CN110281261B - A goods grabbing device for industrial robot - Google Patents
A goods grabbing device for industrial robot Download PDFInfo
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- CN110281261B CN110281261B CN201910685483.6A CN201910685483A CN110281261B CN 110281261 B CN110281261 B CN 110281261B CN 201910685483 A CN201910685483 A CN 201910685483A CN 110281261 B CN110281261 B CN 110281261B
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- 230000007246 mechanism Effects 0.000 claims abstract description 14
- 238000000034 method Methods 0.000 claims abstract description 4
- 230000002787 reinforcement Effects 0.000 claims abstract 2
- 230000009471 action Effects 0.000 claims description 4
- 230000008569 process Effects 0.000 claims description 3
- 238000000926 separation method Methods 0.000 claims description 3
- 210000003437 trachea Anatomy 0.000 claims 1
- 230000009977 dual effect Effects 0.000 abstract 1
- 230000006641 stabilisation Effects 0.000 abstract 1
- 238000011105 stabilization Methods 0.000 abstract 1
- 230000003014 reinforcing effect Effects 0.000 description 4
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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- 239000007779 soft material Substances 0.000 description 1
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- 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
- B25J15/0028—Gripping heads and other end effectors with movable, e.g. pivoting gripping jaw surfaces
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- 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
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- 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
- B25J15/08—Gripping heads and other end effectors having finger members
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Abstract
The invention discloses a cargo grabbing device for an industrial robot, which comprises a supporting frame, wherein a double-shaft motor is arranged in the supporting frame, a first screw rod and a second screw rod are arranged on output shafts on two sides of the double-shaft motor, a first clamping plate is sleeved on the first screw rod, a limiting mechanism is arranged between the first clamping plate and the supporting frame, the bottom ends of the inner parts of the first clamping plate and the second clamping plate are respectively provided with a plurality of through holes, a frame body is arranged on one side of the first clamping plate and the second clamping plate, an auxiliary clamping device is arranged at the bottom end of the inner part of the frame body, a driving motor is arranged at the top end of one side of the inner part of the frame body, and the driving motor and the auxiliary clamping device are. Has the advantages that: job stabilization can carry out dual reinforcement to the goods at the in-process of snatching, avoids causing the emergence of the goods condition that drops, convenient to use, easy operation, work efficiency is high.
Description
Technical Field
The invention relates to the technical field of industrial robots, in particular to a cargo gripping device for an industrial robot.
Background
With the continuous development of science and technology, various industrial robots used in industry are in daily production. The industrial robot has the advantages of high working efficiency, good safety performance, low cost and high production and processing precision. The goods grabbing device of industrial robot often used in production grabs and transports goods, but the current goods grabbing device for industrial robot still has certain not enough when using. The existing cargo gripping device for the industrial robot is simple in structure, insufficient in stability when gripping objects, and the cargo often drops, so that the cargo is damaged. The grabbing device can not generate strong pressure and friction force with the goods, and the goods are easy to fall off.
An effective solution to the problems in the related art has not been proposed yet.
Disclosure of Invention
The present invention is directed to a cargo gripping device for an industrial robot to overcome the above-mentioned problems of the related art.
