CN108582144A - A kind of industrial robot suction jig - Google Patents
A kind of industrial robot suction jig Download PDFInfo
- Publication number
- CN108582144A CN108582144A CN201810765945.0A CN201810765945A CN108582144A CN 108582144 A CN108582144 A CN 108582144A CN 201810765945 A CN201810765945 A CN 201810765945A CN 108582144 A CN108582144 A CN 108582144A
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- damper
- industrial robot
- damping spring
- magnechuck
- 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.)
- Pending
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Classifications
-
- 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
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0608—Gripping heads and other end effectors with vacuum or magnetic holding means with magnetic holding means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0091—Shock absorbers
-
- 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
- B65G47/92—Devices for picking-up and depositing articles or materials incorporating electrostatic or magnetic grippers
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of industrial robot suction jigs, including：First connecting rod, magnechuck, damper, second connecting rod, third connecting rod, damper, damping spring；The third connecting rod is internally provided with the third connecting rod motor being connected by the bolt mode of being screwed on；The rear side left part of the third connecting rod is provided with the second connecting rod that clearance fit is connected, and the forward upper of second connecting rod is provided with the first connecting rod that clearance fit is connected；The inside left end of the first connecting rod is provided with the damper that bolt screw-fashion is connected; and the lower end of damper is provided with the magnechuck that the bolt mode of being screwed on is connected; the present invention passes through to the improvement in structure; and combine the prior art; have the advantages that structure it is superior, it is highly practical, the vibrations generated when grabbing workpiece can be eliminated workpiece and mechanical arm body are protected; to solve the problems, such as existing apparatus and deficiency, with the purpose of more practicability.
Description
Technical field
The present invention relates to Industrial Robot Technology fields, more specifically, more particularly to a kind of industrial robot absorption folder
Tool.
Background technology
Industrial robot is multi-joint manipulator or multivariant installations towards industrial circle, it can hold automatically
Row work is a kind of machine that various functions are realized by self power and control ability, it can receive mankind commander, also may be used
To be run according to the program of advance layout, modern industrial robot can also be according to the principle program of artificial intelligence technology formulation
Action, in industrial automation production, either single machine or building-block machine and automatic production line will use machine
Tool hand completes picking and placeing for workpiece, task be by conveyer belt A workpiece or article carrying to conveyer belt B on.
It makes discovery from observation, there are structure lists for existing industrial robot suction jig technology experience platform technical field
One, poor practicability, lack the problem that necessary glissando implements workpiece and mechanical arm body protection etc., in actual operation
In the process, bring certain difficulty, then, how to provide it is a kind of have structure it is superior, it is highly practical, crawl work can be eliminated
The industrial robot suction jig that workpiece and mechanical arm body are protected in the vibrations generated when part becomes and needs to solve at present
Important topic certainly.
In view of this, being studied improvement for existing problem, a kind of superior, highly practical, energy with structure is provided
The vibrations generated when enough eliminating grabbing workpiece carry out workpiece and mechanical arm body the industrial robot suction jig of protection advantage,
It is intended to, by the technology, achieve the purpose that solve the problems, such as and improve practical value.
Invention content
It is mentioned above in the background art to solve the purpose of the present invention is to provide a kind of industrial robot suction jig
Structure is single, poor practicability, lacks the problem of necessary glissando implements protection to workpiece and mechanical arm body and deficiency.
To achieve the above object, the present invention provides a kind of industrial robot suction jigs, by technological means in detail below
Reached：
A kind of industrial robot suction jig, including：Wire bushing, first connecting rod, magnechuck, damper, second connecting rod, second
Connecting rod motor, pedestal, first connecting rod motor, third connecting rod motor, third connecting rod, mounting bracket, damper, damping spring；It is described
Mounting bracket screws two side lower parts being arranged in pedestal by bolt, and is provided with what clearance fit was connected on the upside of pedestal
Third connecting rod；The third connecting rod is internally provided with the third connecting rod motor being connected by the bolt mode of being screwed on, and third
The inside left of connecting rod is provided with the second connecting rod motor that the bolt mode of being screwed on is connected；The rear side of the third connecting rod is left
Portion is provided with the second connecting rod that clearance fit is connected, and the forward upper of second connecting rod is provided with clearance fit phase
The first connecting rod of connection；The inner right side of the first connecting rod is provided with the first connecting rod electricity that the bolt mode of being screwed on is connected
Machine, and the wire bushing that wire clamp is connected is provided on rear side of first connecting rod；The inside left end of the first connecting rod is provided with
The damper being connected by bolt screw-fashion, and the lower end of damper is provided with the electricity that the bolt mode of being screwed on is connected
Magnetic-disc.
