CN109865967A - A kind of machine components welding crawl robot - Google Patents
A kind of machine components welding crawl robot Download PDFInfo
- Publication number
- CN109865967A CN109865967A CN201910159003.2A CN201910159003A CN109865967A CN 109865967 A CN109865967 A CN 109865967A CN 201910159003 A CN201910159003 A CN 201910159003A CN 109865967 A CN109865967 A CN 109865967A
- Authority
- CN
- China
- Prior art keywords
- gripper
- card
- fixed
- machine components
- card hole
- 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
Links
Landscapes
- Manipulator (AREA)
Abstract
The invention discloses a kind of machine components to weld with crawl robot, including gripper, gripper fixing seat, fixed arm, middle pivoted arm and rotating base, it further include telescoping mechanism, anti-falling mechanism and retention mechanism, the telescoping mechanism is located at the side of gripper, the telescoping mechanism includes flexible gripper, fixed card convex and fixed card slot, the convex side surface for being welded on flexible gripper of the fixing card, the fixed card convex is internally provided with the second card hole, the side of second card hole is provided with the first card hole, the fixed card slot is located at the position of the corresponding fixed card convex in side surface of gripper, the side surface of the gripper is provided with third card hole, and gripper is when grabbing machine components, it is very big to the grasping force of machine components, machine components are not easy to fall off；And lesser machine components can fall picking up inside frame in gripper bottom Yi Dan fallen off accidentally, avoid falling to ground and losing.
Description
Technical field
The invention belongs to robotic technology fields, and in particular to a kind of machine components welding crawl robot.
Background technique
Robot is to automatically control being commonly called as machine, and automatically controlling machine includes all simulation human behaviors or thought and mould
The machinery (such as robot dog, Doraemon etc.) of quasi- other biological.In the narrow sense to the definition of robot there are also many classification and dispute,
Some computer programs or even also referred to as robot.In contemporary industry, robot refers to the man-made machine that can execute task automatically
Device, to replace or assist human work.Highly emulated robot in ideal is advanced integral traffic control opinion, mechano-electronic, meter
Calculation machine and artificial intelligence can also grab machine components and carry out welding.
Existing machine components welding can not be adjusted certainly with the gripper of crawl robot according to the size of crawl part
Body size；And gripper is when grabbing machine components, and it is inadequate to the grasping force of machine components, it is easy that machine components is made to fall off；
And lesser machine components are easy the problem of falling to ground and losing after falling off, thus it is proposed that a kind of machine components weld
With crawl robot.
Summary of the invention
The purpose of the present invention is to provide a kind of machine components to weld with robot is grabbed, to solve in above-mentioned background technique
The existing machine components welding proposed can not adjust itself according to the size of crawl part with the gripper of crawl robot
Size；And gripper is when grabbing machine components, and it is inadequate to the grasping force of machine components, it is easy that machine components is made to fall off；And
Lesser machine components are easy the problem of falling to ground and losing after falling off.
To achieve the above object, the invention provides the following technical scheme: a kind of machine components welding crawl robot, packet
Gripper, gripper fixing seat, fixed arm, middle pivoted arm and rotating base are included, further includes telescoping mechanism, anti-falling mechanism and fastening machine
Structure, the telescoping mechanism are located at the side of gripper, and the telescoping mechanism includes flexible gripper, fixed card convex and fixing card
Slot, the convex side surface for being welded on flexible gripper of the fixing card, the fixed card convex is internally provided with the second card hole, described
The side of second card hole is provided with the first card hole, and the fixed card slot is located at the position of the corresponding fixed card convex in side surface of gripper
Place, the side surface of the gripper are provided with third card hole, and the anti-falling mechanism is located at the bottom of gripper, the anti-falling mechanism
Including picking up frame, fixing clasp and connecting rod, the fixing clasp is fastened on the outside of fixed arm, the fixing clasp with pick up
Frame is connected by connecting rod, and the retention mechanism is mounted on the inner surface of gripper, and the retention mechanism includes rubber boss
And adjustable spring, the gripper are internally provided with plantation rubber tongue, the adjustable spring is mounted on inside plantation rubber tongue.