Therefore, the invention adopts the following specific technical scheme:
a goods gripping device for an industrial robot comprises a supporting frame, wherein a connector is arranged at the top end of the supporting frame, a rotating head is arranged at the top end of the connector, connecting flanges are respectively arranged on two sides of the top end of the rotating head, a double-shaft motor is arranged in the supporting frame, the double-shaft motor is fixedly connected with the supporting frame through a motor fixing frame, a first screw rod and a second screw rod are respectively and sequentially arranged on output shafts on two sides of the double-shaft motor, a first clamping plate is sleeved on the first screw rod, a first screw hole matched with the first screw rod is formed in the middle position of the top end of the first clamping plate, a second clamping plate is sleeved on the second screw rod, a second screw hole matched with the second screw rod is formed in the middle position of the top end of the second clamping plate, a limiting mechanism is arranged between the first clamping plate and the supporting frame, and a plurality of through holes are, the side, away from the supporting frame, of each of the first clamping plate and the second clamping plate is respectively provided with a frame body, the bottom end inside each frame body is provided with an auxiliary clamping device which is inserted into the first clamping plate and the second clamping plate, the top end of one side inside each frame body is provided with a driving motor, and the driving motor and the auxiliary clamping device are connected in a matched mode through a pulley block, wherein the limiting mechanism is composed of a first limiting plate, a second limiting plate, a first sliding groove and a second sliding block, one side of the first limiting plate is provided with a first sliding groove matched with the first sliding block, one side of the second limiting plate is provided with a second sliding groove matched with the second sliding block, the first limiting plate is positioned on two sides of one end of the supporting frame, the second limiting plate is positioned on two sides of the other end of the supporting frame, the first sliding block is positioned on the top ends, the auxiliary clamping device is composed of a push rod, a sucker, a spring, a limiting frame and an air pump, wherein the sucker is located at one end of the push rod, the spring is sleeved on the push rod, the other end of the push rod is inserted into the limiting frame, the air pump is connected with the sucker through an air pipe, and the push rod is connected with the driving motor and the pulley block through a traction rope in a matched mode.
Furthermore, a plurality of reinforcing rods are arranged between the first limiting plate and the supporting frame, and between the second limiting plate and the supporting frame.
Furthermore, one ends, far away from the double-shaft motor, of the first screw rod and the second screw rod are respectively provided with a limiting head.
Furthermore, a first guide roller, a second guide roller and a third guide roller are sequentially arranged between the auxiliary clamping device and the pulley block.
Furthermore, the assembly pulley comprises fixed pulley, movable pulley and couple, the fixed pulley passes through the mounting panel to be fixed at the inside top of framework, the couple is located the bottom of the fixed plate of movable pulley one side.
Furthermore, a buffer washer is arranged between the double-shaft motor and the motor fixing frame, and buffer gaskets are respectively arranged on one sides of the first clamping plate and the second clamping plate.
Furthermore, pressure sensors are respectively arranged in the middle positions of one sides of the first clamping plate and the second clamping plate.
Further, the working process comprises the following steps:
the control system controls the gripping device to move to a specified position and controls the first clamping plate and the second clamping plate to move to the outermost ends of the first screw rod and the second screw rod;
the double-shaft motor is controlled to rotate, so that the screw rod I and the screw rod II are driven to rotate, and the limiting mechanism can limit the longitudinal positions of the clamping plate I and the clamping plate II, so that two pairs of goods are grabbed by the clamping plate I and the clamping plate II;
the first clamping plate and the second clamping plate can be buffered with the goods through the buffer gaskets, so that the goods are prevented from being damaged, the pressure generated by the goods in the first clamping plate and the second clamping plate can be sensed through the pressure sensor, and different pressures can be applied according to the goods with different weights;
when the goods are clamped by the first clamping plate and the second clamping plate, the driving motor rotates to drive the movable pulley and the hook to move downwards, and the push rod and the sucker are pushed towards the goods direction under the action of the spring, so that the sucker is in contact with the surface of the goods;
at the moment, the air extracting pump is started to extract air, so that the sucking disc is tightly sucked with the goods, the goods can be further fixed, the stability of the goods is improved, and the goods are prevented from falling;
after delivering the goods to the assigned position, the aspiration pump exhausts, and sucking disc and goods separation, driving motor reversal drive movable pulley and couple upward movement, and then can be through the haulage rope with push rod and sucking disc to the inside pulling of spacing frame, then control the double-shaft motor reversal for splint one and splint two to outside motion can put down the goods.