As advanced optimizing for the technical program, wire bushing described in a kind of industrial robot suction jig of the present invention is wave
Line pipe structure, and wire bushing is arranged by PVC material.
As advanced optimizing for the technical program, connected by first described in a kind of industrial robot suction jig of the present invention
Bar, second connecting rod, third connecting rod realize three-axis moving, and by first connecting rod, second connecting rod, third connecting rod can realize X, Y,
Z three degree of freedom moves.
As advanced optimizing for the technical program, magnechuck is bowed described in a kind of industrial robot suction jig of the present invention
Depending on rectangular structure, and magnechuck is provided with one group in monolithic construction.
As advanced optimizing for the technical program, damper is by hindering described in a kind of industrial robot suction jig of the present invention
Buddhist nun's device and damping spring composition, and the adjusting nut for adjusting damping spring elastic force is provided on the upside of damping spring.
As advanced optimizing for the technical program, damper is by this described in a kind of industrial robot suction jig of the present invention
Body and piston rod composition, and damper can absorb the elastic potential energy of damping spring generation.
Due to the application of the above technical scheme, the present invention has following advantages compared with prior art：
1, the present invention by first connecting rod, second connecting rod, third connecting rod by being realized three-axis moving, and being passed through first connecting rod, second
Connecting rod, third connecting rod can realize that X, Y, Z three degree of freedom move, convenient for the carrying to ferromagnetic workpiece, it can be achieved that a spacing
From fast transportation.
2, the present invention overlooks rectangular structure by magnechuck, and magnechuck is provided with one in monolithic construction
Group, magnechuck energization can generate magnetism, and demagnetization after power-off is conducive to the absorption and placement of ferromagnetic workpiece, and will not arrive
Workpiece damages.
3, the present invention is made of damper damper and damping spring, and is provided with adjusting on the upside of damping spring and is subtracted
The adjusting nut for shaking spring force size, when magnechuck adsorbs and places workpiece, due to the workpiece increased and decreased suddenly
Weight will produce jerk, and damping spring can be inputted in moment at this time absorbs this part vibration energy, is absorbed in damping spring
After energy, damper can eliminate the vibration energy of damping spring, be rushed to mechanical arm body to reduce and eliminate workpiece
It hits.
4, the present invention is by the improvement to transfer robot, have structure it is superior, it is highly practical, grabbing workpiece can be eliminated
When the vibrations that generate the advantages of workpiece and mechanical arm body are protected, to which the effective solution present invention is in background technology
The problem of being proposed in one and deficiency.
Description of the drawings
The attached drawing constituted part of this application is used to provide further understanding of the present invention, schematic reality of the invention
Example and its explanation are applied for explaining the present invention, is not constituted improper limitations of the present invention.In the accompanying drawings：
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the shock absorber structure schematic diagram of the present invention；
Fig. 3 is the axis side structure schematic diagram of the present invention；
Fig. 4 is the A point enlarged structure schematic diagrams of the present invention.
In figure：Wire bushing 1, first connecting rod 2, magnechuck 3, damper 4, second connecting rod 5, second connecting rod motor 6, pedestal
7, first connecting rod motor 8, third connecting rod motor 9, third connecting rod 10, mounting bracket 11, damper 401, damping spring 402.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.