Preferably, the gripper is mounted on the surface of gripper fixing seat, the other side table of the gripper fixing seat
Face is connected with interior card column, and one end of the interior card column is mounted on inside fixed arm, the link position of the fixed arm and middle pivoted arm
Place is provided with the second spin axis, is provided with the first spin axis, the rotating base at the link position of the middle pivoted arm and rotating base
Bottom be provided with firm banking.
Preferably, the is inserted by bolt after the flexible gripper and gripper are engaged by fixed card convex with fixed card slot
Two card holes are fixed with third card hole.
Preferably, first card hole, the second card hole are identical with the radius of third card hole.
Preferably, the rubber boss is a kind of cylindrical structure, and rubber boss and gripper are connected by adjustable spring
It connects.
Compared with prior art, the beneficial effects of the present invention are: machine components welding can with the gripper of crawl robot
It is very convenient to adjust itself size according to the size of crawl part；And gripper is when grabbing machine components, to machinery zero
The grasping force of part is very big, and machine components are not easy to fall off；And lesser machine components can be fallen Yi Dan fallen off accidentally in machine
Machinery claw bottom picks up inside frame, avoids falling to ground and losing.
Detailed description of the invention
Fig. 1 is robot side structure schematic diagram of the invention；
Fig. 2 picks up frame overall structure diagram for of the invention；
Fig. 3 is gripper assembly structure diagram of the invention；
Fig. 4 is gripper schematic diagram of internal structure of the invention；
In figure: 1, rubber boss；2, gripper；3, frame is picked up；4, fixing clasp；5, the first spin axis；6, rotating base；7,
Firm banking；8, middle pivoted arm；9, the second spin axis；10, fixed arm；11, interior card column；12, gripper fixing seat；13, connecting rod；
14, the first card hole；15, the second card hole；16, stretch gripper；17, fixed card convex；18, fixed card slot；19, third card hole；20,
Adjustable spring；21, plantation rubber tongue.
Specific embodiment
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 description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Fig. 1, Fig. 2, Fig. 3 and Fig. 4 are please referred to, the present invention provides a kind of technical solution: a kind of machine components welding crawl
Robot, including gripper 2, gripper fixing seat 12, fixed arm 10, middle pivoted arm 8 and rotating base 6, further include telescoping mechanism,
Anti-falling mechanism and retention mechanism, telescoping mechanism are located at the side of gripper 2, and telescoping mechanism includes flexible gripper 16, fixing card
Convex 17 and fixed card slot 18, fixed card convex 17 is welded on the side surface of flexible gripper 16, and fixed card convex 17 is internally provided with
Second card hole 15, the side of the second card hole 15 are provided with the first card hole 14, and the side surface that fixed card slot 18 is located at gripper 2 is corresponding
At the position of fixed card convex 17, the side surface of gripper 2 is provided with third card hole 19, and anti-falling mechanism is located at the bottom of gripper 2,
Anti-falling mechanism includes picking up frame 3, fixing clasp 4 and connecting rod 13, and fixing clasp 4 is fastened on the outside of fixed arm 10, fixing card
Ring 4 with pick up frame 3 and connect by connecting rod 13, retention mechanism is mounted on the inner surface of gripper 2, and retention mechanism includes rubber
Boss 1 and adjustable spring 20, gripper 2 are internally provided with plantation rubber tongue 21, and adjustable spring 20 is mounted on plantation rubber tongue
Inside 21.
Facilitate work to make to grab robot, in the present embodiment, it is preferred that gripper 2 is mounted on gripper fixing seat
12 surface, another side surface of gripper fixing seat 12 are connected with interior card column 11, and one end of interior card column 11 is mounted on fixed arm
Inside 10, the second spin axis 9, the connection of middle pivoted arm 8 and rotating base 6 are provided at the link position of fixed arm 10 and middle pivoted arm 8
The first spin axis 5 is provided at position, the bottom of rotating base 6 is provided with firm banking 7.
In order to make flexible gripper 16 facilitate secured adjusted, in the present embodiment, it is preferred that flexible gripper 16 and gripper
2 engaged by fixed card convex 17 with fixed card slot 18 after be fixed by bolt the second card hole 15 of insertion with third card hole 19.