The invention has the beneficial effects that: through setting up the rotating head, thereby can realize that this grabbing device can carry out 360 rotations, through setting up the biax motor, screw rod one and screw rod two, thereby can drive splint one and splint two and move, and then can press from both sides the goods and get, through setting up stop gear, thereby can prescribe a limit to splint one and splint two's longitudinal position, through setting up supplementary clamping device, thereby can carry out one step and press from both sides tightly the goods, improve the stability that the goods snatched, avoid the goods to take place to drop and cause the damage to the goods, through setting up the assembly pulley, thereby can reduce the pulling force by the biggest possibility.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic structural view of a cargo gripping device for an industrial robot according to an embodiment of the present invention;
fig. 2 is a top view of a cargo gripping device for an industrial robot according to an embodiment of the present invention;
fig. 3 is a schematic view of a connection of a support frame and a two-axis motor of a cargo gripping device for an industrial robot according to an embodiment of the present invention.
In the figure:
1. a support frame; 2. a connector; 3. rotating the head; 4. a connecting flange; 5. a double-shaft motor; 6. a motor fixing frame; 7. a first screw rod; 8. a second screw; 9. a first clamping plate; 10. a first screw hole; 11. a second clamping plate; 12. a second screw hole; 13. a limiting mechanism; 14. a through hole; 15. a frame body; 16. an auxiliary clamping device; 17. a drive motor; 18. a pulley block; 19. a first limiting plate; 20. a second limiting plate; 21. a first sliding block; 22. a second sliding block; 23. a first sliding chute; 24. a second chute; 25. a reinforcing rod; 26. a limiting head; 27. a push rod; 28. a suction cup; 29. a spring; 30. a limiting frame; 31. an air pump; 32. an air tube; 33. a hauling rope; 34. a first guide roller; 35. a second guide roller; 36. a third guide roller; 37. a fixed pulley; 38. a movable pulley; 39. hooking; 40. mounting a plate; 41. a fixing plate; 42. a cushion washer; 43. a cushion pad; 44. a pressure sensor.
Detailed Description
For further explanation of the various embodiments, the drawings which form a part of the disclosure and which are incorporated in and constitute a part of this specification, illustrate embodiments and, together with the description, serve to explain the principles of operation of the embodiments, and to enable others of ordinary skill in the art to understand the various embodiments and advantages of the invention, and, by reference to these figures, reference is made to the accompanying drawings, which are not to scale and wherein like reference numerals generally refer to like elements.
According to an embodiment of the invention, a goods gripping device for an industrial robot is provided.
The first embodiment is as follows:
as shown in fig. 1-3, the goods gripping device for an industrial robot according to the embodiment of the invention comprises a supporting frame 1, a connecting head 2 is arranged at the top end of the supporting frame 1, a rotating head 3 is arranged at the top end of the connecting head 2, connecting flanges 4 are respectively arranged at two sides of the top end of the rotating head 3, a double-shaft motor 5 is arranged inside the supporting frame 1, the double-shaft motor 5 is fixedly connected with the supporting frame 1 through a motor fixing frame 6, a screw rod I7 and a screw rod II 8 are respectively arranged on output shafts at two sides of the double-shaft motor 5 in sequence, a clamping plate I9 is sleeved on the screw rod I7, a screw hole I10 matched with the screw rod I7 is arranged at the middle position of the top end of the clamping plate I9, a clamping plate II 11 is sleeved on the screw rod II 8, a screw hole II 12 matched with the screw rod II 8 is, a limiting mechanism 13 is arranged between the first clamping plate 9 and the second clamping plate 11 and the supporting frame 1, a plurality of through holes 14 are respectively formed in the bottom ends of the interior of the first clamping plate 9 and the interior of the second clamping plate 11, a frame body 15 is respectively arranged on one side, far away from the supporting frame 1, of the first clamping plate 9 and the second clamping plate 11, an auxiliary clamping device 16 penetrating and inserting the first clamping plate 9 and the second clamping plate 11 is arranged at the bottom end of the interior of the frame body 15, a driving motor 17 is arranged at the top end of one side of the interior of the frame body 15, the driving motor 17 and the auxiliary clamping device 16 are connected in a matched mode through a pulley block 18, wherein the limiting mechanism 13 is composed of a first limiting plate 19, a second limiting plate 20, a first sliding block 21 and a second sliding block 22, a first sliding groove 23 matched with the first sliding block 21 is arranged on one side of the first limiting plate 19, and a second sliding groove 24, the first limiting plate 19 is