CN108772833A - A kind of mechanical grabbing device of industrial robot - Google Patents
A kind of mechanical grabbing device of industrial robot Download PDFInfo
- Publication number
- CN108772833A CN108772833A CN201810830810.8A CN201810830810A CN108772833A CN 108772833 A CN108772833 A CN 108772833A CN 201810830810 A CN201810830810 A CN 201810830810A CN 108772833 A CN108772833 A CN 108772833A
- Authority
- CN
- China
- Prior art keywords
- mechanical arm
- gripping dogs
- industrial robot
- grabbing device
- gripping
- 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
- 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
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of mechanical grabbing devices of industrial robot, including support base, supporting rack, electric rotating machine and control box, support frame as described above and the control box are provided in the support base, electric rotating machine is provided with below support frame as described above, rotating seat is provided with above support frame as described above, it is provided with first mechanical arm on the rotating seat, the rotating seat and the link position of the first mechanical arm are provided with the first motor, one end of the first mechanical arm is provided with the second motor and second mechanical arm, one end of the second mechanical arm is provided with gripping dogs one and gripping dogs two.Advantageous effect is：The present invention is provided with pressure sensor in gripping dogs, for detecting clamping force, stress is excessive or too small during avoiding control article crawl, article is caused to damage, the grabbing device is provided with two-stage mechanical arm and three motor, multi-faceted crawl and transhipment may be implemented, use scope is extensive.
Description
Technical field
The present invention relates to industrial robot correlative technology fields, and in particular to a kind of industrial robot machinery crawl dress
It sets.
Background technology
With the continuous development of science and technology, the quantity of the robot of industrial application is also come also more, and application range is also increasingly wider
General, industrial robot is multi-joint manipulator or multivariant installations towards industrial circle, it can execute work automatically
Make, is a kind of machine for realizing various functions by self power and control ability.It can receive mankind commander, can also be by
According to the program operation of advance layout, the principle program row that modern industrial robot can also be formulated according to artificial intelligence technology
It is dynamic.For relatively artificial, work efficiency is high for industrial robot, has a safety feature, and can effectively reduce production cost, improves
Product quality, industrial robot is in order to coordinate the normal use of each function module to be typically provided with mechanical grabbing device, generally
Grabbing device can only realize the rotation in a face, have certain limitation when capturing article, during capturing article, power
Degree is not easily controlled, and dynamics greatly may damage the article being crawled very much, and dynamics is smaller to cause article to fall off
The case where, use more grabbing device complicated at present, dismounting, maintenance difficulty are larger.
Invention content
(1) technical problems to be solved
In order to overcome the shortage of prior art, it is proposed that a kind of mechanical grabbing device of industrial robot solves existing grab
Take apparatus structure complicated, maintenance difficulty the problem of dynamics is not easily controlled greatly and during crawl.
(2) technical solution
The present invention is achieved through the following technical solutions：The present invention proposes a kind of mechanical grabbing device of industrial robot,
Including support base, supporting rack, electric rotating machine and control box, support frame as described above and the operation are provided in the support base
Case is provided with electric rotating machine below support frame as described above, rotating seat is provided with above support frame as described above, is set on the rotating seat
It is equipped with first mechanical arm, the link position of the rotating seat and the first mechanical arm is provided with the first motor, and described first
One end of mechanical arm is provided with the second motor and second mechanical arm, and one end of the second mechanical arm is provided with gripping dogs one
With gripping dogs two, be provided with hydraulic cylinder on the gripping dogs two, the gripping dogs one and the gripping dogs two it is outer
Side is provided with stay hook, and fixing buckle is provided on the stay hook, and magnechuck, the folder are provided with below the fixing buckle
The inside of tight claw one and the gripping dogs two is provided with mounting groove, and spring fixed seat and pressure are provided in the mounting groove
Sensor is provided with buffer spring on the spring fixed seat, and one end of the buffer spring is provided with gripping block, the clamping
It is provided with non-slip mat on block, signal receiver, processor and controller are provided in the control box.
Further, support frame as described above is bolted in the support base, and the control box is solid by screw
It is scheduled in the support base,
Further, the electric rotating machine is bolted on the lower section of support frame as described above, the electric rotating machine and institute
It states and is connected by shaft coupling between rotating seat.
Further, the stay hook is fixed by welding on the gripping dogs one and the gripping dogs two, institute
It states fixing buckle and there are two the stay hook is respectively provided with, the hydraulic cylinder is bolted on the gripping dogs two.
Further, the model PT124G-111 of the pressure sensor, the pressure sensor are fixed by screw
In the mounting groove, there are two the pressure sensor settings.
Further, the model FAST 150M of the signal receiver, the model KY02S of the controller, it is described
The model Celeron 440 of processor.
Further, the signal receiver, the controller and the processor are fixed by screws in the behaviour
Make in case, by being adhesively fixed between the gripping block and the non-slip mat.