It should be noted that in the description of the present invention, unless otherwise indicated, the meaning of " plurality " is two or two with
On；The orientation of the instructions such as term "upper", "lower", "left", "right", "inner", "outside", " front end ", " rear end ", " head ", " tail portion "
Or position relationship is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of description of the present invention and simplification of the description, and
It is not that the device of instruction or hint meaning or element must have a particular orientation, with specific azimuth configuration and operation, therefore
It is not considered as limiting the invention.
In addition, term " first ", " second ", " third " etc. are used for description purposes only, it is not understood to indicate or imply
Relative importance.
Meanwhile in the description of the present invention unless specifically defined or limited otherwise, term " connected ", " connection " should be done
It broadly understood, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；Can be mechanical connection,
Can also be to be electrically connected；It can be directly connected, it can also be indirectly connected through an intermediary.For the common skill of this field
For art personnel, the concrete meaning of above-mentioned term in the present invention can be understood with concrete condition.
Fig. 1 to Fig. 4 is referred to, the present invention provides a kind of particular technique embodiment of industrial robot suction jig：
A kind of industrial robot suction jig, including：Wire bushing 1, first connecting rod 2, magnechuck 3, damper 4, second connecting rod
5, second connecting rod motor 6, pedestal 7, first connecting rod motor 8, third connecting rod motor 9, third connecting rod 10, mounting bracket 11, damper
401, damping spring 402；Mounting bracket 11 screws two side lower parts being arranged in pedestal 7 by bolt, and the upside of pedestal 7 is provided with
The third connecting rod 10 being connected by clearance fit；What being internally provided with of third connecting rod 10 was connected by the bolt mode of being screwed on
Third connecting rod motor 9, and the inside left of third connecting rod 10 is provided with the second connecting rod electricity that the bolt mode of being screwed on is connected
Machine 6；The rear side left part of third connecting rod 10 is provided with the second connecting rod 5 that clearance fit is connected, and the front side of second connecting rod 5
Top is provided with the first connecting rod 2 that clearance fit is connected；The inner right side of first connecting rod 2 is provided with bolt and is screwed on
The first connecting rod motor 8 that mode is connected, and the rear side of first connecting rod 2 is provided with the wire bushing 1 that wire clamp is connected；First
The inside left end of connecting rod 2 is provided with the damper 4 that bolt screw-fashion is connected, and the lower end of damper 4 be provided with it is logical
Cross the magnechuck 3 that the bolt mode of being screwed on is connected.
Specifically, wire bushing 1 is bellows structure, and wire bushing 1 is arranged by PVC material, and wire bushing 1 is conducive to transmission
Circuit implements protection, the erosion for avoiding dust water stain to transmission line.
Specifically, by first connecting rod 2, second connecting rod 5, third connecting rod 10 realize three-axis moving, and by first connecting rod 2,
Second connecting rod 5, third connecting rod 10 can realize that X, Y, Z three degree of freedom move, convenient for the carrying of ferromagnetic workpiece, it can be achieved that
The fast transportation of certain distance.
Specifically, magnechuck 3 overlooks rectangular structure, and magnechuck 3 is provided with one group in monolithic construction, electricity
The energization of magnetic-disc 3 can generate magnetism, and demagnetization after power-off is conducive to the absorption and placement of ferromagnetic workpiece, and will not arrive workpiece
It damages.
Specifically, damper 4 is made of damper 401 and damping spring 402, and the upside of damping spring 402 is provided with
The adjusting nut for adjusting 402 elastic force of damping spring, by adjusting the elastic force of damping spring 402 to cope with different size of work
The vibrations that part generates.
Specifically, damper 401 is made of ontology and piston rod, and damper 401 can absorb the generation of damping spring 402
Elastic potential energy, magnechuck 3 adsorb and place workpiece when, since the workpiece weight increased and decreased suddenly will produce vibrations
Impact, at this time damping spring 402 can moment input absorb this part vibration energy, damping spring 402 absorb energy with
Afterwards, damper 401 can eliminate the vibration energy of damping spring 402, to reduce and eliminate impact of the workpiece to mechanical arm body.