located on two sides of one end of the supporting frame 1, the second limiting plate 20 is located on two sides of the other end of the supporting frame 1, the first slider 21 is located on the top ends of two sides of the first clamping plate 9, the second slider 22 is located on the top ends of two sides of the second clamping plate 11, and through arranging the limiting mechanism 13, the first clamping plate 9 and the second clamping plate 11 can be longitudinally limited, the auxiliary clamping device 16 is composed of a push rod 27, a suction cup 28, a spring 29, a limiting frame 30 and an air suction pump 31, the suction cup 28 is located at one end of the push rod 27, the spring 29 is sleeved on the push rod 27, the other end of the push rod 27 is inserted into the limiting frame 30, the air suction pump 31 is connected with the suction cup 28 through an air pipe 32, and the push rod 27 is connected with the driving motor 17 and the pulley block 18 through a traction rope 33 in, through setting up supplementary clamping device 16 to can further press from both sides tightly the goods, avoid the goods to drop.
In one embodiment, a plurality of reinforcing rods 25 are arranged between the first limiting plate 19 and the second limiting plate 20 and the supporting frame 1, and by arranging the reinforcing rods 25, the stability of connection between the first limiting plate 19 and the second limiting plate 20 and the supporting frame 1 can be improved, and the stability of the whole grabbing device can be improved.
In one embodiment, the ends of the first screw 7 and the second screw 8, which are far away from the double-shaft motor 5, are respectively provided with a limiting head 26, so that the first clamping plate 9 and the second clamping plate 11 can be prevented from falling off the first screw 7 and the second screw 8.
In one embodiment, a first guiding roller 34, a second guiding roller 35 and a third guiding roller 36 are respectively arranged between the auxiliary clamping device 16 and the pulley block 18 in sequence, so that the traction rope 33 can be guided.
In one embodiment, the pulley block 18 is composed of a fixed pulley 37, a movable pulley 38 and a hook 39, the fixed pulley 37 is fixed at the top end inside the frame 15 through a mounting plate 40, and the hook 39 is located at the bottom end of a fixed plate 41 on the side of the movable pulley 38, so that the maximum labor saving is realized.
In one embodiment, a buffer gasket 42 is arranged between the double-shaft motor 5 and the motor fixing frame 6, and buffer gaskets 43 are respectively arranged on one sides of the first clamping plate 9 and the second clamping plate 11, so that a buffering effect can be achieved, and damage to goods is avoided.
In one embodiment, the pressure sensors 44 are respectively arranged at the middle positions of one sides of the first clamping plate 9 and the second clamping plate 11, so that the pressure of the first clamping plate 9 and the second clamping plate 11 on the goods can be sensed.
In one embodiment, the working process comprises the following steps:
the control system controls the gripping device to move to a specified position and controls the first clamping plate 9 and the second clamping plate 11 to move to the outermost ends of the first screw rod 7 and the second screw rod 8;
the double-shaft motor 5 is controlled to rotate, so that the screw rod I7 and the screw rod II 8 are driven to rotate, the limiting mechanism 13 can limit the longitudinal positions of the clamping plate I9 and the clamping plate II 11, and the clamping plate I9 and the clamping plate II 11 can grab goods;
the first clamping plate 9 and the second clamping plate 11 can be buffered with the goods through the buffer gaskets 43, so that the goods are prevented from being damaged, the pressure generated by the first clamping plate 9 and the second clamping plate 11 on the goods can be sensed through the pressure sensors 44, and different pressures can be applied according to the goods with different weights;
when the first clamping plate 9 and the second clamping plate 11 clamp the goods, the driving motor 17 rotates to drive the movable pulley 38 and the hook 39 to move downwards, and the push rod 27 and the suction disc 28 are pushed towards the goods by the action of the spring 29, so that the suction disc 28 is in contact with the surface of the goods;
at this time, the air extracting pump 31 is started to extract air, so that the suction disc 28 is tightly sucked with the goods, the goods can be further fixed, the stability of the goods is improved, and the goods are prevented from falling;
after the goods are conveyed to the designated position, the air suction pump 31 exhausts air, the suction disc 28 is separated from the goods, the driving motor 17 rotates reversely to drive the movable pulley 38 and the hook 39 to move upwards, the push rod 27 and the suction disc 28 can be pulled towards the inside of the limiting frame 30 through the traction rope 33, then the double-shaft motor 5 is controlled to rotate reversely, the first clamping plate 9 and the second clamping plate 11 move towards the outside, and the goods can be put down.
