CN110561477A - Grabbing device for robot convenient to dismouting - Google Patents
Grabbing device for robot convenient to dismouting Download PDFInfo
- Publication number
- CN110561477A CN110561477A CN201910880922.9A CN201910880922A CN110561477A CN 110561477 A CN110561477 A CN 110561477A CN 201910880922 A CN201910880922 A CN 201910880922A CN 110561477 A CN110561477 A CN 110561477A
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- CN
- China
- Prior art keywords
- plate
- fixedly connected
- holes
- screw rod
- dismouting
- 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.)
- Withdrawn
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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
- B25J15/08—Gripping heads and other end effectors having finger members
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a grabbing device for a robot, which is convenient to disassemble and assemble and comprises a mechanical connecting arm, wherein the lower end of the mechanical connecting arm is fixedly connected with an installation seat, a screw rod is arranged at the middle position of the left end and the right end of the installation seat, one end of the screw rod, which is close to the installation seat, is rotatably connected with a bearing plate, one end of the bearing plate, which faces the middle of the installation seat, is fixedly connected with a motor, an output shaft of the motor penetrates through the bearing plate and is fixedly connected with the screw rod, a nut seat is arranged on the annular outer side of the screw rod through a ball nut pair, the lower end of the nut seat is fixedly connected with a U-shaped installation plate, a grabbing piece is arranged at the lower end of the U-shaped installation plate, one end of the U-shaped installation plate, which, this design realizes the quick assembly disassembly of tongs spare, convenient to use increases application range.
Description
Technical Field
The invention discloses a grabbing device for a robot, which is convenient to disassemble and assemble and belongs to the technical field of robot equipment.
Background
In the existing logistics transportation, objects are generally required to be grabbed and stacked before being transported, but the existing stacking is large in size or weight, more and more in customer demand, and the traditional manual stacking mode and the traditional transportation labor intensity are extremely large, the production rhythm is slow, the cost is high, and the efficiency is low; in order to improve the efficiency, the robot is adopted to grab the stacking form and then the stacking is carried out.
The claw arm of the grabbing device for the robot in the prior art is usually installed in a threaded mode, the size of the claw arm is fixed, but the size of an article is different, so that the claw arm needs to be replaced frequently, the installation and the disassembly in the threaded mode are difficult, phenomena such as thread slipping occur frequently in addition, the use work is influenced, and the grabbing device for the robot convenient to disassemble and assemble is needed to be designed to solve the problems.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a grabbing device for a robot, which is convenient to disassemble and assemble, and aims to solve the problems that the claw arms in the background technology are fixed in size, but the sizes of articles are different, so that the claw arms are required to be replaced frequently, the claw arms are difficult to assemble and disassemble in a thread mode, and the use work is influenced due to the phenomena of thread slipping and the like.
In order to achieve the purpose, the invention is realized by the following technical scheme: a grabbing device convenient for disassembly and assembly for a robot comprises a mechanical connecting arm, wherein the lower end of the mechanical connecting arm is fixedly connected with a mounting seat, screw rods are arranged at the middle positions of the left end and the right end of the mounting seat, the screw rods are close to one end of the mounting seat and are rotatably connected with a bearing plate, the bearing plate is detachably connected in the mounting seat, one end of the bearing plate, facing the middle of the mounting seat, is fixedly connected with a motor, the motor is positioned in the mounting seat, an output shaft of the motor penetrates through the bearing plate and is fixedly connected with the screw rods, a nut seat is arranged on the annular outer side of each screw rod through a ball nut pair, the lower end of the nut seat is fixedly connected with a U-shaped mounting plate, a grabbing piece is arranged at the lower end of the U-shaped mounting plate and extends into the U-shaped mounting plate, the fly leaf is close to two at least inserted bars of U type mounting panel one end fixed connection and inserted bar runs through U type mounting panel and grab arm spare, the inserted bar annular outside sets up the spring.
Further, both ends all set up and place the recess about the mount pad, both ends all set up draw-in groove and set up on the mount pad about placing the recess, place inside motor and the loading board of setting up of recess, both ends all set up the draw-in groove and extend into inside the draw-in groove about the loading board.
Furthermore, two threaded holes are symmetrically formed in the upper end of the bearing plate, two second through holes are symmetrically formed in the upper end of the clamping groove in the upper side, the second through holes are formed in the upper end of the mounting seat, and the second through holes are overlapped with the center lines of the threaded holes.
Furthermore, one end, far away from the mounting seat, of the bearing plate is symmetrically and fixedly connected with two guide rods, the two guide rods are located on the front side and the rear side of the screw rod, and the two guide rods penetrate through the nut seat and the nut seat can move along the guide rods.
Furthermore, one end of the screw rod, which is far away from the bearing plate, and one end of the guide rod, which is far away from the bearing plate, are fixedly connected with the limiting disc.
Furthermore, the movable plate is fixedly connected with the handle at the middle position of one end, far away from the spring.
further, the grab arm spare includes the connecting plate and supports the picture peg, the connecting plate upper end sets up U type mounting panel and extends into in the U type mounting panel, the support picture peg is arranged perpendicularly to connecting plate lower extreme fixed connection, the equal fixed connection baffle in both ends and baffle and connecting plate fixed connection around the support picture peg, support the picture peg upper end and be close to the inclined plane of seting up outer high inland in mount pad one side.
Furthermore, one end, far away from the inclined plane, of the connecting plate is fixedly connected with the reinforcing plate, and the reinforcing plate is fixedly connected with the supporting insertion plate.