Specific implementation step：
When using the present apparatus, first connecting rod motor 8, second connecting rod motor 6, third connecting rod motor 9, magnechuck 3 are connected into electricity
Source, and controlled by control terminal, when carrying out ferromagnetic workpiece crawl, magnechuck 3 is then electrified to close to workpiece, at this time work
Part can be adsorbed on the downside of magnechuck 3, and then by after workpiece handling to target location, magnechuck 3 is powered off, and workpiece is detached from
The absorption of magnechuck 3, in the moment of crawl and the placement of workpiece, damping spring 402 understands the shake that brought in transient absorption workpiece
Energy, after damping spring absorbs this portion of energy, damper 401 can eliminate the vibrations of damping spring 402, to keep away
Exempt from impact of the workpiece to mechanical arm body.
In summary：A kind of industrial robot suction jig, by real by first connecting rod, second connecting rod, third connecting rod
Existing three-axis moving, and can realize that X, Y, Z three degree of freedom move by first connecting rod, second connecting rod, third connecting rod, convenient for pair
The carrying of ferromagnetic workpiece, it can be achieved that certain distance fast transportation；Rectangular structure, and electromagnetism are overlooked by magnechuck
Sucker is provided with one group in monolithic construction, and magnechuck energization can generate magnetism, and demagnetization after power-off is conducive to ferromagnetism work
The absorption and placement of part, and will not be damaged to workpiece；It is made of damper and damping spring damper, and damping bullet
The adjusting nut for adjusting damping spring elastic force is provided on the upside of spring, when magnechuck adsorbs and places workpiece, due to
The workpiece weight increased and decreased suddenly will produce jerk, and damping spring can be inputted in moment at this time absorbs the vibrations of this part
Energy, after damping spring absorbs energy, damper can eliminate the vibration energy of damping spring, to reduce and eliminate work
Impact of the part to mechanical arm body solves single structure, poor practicability, lacks necessary glissando to workpiece and mechanical arm
Ontology implements the problem of protection.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
Understanding without departing from the principles and spirit of the present invention can carry out these embodiments a variety of variations, modification, replace
And modification, the scope of the present invention is defined by the appended.
Claims (6)
1. a kind of industrial robot suction jig, including：Wire bushing（1）, first connecting rod（2）, magnechuck（3）, damper
（4）, second connecting rod（5）, second connecting rod motor（6）, pedestal（7）, first connecting rod motor（8）, third connecting rod motor（9）, third
Connecting rod（10）, mounting bracket（11）, damper（401）, damping spring（402）；It is characterized in that：The mounting bracket（11）Pass through spiral shell
Bolt, which screws, to be arranged in pedestal（7）Two side lower parts, and pedestal（7）Upside be provided with the third that clearance fit is connected and connect
Bar（10）；The third connecting rod（10）Be internally provided with the third connecting rod motor being connected by the bolt mode of being screwed on（9）, and
Third connecting rod（10）Inside left be provided with the second connecting rod motor that the bolt mode of being screwed on is connected（6）；The third
Connecting rod（10）Rear side left part be provided with the second connecting rod that clearance fit is connected（5）, and second connecting rod（5）Front side on
Portion is provided with the first connecting rod that clearance fit is connected（2）；The first connecting rod（2）Inner right side be provided with spiral shell
The first connecting rod motor that the bolt mode of being screwed on is connected（8）, and first connecting rod（2）Rear side be provided with the shield that wire clamp is connected
Line set（1）；The first connecting rod（2）Inside left end be provided with the damper that bolt screw-fashion is connected（4）, and subtract
Shake device（4）Lower end be provided with the magnechuck that the bolt mode of being screwed on is connected（3）.
2. a kind of industrial robot suction jig according to claim 1, it is characterised in that：The wire bushing（1）For wave
Line pipe structure, and wire bushing（1）It is arranged by PVC material.
3. a kind of industrial robot suction jig according to claim 1, it is characterised in that：It is described by first connecting rod（2）、
Second connecting rod（5）, third connecting rod（10）It realizes three-axis moving, and passes through first connecting rod（2）, second connecting rod（5）, third connecting rod
（10）It can realize that X, Y, Z three degree of freedom move.