By means of the above technical scheme, through setting up the rotating head 3, thereby can realize that this grabbing device can carry out 360 rotations, through setting up double-shaft motor 5, screw rod 7 and screw rod two 8, thereby can drive splint one 9 and splint two 11 and move, and then can press from both sides the goods and get, through setting up stop gear 13, thereby can prescribe a limit to splint one 9 and splint two 11's longitudinal position, through setting up supplementary clamping device 16, thereby can carry out one step and press from both sides tightly the goods, improve the stability that the goods snatched, avoid the goods to take place to drop and cause the damage to the goods, through setting up assembly pulley 18, thereby can reduce the pulling force by the biggest possibility.
The working principle is as follows:
the control system controls the grabbing device to move to a specified position, controls the first clamping plate 9 and the second clamping plate 11 to move to the outermost ends of the first screw rod 7 and the second screw rod 8, controls the double-shaft motor 5 to rotate, so as to drive the first screw rod 7 and the second screw rod 8 to rotate, the limiting mechanism 13 can limit the longitudinal positions of the first clamping plate 9 and the second clamping plate 11, so that the first clamping plate 9 and the second clamping plate 11 grab the goods, the first clamping plate 9, the second clamping plate 11 and the goods can be buffered through the buffer gasket 43, damage to the goods is avoided, pressure generated by the first clamping plate 9 and the second clamping plate 11 on the goods can be sensed through the pressure sensor 44, different pressures can be applied according to the goods with different weights, after the first clamping plate 9 and the second clamping plate 11 clamp the goods, the driving motor 17 rotates, the movable pulley 38 and the hook 39 are driven to move downwards, and under the action of the, promote push rod 27 and sucking disc 28 to the goods direction, make sucking disc 28 and goods surface contact, at this moment, start aspiration pump 31 and bleed, make sucking disc 28 and goods inhale tightly, thereby can further fix the goods, improve the stability of goods, avoid the goods to take place the condition that drops, send the goods to the assigned position after, aspiration pump 31 exhausts, sucking disc 28 and goods separation, driving motor 17 reverses, drive movable pulley 38 and couple 39 upward movement, and then can pass through haulage rope 33 with push rod 27 and sucking disc 28 to the inside pulling of stop frame 30, then control double-shaft motor 5 reverses, make splint one 9 and splint two 11 move to the outside, can put down the goods.
The auxiliary clamping devices 16 are respectively provided with three groups on the first clamping plate 9 and the second clamping plate 11, and the three groups of auxiliary clamping devices 16 are on the same horizontal line and are independently controlled, so that the auxiliary clamping devices can be adapted to regular goods and irregular goods, and the stability of the goods is effectively improved.
The frame body 15 is made of aluminum alloy, so that the weight of the frame body 15 can be reduced to the maximum extent, and the influence on the use of the industrial robot due to too heavy weight is avoided.
