能科技有限公司 | A kind of touch-screen printing production line |
| CN109174675A (en) * | 2018-07-17 | 2019-01-11 | 芜湖固高自动化技术有限公司 | A kind of cylinder sleeve processing precision positioning displacement platform and its localization method |
| CN111283698A (en) * | 2020-03-24 | 2020-06-16 | 成都岁生科技有限责任公司 | Bogie sleeper spring and wedge decomposition detection robot system |
| CN113148930A (en) * | 2021-04-22 | 2021-07-23 | 珠海光瑞新材料有限公司 | Electrolyte automatic filling machine and control system |
| CN113184528A (en) * | 2021-05-12 | 2021-07-30 | 湘潭大学 | Material back-off carrying mechanism based on rotating pallet |
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| CN104002294A (en) * | 2013-12-27 | 2014-08-27 | 广州奥迪通用照明有限公司 | Vacuum intelligent correction manipulator |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106875819A (en) * | 2017-04-21 | 2017-06-20 | 成都福莫斯佰龙智能科技有限公司 | A kind of robot charging equipment for being easy to teaching to show |
| CN107738911A (en) * | 2017-11-25 | 2018-02-27 | 苏州听毅华环保科技有限公司 | One kind, which is hung, send carrying mechanism |
| CN108045838A (en) * | 2017-12-30 | 2018-05-18 | 广州泰行智能科技有限公司 | A kind of touch-screen printing production line |
| CN108045838B (en) * | 2017-12-30 | 2024-03-01 | 广州泰行智能科技有限公司 | Touch screen printing production line |
| CN109174675A (en) * | 2018-07-17 | 2019-01-11 | 芜湖固高自动化技术有限公司 | A kind of cylinder sleeve processing precision positioning displacement platform and its localization method |
| CN111283698A (en) * | 2020-03-24 | 2020-06-16 | 成都岁生科技有限责任公司 | Bogie sleeper spring and wedge decomposition detection robot system |
| CN111283698B (en) * | 2020-03-24 | 2021-07-27 | 成都岁生科技有限责任公司 | Bogie sleeper spring and wedge decomposition detection robot system |
| CN113148930A (en) * | 2021-04-22 | 2021-07-23 | 珠海光瑞新材料有限公司 | Electrolyte automatic filling machine and control system |
| CN113184528A (en) * | 2021-05-12 | 2021-07-30 | 湘潭大学 | Material back-off carrying mechanism based on rotating pallet |
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| Publication number | Publication date |
|---|---|
| CN106239486B (en) | 2018-05-15 |
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Address after: 528000 Three-storey Complex Building 6, Daliang 105 National Road Dadun Section (Metro 5-1), Shunde District, Foshan City, Guangdong Province (9, 23 Honggang Section, Guangzhou-Zhuhai Highway) Patentee after: Guangdong Tian Tai robot Co., Ltd. Address before: 528000 Three-storey Complex Building 6, Daliang 105 National Road Dadun Section (Metro 5-1), Shunde District, Foshan City, Guangdong Province (9, 23 Honggang Section, Guangzhou-Zhuhai Highway) Patentee before: Shunde Guangdong sky Robot Technology Co., Ltd. |
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| CP01 | Change in the name or title of a patent holder |