4. a kind of industrial robot suction jig according to claim 1, it is characterised in that：The magnechuck（3）It bows
Depending on rectangular structure, and magnechuck（3）Monolithic construction is provided with one group.
5. a kind of industrial robot suction jig according to claim 1, it is characterised in that：The damper（4）By hindering
Buddhist nun's device（401）And damping spring（402）Composition, and damping spring（402）Upside be provided with adjusting damping spring（402）Elastic force
The adjusting nut of size.
6. a kind of industrial robot suction jig according to claim 1, it is characterised in that：The damper（401）By
Ontology and piston rod composition, and damper（401）Damping spring can be absorbed（402）The elastic potential energy of generation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810765945.0A CN108582144A (en) | 2018-07-12 | 2018-07-12 | A kind of industrial robot suction jig |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810765945.0A CN108582144A (en) | 2018-07-12 | 2018-07-12 | A kind of industrial robot suction jig |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108582144A true CN108582144A (en) | 2018-09-28 |
Family
ID=63618226
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810765945.0A Pending CN108582144A (en) | 2018-07-12 | 2018-07-12 | A kind of industrial robot suction jig |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108582144A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110421523A (en) * | 2019-08-27 | 2019-11-08 | 广东凌丰五金装备科技股份有限公司 | A kind of sucker clamp with buffer unit |
| CN111452079A (en) * | 2020-05-18 | 2020-07-28 | 成都卡诺普自动化控制技术有限公司 | Electromagnet clamp for robot |
| CN112173710A (en) * | 2019-10-31 | 2021-01-05 | 广州鑫娄山模具有限公司 | Magnetic force type carrying device |
| CN113955494A (en) * | 2021-10-18 | 2022-01-21 | 德清勤龙磨床制造有限公司 | Integrated feeding and discharging rack with manipulator |
| CN114227738A (en) * | 2021-12-17 | 2022-03-25 | 广东鑫光智能系统有限公司 | Feeding and discharging mechanism with double electric permanent magnetic chucks |
| CN114918963A (en) * | 2022-05-31 | 2022-08-19 | 三一汽车制造有限公司 | Sucker mechanism and truss manipulator |
| CN117182875A (en) * | 2023-09-01 | 2023-12-08 | 安徽凯斯汀科技有限公司 | Automatic pick-off unit and workpiece position correction system |
-
2018
- 2018-07-12 CN CN201810765945.0A patent/CN108582144A/en active Pending
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110421523A (en) * | 2019-08-27 | 2019-11-08 | 广东凌丰五金装备科技股份有限公司 | A kind of sucker clamp with buffer unit |
| CN112173710A (en) * | 2019-10-31 | 2021-01-05 | 广州鑫娄山模具有限公司 | Magnetic force type carrying device |
| CN112173710B (en) * | 2019-10-31 | 2022-04-08 | 广州鑫娄山模具有限公司 | Magnetic force type carrying device |
| CN111452079A (en) * | 2020-05-18 | 2020-07-28 | 成都卡诺普自动化控制技术有限公司 | Electromagnet clamp for robot |
| CN113955494A (en) * | 2021-10-18 | 2022-01-21 | 德清勤龙磨床制造有限公司 | Integrated feeding and discharging rack with manipulator |
| CN114227738A (en) * | 2021-12-17 | 2022-03-25 | 广东鑫光智能系统有限公司 | Feeding and discharging mechanism with double electric permanent magnetic chucks |
| CN114918963A (en) * | 2022-05-31 | 2022-08-19 | 三一汽车制造有限公司 | Sucker mechanism and truss manipulator |
| CN117182875A (en) * | 2023-09-01 | 2023-12-08 | 安徽凯斯汀科技有限公司 | Automatic pick-off unit and workpiece position correction system |
| CN117182875B (en) * | 2023-09-01 | 2024-05-17 | 安徽凯斯汀科技有限公司 | Automatic pick-off unit and workpiece position correction system |
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Legal Events
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| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
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Application publication date: 20180928 |