In summary, according to the technical scheme of the invention, the rotating head 3 is arranged, so that the grabbing device can rotate by 360 degrees, the double-shaft motor 5, the screw rod I7 and the screw rod II 8 are arranged, so that the clamping plate I9 and the clamping plate II 11 can be driven to move, and further goods can be clamped, the limiting mechanism 13 is arranged, so that the longitudinal positions of the clamping plate I9 and the clamping plate II 11 can be limited, the auxiliary clamping device 16 is arranged, so that the goods can be clamped in one step, the stability of grabbing the goods is improved, the goods are prevented from being damaged due to falling, and the pulley block 18 is arranged, so that the pulling force can be reduced to the greatest extent.
In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "disposed," "connected," "secured," "screwed" and the like are to be construed broadly, e.g., as meaning fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; the terms may be directly connected or indirectly connected through an intermediate, and may be communication between two elements or interaction relationship between two elements, unless otherwise specifically limited, and the specific meaning of the terms in the present invention will be understood by those skilled in the art according to specific situations.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (8)
1. The goods gripping device for the industrial robot is characterized by comprising a supporting frame (1), wherein a connector (2) is arranged at the top end of the supporting frame (1), a rotating head (3) is arranged at the top end of the connector (2), connecting flanges (4) are respectively arranged on two sides of the top end of the rotating head (3), a double-shaft motor (5) is arranged inside the supporting frame (1), the double-shaft motor (5) is fixedly connected with the supporting frame (1) through a motor fixing frame (6), a first screw rod (7) and a second screw rod (8) are respectively and sequentially arranged on output shafts on two sides of the double-shaft motor (5), a first clamping plate (9) is sleeved on the first screw rod (7), a first screw hole (10) matched with the first screw rod (7) is arranged at the middle position of the top end of the first clamping plate (9), a second clamping plate (11) is sleeved on the second screw rod (8), a screw hole II (12) matched with the screw rod II (8) is formed in the middle of the top end of the clamp plate II (11), a limiting mechanism (13) is arranged between the clamp plate I (9) and the clamp plate II (11) and the supporting frame (1), a plurality of through holes (14) are respectively formed in the bottom ends of the interior of the clamp plate I (9) and the interior of the clamp plate II (11), a frame body (15) is respectively arranged on one side, far away from the supporting frame (1), of the clamp plate I (9) and the side, far away from the supporting frame (1), of the clamp plate II (11), an auxiliary clamping device (16) inserted in the clamp plate I (9) and the clamp plate II (11) is arranged at the bottom end of one side of the interior of the frame body (15), a driving motor (17) is arranged at the top end of one side of the interior of the frame body (15), and the driving motor (17, wherein, the limiting mechanism (13) is composed of a first limiting plate (19), a second limiting plate (20), a first slider (21) and a second slider (22), one side of the first limiting plate (19) is provided with a first sliding chute (23) matched with the first slider (21), one side of the second limiting plate (20) is provided with a second sliding chute (24) matched with the second slider (22), the first limiting plate (19) is positioned at two sides of one end of the supporting frame (1), the second limiting plate (20) is positioned at two sides of the other end of the supporting frame (1), the first slider (21) is positioned at the top ends of two sides of the first clamping plate (9), the second slider (22) is positioned at the top ends of two sides of the second clamping plate (11), and the auxiliary clamping device (16) is composed of a push rod (27), a sucking disc (28), a spring (29), a limiting frame (30) and an air pump (31), sucking disc (28) are located the one end of push rod (27), spring (29) cover is established on push rod (27), the other end of push rod (27) alternate in the inside of spacing frame (30), aspiration pump (31) with connect through trachea (32) between sucking disc (28), push rod (27) with driving motor (17) and cooperate through haulage rope (33) between assembly pulley (18) and connect.
2. A goods gripping device for an industrial robot according to claim 1, characterized in that reinforcement bars (25) are arranged between the first and second limit plates (19, 20) and the support frame (1).
3. A goods gripping device for an industrial robot according to claim 1, characterized in that the ends of the first screw (7) and the second screw (8) remote from the two-axis motor (5) are each provided with a stopper head (26).
4. A goods gripping device for an industrial robot according to claim 1, characterized in that between the auxiliary gripping device (16) and the pulley block (18) are arranged in sequence a first guide roll (34), a second guide roll (35) and a third guide roll (36), respectively.