It is inserted into the first card hole 14, the second card hole 15 and third card hole 19 in order to facilitate bolt, in the present embodiment, preferably
, the first card hole 14, the second card hole 15 are identical with the radius of third card hole 19.
In order to make rubber boss 1 facilitate fixation, in the present embodiment, it is preferred that rubber boss 1 is a kind of cylindrical structure,
And rubber boss 1 is connect with gripper 2 by adjustable spring 20.
The working principle of the invention and process for using: after the invention installs, rotating base 6 is first passed through in firm banking
7 internal rotatings adjust the horizontal direction of gripper 2, clamp machine components to be welded by gripper 2, contact in machine components
After the rubber boss 1 on 2 surface of gripper, rubber boss 1 can be squeezed, while the adjustable spring in 1 bottom end of rubber boss
Rubber boss 1 can be made tightly to clamp pipe fitting to be welded under the action of 20, pipe fitting to be welded is avoided to fall off to greatest extent, even if to be welded
Pipe fitting is touched accidentally to fall off, and can also fall to picking up inside frame 3 for 2 bottom of gripper, avoid losing, and is needing to clamp
When biggish machine components, after telescopic machine machinery claw 16 can be made to engage by fixed card convex 17 with fixed card slot 18 with gripper 2
The second card hole 15 is inserted by bolt to be fixed with third card hole 19, to increase clamping area, facilitates the biggish machinery of clamping
Part is welded, then makes interior card column 11 in 10 internal rotating of fixed arm, adjust the clamping angle of gripper 2 to machine components into
Row welding.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (5)
1. a kind of machine components welding crawl robot, including gripper (2), gripper fixing seat (12), fixed arm (10),
Middle pivoted arm (8) and rotating base (6), it is characterised in that: it further include telescoping mechanism, anti-falling mechanism and retention mechanism, it is described flexible
Mechanism is located at the side of gripper (2), and the telescoping mechanism includes flexible gripper (16), fixed card convex (17) and fixed card slot
(18), the fixed card convex (17) is welded on the side surface of flexible gripper (16), the inside setting of the fixed card convex (17)
Have the second card hole (15), the side of second card hole (15) is provided with the first card hole (14), and the fixed card slot (18) is located at
At the position of the side surface of gripper (2) corresponding fixed card convex (17), the side surface of the gripper (2) is provided with third card hole
(19), the anti-falling mechanism is located at the bottom of gripper (2), the anti-falling mechanism include pick up frame (3), fixing clasp (4) and
Connecting rod (13), the fixing clasp (4) are fastened on the outside of fixed arm (10), and the fixing clasp (4) is led to frame (3) are picked up
Connecting rod (13) connection is crossed, the retention mechanism is mounted on the inner surface of gripper (2), and the retention mechanism includes plantation rubber
Convex (1) and adjustable spring (20), the gripper (2) are internally provided with plantation rubber tongue (21), the adjustable spring (20)
It is internal to be mounted on plantation rubber tongue (21).
2. a kind of machine components welding crawl robot according to claim 1, it is characterised in that: the gripper
(2) it is mounted on the surface of gripper fixing seat (12), another side surface of the gripper fixing seat (12) is connected with interior card column
(11), one end of the interior card column (11) is mounted on fixed arm (10) inside, the connection of the fixed arm (10) and middle pivoted arm (8)
It is provided at position the second spin axis (9), is provided with the first spin axis at the link position of the middle pivoted arm (8) and rotating base (6)
(5), the bottom of the rotating base (6) is provided with firm banking (7).
3. a kind of machine components welding crawl robot according to claim 1, it is characterised in that: the flexible machinery
Pawl (16) and gripper (2) pass through after fixed card convex (17) engages with fixed card slot (18) by bolt be inserted into the second card hole (15) and
Third card hole (19) is fixed.
4. a kind of machine components welding crawl robot according to claim 1, it is characterised in that: first card hole
(14), the second card hole (15) is identical with the radius of third card hole (19).