(3) advantageous effect
The present invention compared with the existing technology, has the advantages that：
1, it is that the existing grabbing device of solution is complicated, the big problem of maintenance maintenance difficulty, the grabbing device is using simply
Hydraulic cylinder, mechanical arm and motor cooperating, realize the crawl of article, it is simple in structure, it is easy to operate；
2, it is that dynamics is not easily controlled during solving the problems, such as existing grabbing device crawl, is provided in gripping dogs
Pressure sensor, for detecting clamping force, stress is excessive or too small during avoiding control article crawl, causes to damage to article
Wound can utilize magnechuck to replace gripping dogs, security performance higher metal class article；
3, it is to solve existing grabbing device single side rotation, the small problem of use scope, the grabbing device is provided with two-stage machine
Tool arm and three motor, may be implemented multi-faceted crawl and transhipment, and use scope is extensive.
Description of the drawings
Fig. 1 is a kind of structural schematic diagram of the mechanical grabbing device of industrial robot of the present invention；
Fig. 2 is a kind of scheme of installation of the mechanical grabbing device gripping block of industrial robot of the present invention；
Fig. 3 is a kind of component connection block diagram of the mechanical grabbing device of industrial robot of the present invention.
The reference numerals are as follows：
1, support base；2, supporting rack；3, electric rotating machine；4, control box；5, rotating seat；6, the first motor；7, first
Mechanical arm；8, the second motor；9, second mechanical arm；10, gripping dogs one；11, hydraulic cylinder；12, gripping dogs two；13, solid
Determine hook；14, fixing buckle；15, magnechuck；16, gripping block；17, spring fixed seat；18, buffer spring；19, mounting groove；20,
Pressure sensor；21, non-slip mat；22, signal receiver；23, processor；24, controller.
Specific implementation mode
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
As shown in Figure 1-Figure 3, the mechanical grabbing device of a kind of industrial robot, including support base 1, supporting rack 2, rotation
Motor 3 and control box 4, supporting rack 2 and control box 4 are provided in support base 1, and support base 1 is used to support entire crawl dress
It sets, the lower section of supporting rack 2 is provided with electric rotating machine 3, and for driving rotating seat 5 to rotate, the top of supporting rack 2 is set electric rotating machine 3
It is equipped with rotating seat 5, is provided with first mechanical arm 7 on rotating seat 5, the link position of rotating seat 5 and first mechanical arm 7 is provided with the
One end of one motor 6, first mechanical arm 7 is provided with the second motor 8 and second mechanical arm 9, and one end of second mechanical arm 9 is set
Gripping dogs 1 and gripping dogs 2 12 are equipped with, gripping dogs 1 and 2 12 mating reaction of gripping dogs carry out grabbing for article
It taking, hydraulic cylinder 11 is provided on gripping dogs 2 12, hydraulic cylinder 11 realizes pinching action for driving gripping dogs 1 to rotate,
The outside of gripping dogs 1 and gripping dogs 2 12 is provided with stay hook 13, and fixing buckle 14 is provided on stay hook 13, fixed
The lower section of button 14 is provided with magnechuck 15, and the crawl of metal, gripping dogs 1 and folder may be implemented in magnechuck 15
The inside of tight claw 2 12 is provided with mounting groove 19, and spring fixed seat 17 and pressure sensor 20 are provided in mounting groove 19, presses
Force snesor 20 is provided with buffer spring 18, one end setting of buffer spring 18 for detecting pressing force on spring fixed seat 17
There is gripping block 16, non-slip mat 21 is provided in gripping block 16, signal receiver 22, processor 23 and control are provided in control box 4
Device 24 processed, control box 4 are used to control the operating process of grabbing device.
Wherein, supporting rack 2 is bolted in support base 1, and control box 4 is fixed by screws in support base 1
On, electric rotating machine 3 is bolted on the lower section of supporting rack 2, is connected by shaft coupling between electric rotating machine 3 and rotating seat 5,
Stay hook 13 is fixed by welding on gripping dogs 1 and gripping dogs 2 12, and fixing buckle 14 and stay hook 13 are both provided with
Two, hydraulic cylinder 11 is bolted on gripping dogs 2 12, the model PT124G-111 of pressure sensor 20, pressure
Sensor 20 is fixed by screws in mounting groove 19, and there are two the settings of pressure sensor 20, the model of signal receiver 22
FAST 150M, the model KY02S of controller 24, the model Celeron 440 of processor 23, signal receiver 22, control
Device 24 and processor 23 are fixed by screws in control box 4, by being adhesively fixed between gripping block 16 and non-slip mat 21.
A kind of operation principle for the mechanical grabbing device of industrial robot that the present invention mentions：When capturing article, by distant
Device input action signal is controlled, manipulation case 4 controls electric rotating machine 3, the first motor 6 and the work of the second motor 8, by gripping dogs
1 and gripping dogs 2 12 be moved to operating position, hydraulic cylinder 11 works, and gripping dogs 1 and gripping dogs 2 12 open,
Start to grip article, when hydraulic cylinder 11 is shunk, gripping dogs 1 and 2 12 closed pair article of gripping dogs are pressed from both sides
Tightly, 16 forced compression buffer spring 18 of gripping block in clamping process, pressure sensor 20 detect the pressure that gripping block 16 is born,
Avoid clamping force excessive or it is too small the article being crawled is caused to damage, non-slip mat 21 is provided in gripping block 16, is avoided pair
Article surface causes to scratch, and when article is the materials such as cast iron, stainless steel, magnechuck 15 can be utilized to realize crawl, safety
Property it is high.