5. A cargo gripping device for an industrial robot according to claim 1 characterized in that the pulley block (18) is formed by a fixed pulley (37), a movable pulley (38) and a hook (39), the fixed pulley (37) being fixed to the top end inside the frame (15) by a mounting plate (40), the hook (39) being located at the bottom end of a fixed plate (41) on the side of the movable pulley (38).
6. A goods gripping device for an industrial robot according to claim 1, characterized in that a buffer washer (42) is arranged between the two-axis motor (5) and the motor holder (6), and a buffer washer (43) is arranged on each of the sides of the first clamping plate (9) and the second clamping plate (11).
7. A cargo gripping device for an industrial robot according to claim 1 characterized in that a pressure sensor (44) is provided in each of the intermediate positions on one side of the first clamping plate (9) and the second clamping plate (11).
8. A goods gripping device for an industrial robot according to claim 1, the working process of which comprises the following steps:
the control system controls the gripping device to move to a specified position and controls the first clamping plate (9) and the second clamping plate (11) to move to the outermost ends of the first screw rod (7) and the second screw rod (8);
the double-shaft motor (5) is controlled to rotate, so that the screw rod I (7) and the screw rod II (8) are driven to rotate, the limiting mechanism (13) can limit the longitudinal positions of the clamp plate I (9) and the clamp plate II (11), and the clamp plate I (9) and the clamp plate II (11) can grab goods;
the first clamping plate (9), the second clamping plate (11) and the goods can be buffered through the buffer gaskets (43), damage to the goods is avoided, pressure generated by the first clamping plate (9) and the second clamping plate (11) to the goods can be sensed through the pressure sensors (44), and different pressures can be applied according to the goods with different weights;
when the first clamping plate (9) and the second clamping plate (11) clamp the goods, the driving motor (17) rotates to drive the movable pulley (38) and the hook (39) to move downwards, and the push rod (27) and the suction disc (28) are pushed towards the goods direction under the action of the spring (29), so that the suction disc (28) is in contact with the surface of the goods;
at the moment, the air suction pump (31) is started to suck air, so that the suction disc (28) is tightly sucked with the goods, the goods can be further fixed, the stability of the goods is improved, and the goods are prevented from falling;
after sending the goods to the assigned position, aspiration pump (31) are discharged, sucking disc (28) and goods separation, driving motor (17) reversal, drive movable pulley (38) and couple (39) upward movement, and then can be through haulage rope (33) with push rod (27) and sucking disc (28) to the inside pulling of spacing frame (30), then control biax motor (5) reversal for splint one (9) and splint two (11) move to the outside, can put the goods down.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910685483.6A CN110281261B (en) | 2019-07-27 | 2019-07-27 | A goods grabbing device for industrial robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910685483.6A CN110281261B (en) | 2019-07-27 | 2019-07-27 | A goods grabbing device for industrial robot |
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| CN110281261A CN110281261A (en) | 2019-09-27 |
| CN110281261B true CN110281261B (en) | 2021-05-28 |
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| CN201910685483.6A Active CN110281261B (en) | 2019-07-27 | 2019-07-27 | A goods grabbing device for industrial robot |
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|---|---|---|---|---|
| CN110576454B (en) * | 2019-10-16 | 2023-06-13 | 河南工程学院 | Pressure-adjustable clamping robot |
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Effective date of registration: 20240923 Address after: No. 36, Weier Second Road, Wanchun Street, Wuhu Economic and Technological Development Zone, Wuhu City, Anhui Province 241000 Patentee after: Wuhu Zhongpu Intelligent Equipment Co.,Ltd. Country or region after: China Address before: 4 / F, building 9, No. 100 Tianjiao Road, Qilin hi tech Industrial Development Zone, Nanjing, Jiangsu Province 211100 Patentee before: Nanjing Creep Internet of Things Technology Co.,Ltd. Country or region before: China |