5. a kind of machine components welding crawl robot according to claim 1, it is characterised in that: the rubber boss
It (1) is a kind of cylindrical structure, and rubber boss (1) is connect with gripper (2) by adjustable spring (20).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910159003.2A CN109865967A (en) | 2019-03-04 | 2019-03-04 | A kind of machine components welding crawl robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910159003.2A CN109865967A (en) | 2019-03-04 | 2019-03-04 | A kind of machine components welding crawl robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109865967A true CN109865967A (en) | 2019-06-11 |
Family
ID=66919603
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910159003.2A Pending CN109865967A (en) | 2019-03-04 | 2019-03-04 | A kind of machine components welding crawl robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109865967A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4861087A (en) * | 1988-07-05 | 1989-08-29 | Hughes Aircraft Company | Offset mechanical gripper |
| CN107053225A (en) * | 2017-01-25 | 2017-08-18 | 东南大学 | A kind of clamping manipulator transmitted for middle-size and small-size object and its method |
| CN206632735U (en) * | 2017-04-01 | 2017-11-14 | 程翌 | A kind of machine components capture structure |
| CN107756427A (en) * | 2017-11-23 | 2018-03-06 | 叶词贵 | A kind of damping and slide-prevention type automatic mechanical hand |
| CN207346757U (en) * | 2017-08-21 | 2018-05-11 | 江西明匠智能系统有限公司 | Clamping device |
| CN208289915U (en) * | 2017-12-26 | 2018-12-28 | 陈宇昕 | A kind of manipulator for preventing workpiece from falling off |
-
2019
- 2019-03-04 CN CN201910159003.2A patent/CN109865967A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4861087A (en) * | 1988-07-05 | 1989-08-29 | Hughes Aircraft Company | Offset mechanical gripper |
| CN107053225A (en) * | 2017-01-25 | 2017-08-18 | 东南大学 | A kind of clamping manipulator transmitted for middle-size and small-size object and its method |
| CN206632735U (en) * | 2017-04-01 | 2017-11-14 | 程翌 | A kind of machine components capture structure |
| CN207346757U (en) * | 2017-08-21 | 2018-05-11 | 江西明匠智能系统有限公司 | Clamping device |
| CN107756427A (en) * | 2017-11-23 | 2018-03-06 | 叶词贵 | A kind of damping and slide-prevention type automatic mechanical hand |
| CN208289915U (en) * | 2017-12-26 | 2018-12-28 | 陈宇昕 | A kind of manipulator for preventing workpiece from falling off |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104875211B (en) | A kind of manipulator end clamping, pickup, adsorption combined device | |
| CN206383158U (en) | A kind of sucker gripper with buffer unit | |
| CN104772766B (en) | A kind of robot clamp handgrip | |
| CN108582121A (en) | A kind of bulb pick device of hydraulic oil cylinder driving | |
| CN104768361A (en) | Component taking and inserting device and fully-automatic inserting machine | |
| CN104552327A (en) | Inferior pot seedling removing and transplanting packaged type clamping end executor | |
| CN205600722U (en) | Small -size formula manipulator device that snatchs | |
| CN108582139A (en) | A kind of stable humanoid robot clamping jaw | |
| CN205602692U (en) | Multirow sucking disc tong | |
| CN110238488A (en) | Vision guide bonding machine | |
| CN109865967A (en) | A kind of machine components welding crawl robot | |
| CN207596039U (en) | Cover board fetching device | |
| CN108705554A (en) | A kind of three station loading and unloading manipulators | |
| CN208358375U (en) | A kind of cylinder cap gripper equipment of manipulator | |
| CN210704885U (en) | Vision integration clamping device with sucker structure | |
| CN205320543U (en) | A manipulator that is used for whole row of transplanter to get seedling | |
| CN207696529U (en) | A kind of robot gripper of high security | |
| CN207643156U (en) | A kind of positioning clamping jaw device | |
| CN207344621U (en) | A kind of anti-shake robot cleft hand | |
| CN109514242A (en) | A kind of feeding device for valve deck Automated assembly | |
| CN209240067U (en) | A kind of flexible manipulator material catching apparatus | |
| CN208395414U (en) | A kind of industrial robot wrapping cloth automation equipment | |
| CN108381596A (en) | A kind of manipulator | |
| CN207942412U (en) | Pre- hasp handgrip | |
| CN208196763U (en) | A kind of intelligence automatic transporting machine people |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20190611 |