The above-described embodiments are merely illustrative of preferred embodiments of the present invention, not to the structure of the present invention
Think and range is defined.Under the premise of not departing from design concept of the present invention, technology of the ordinary people in the field to the present invention
The all variations and modifications that scheme is made, should all drop into protection scope of the present invention, the claimed technology contents of the present invention,
It has all recorded in detail in the claims.
Claims (7)
1. a kind of mechanical grabbing device of industrial robot, it is characterised in that：Including support base (1), supporting rack (2), rotation
Motor (3) and control box (4) are provided with support frame as described above (2) and the control box (4), the branch on the support base (1)
It is provided with electric rotating machine (3) below support (2), rotating seat (5), the rotating seat are provided with above support frame as described above (2)
(5) first mechanical arm (7) is provided on, the rotating seat (5) and the link position of the first mechanical arm (7) are provided with first
Motor (6), one end of the first mechanical arm (7) are provided with the second motor (8) and second mechanical arm (9), and described second
One end of mechanical arm (9) is provided with gripping dogs one (10) and gripping dogs two (12), is arranged on the gripping dogs two (12)
There is hydraulic cylinder (11), stay hook (13), institute are provided on the outside of the gripping dogs one (10) and the gripping dogs two (12)
It states and is provided with fixing buckle (14) on stay hook (13), magnechuck (15), the folder are provided with below the fixing buckle (14)
It is provided with mounting groove (19) on the inside of tight claw one (10) and the gripping dogs two (12), is provided in the mounting groove (19)
Spring fixed seat (17) and pressure sensor (20) are provided with buffer spring (18) on the spring fixed seat (17), described slow
The one end for rushing spring (18) is provided with gripping block (16), and non-slip mat (21), the control box are provided on the gripping block (16)
(4) signal receiver (22), processor (23) and controller (24) are provided in.
2. a kind of mechanical grabbing device of industrial robot according to claim 1, it is characterised in that：Support frame as described above
(2) it is bolted in the support base (1), the control box (4) is fixed by screws in the support base (1)
On.
3. a kind of mechanical grabbing device of industrial robot according to claim 1, it is characterised in that：The electric rotating machine
(3) it is bolted on the lower section of support frame as described above (2), passes through connection between the electric rotating machine (3) and the rotating seat (5)
Axis device connects.
4. a kind of mechanical grabbing device of industrial robot according to claim 1, it is characterised in that：The stay hook
(13) it is fixed by welding on the gripping dogs one (10) and the gripping dogs two (12), the fixing buckle (14) and institute
It states there are two stay hook (13) is respectively provided with, the hydraulic cylinder (11) is bolted on the gripping dogs two (12).
5. a kind of mechanical grabbing device of industrial robot according to claim 1, it is characterised in that：The pressure sensing
The model PT124G-111 of device (20), the pressure sensor (20) are fixed by screws in the mounting groove (19), institute
It states there are two pressure sensor (20) settings.
6. a kind of mechanical grabbing device of industrial robot according to claim 1, it is characterised in that：The signal receives
The model FAST 150M of device (22), the model KY02S of the controller (24), the model of the processor (23)
Celeron 440。
7. a kind of mechanical grabbing device of industrial robot according to claim 1, it is characterised in that：The signal receives
Device (22), the controller (24) and the processor (23) are fixed by screws in the control box (4), the clamping
By being adhesively fixed between block (16) and the non-slip mat (21).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810830810.8A CN108772833A (en) | 2018-07-26 | 2018-07-26 | A kind of mechanical grabbing device of industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810830810.8A CN108772833A (en) | 2018-07-26 | 2018-07-26 | A kind of mechanical grabbing device of industrial robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108772833A true CN108772833A (en) | 2018-11-09 |
Family
ID=64030167
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810830810.8A Pending CN108772833A (en) | 2018-07-26 | 2018-07-26 | A kind of mechanical grabbing device of industrial robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108772833A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110524567A (en) * | 2019-07-03 | 2019-12-03 | 珠海格力电器股份有限公司 | Manipulator and robot |
| CN113103281A (en) * | 2021-01-20 | 2021-07-13 | 朱少强 | Flexible robot with overload protection device |
-
2018
- 2018-07-26 CN CN201810830810.8A patent/CN108772833A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110524567A (en) * | 2019-07-03 | 2019-12-03 | 珠海格力电器股份有限公司 | Manipulator and robot |
| CN113103281A (en) * | 2021-01-20 | 2021-07-13 | 朱少强 | Flexible robot with overload protection device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20181109 |