Furthermore, at least two third through holes are formed in the edge position of the upper portion of the connecting plate, two first through holes are formed in the left end and the right end of each third through hole, the two first through holes are symmetrically formed in the left end and the right end of the U-shaped mounting plate, and the inserting rod penetrates through the two first through holes and the third through holes.
Furthermore, a semicircular head is arranged at one end, far away from the movable plate, of the inserting rod.
The invention has the beneficial effects that: according to the grabbing device for the robot, disclosed by the invention, 1, when the grabbing arm piece needs to be replaced, the movable plate is pulled outwards firstly, the spring is stretched, the spring generates elasticity, in addition, in the outward movement process of the movable plate, the insertion rod is driven to move outwards, the insertion rod is further separated from the grabbing arm piece, the grabbing arm piece is detached from the U-shaped mounting plate, a new grabbing arm piece is inserted into the U-shaped mounting plate, the insertion rod is moved inwards under the action of the spring, and the insertion rod penetrates through the grabbing arm piece and the U-shaped mounting plate again, so that the grabbing arm piece is rapidly detached, the use is convenient, and the application range is enlarged.
2. Fix the motor to the loading board on, clamp the loading board through two draw-in grooves again and adorn and place the recess to realize installing the motor in placing the recess, realize the dismouting of motor, be convenient for maintain.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic structural view of a gripping device for a robot according to the present invention, which is easy to disassemble and assemble;
FIG. 2 is a cross-sectional view of a robot gripping device of the present invention for easy disassembly and assembly;
FIG. 3 is a schematic view of a mounting seat of the gripping device for a robot according to the present invention;
FIG. 4 is a schematic view of a loading plate in the grabbing device for a robot of the invention, which is convenient to disassemble and assemble;
FIG. 5 is a schematic view of a U-shaped mounting plate of the grabbing device for a robot, which is convenient to disassemble and assemble;
FIG. 6 is a schematic view of an insertion rod of the grabbing device for a robot easy to disassemble and assemble according to the present invention;
Fig. 7 is a schematic view of a grabbing arm member of the grabbing device for the robot, which is convenient to disassemble and assemble according to the invention;
In the figure: 1-mounting seat, 2-mechanical connecting arm, 3-motor, 4-bearing plate, 5-screw rod, 6-nut seat, 7-movable plate, 8-spring, 9-inserted bar, 10-U-shaped mounting plate, 11-grab arm piece, 41-guide bar, 100-first through hole, 101-placing groove, 102-second through hole, 103-clamping groove, 111-connecting plate, 112-supporting inserted plate, 113-baffle plate, 114-inclined surface and 115-third through hole.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
Referring to fig. 1-7, the present invention provides a technical solution: a grabbing device for a robot convenient to disassemble and assemble comprises a mechanical connecting arm 2, wherein the lower end of the mechanical connecting arm 2 is fixedly connected with an installation seat 1, screw rods 5 are arranged at the middle positions of the left end and the right end of the installation seat 1 respectively, one end of each screw rod 5 close to the installation seat 1 is rotatably connected with a bearing plate 4, the bearing plate 4 is detachably connected in the installation seat 1, one end of each bearing plate 4, facing the middle of the installation seat 1, is fixedly connected with a motor 3, the motor 3 is positioned in the installation seat 1, an output shaft of the motor 3 penetrates through the corresponding bearing plate 4 and is fixedly connected with the corresponding screw rod 5, a nut seat 6 is arranged on the annular outer side of the corresponding screw rod 5 through a ball nut pair, the lower end of each nut seat 6 is fixedly connected with a U-shaped installation plate 10, a grabbing arm piece 11 is arranged at the lower end of each U-shaped installation plate 10, the grabbing arm piece 11, one end of the movable plate 7 close to the U-shaped mounting plate 10 is fixedly connected with at least two insertion rods 9, the insertion rods 9 penetrate through the U-shaped mounting plate 10 and the grab arm piece 11, and springs 8 are arranged on the annular outer sides of the insertion rods 9.
Specifically, the motor 3 can be started by the controller to drive the screw rod 5 to rotate, because the screw rod 5 is connected with the nut seat 6 through the ball-nut pair, the screw rod 5 rotates to drive the nut seat 6 to move inwards, and further drive the U-shaped mounting plate 10 to move inwards, so as to drive the grab arm 11 to move inwards, so as to grab the goods, when the grab arm 11 needs to be replaced, the movable plate 7 is firstly pulled outwards, the spring 8 is further stretched, the spring 8 generates elasticity, in addition, the insertion rod 9 is driven to move outwards during the outward movement process of the movable plate, so as to separate the insertion rod 9 from the grab arm 11, then the grab arm 11 can be detached from the U-shaped mounting plate 10, then a new grab arm 11 is inserted into the U-shaped mounting plate 10, then the movable plate 7 is loosened, then the insertion rod 9 moves inwards under the action of the spring 8, and further the insertion rod 9 moves inwards, so as to enable the insertion rod 9 to penetrate through the grab arm 11 and the U-shaped mounting plate 10 again, realize the quick assembly disassembly of the arm piece spare 11, convenient to use increases application range.
Both ends are all seted up about mount pad 1 and are placed recess 101, both ends all set up draw-in groove 103 and set up on mount pad 1 about placing recess 101, place inside motor 3 and the loading board 4 of setting up of recess 101, both ends all set up draw-in groove 103 and extend into inside draw-in groove 103 about loading board 4, specifically, at first fix motor 3 to loading board 4 on, clamp loading board 4 through two draw-in grooves 103 again and place recess 101, thereby realize installing motor 3 in placing recess 101, realize motor 3's dismouting, and convenient for maintenance.
two screw holes are symmetrically formed in the upper end of the bearing plate 4, two second through holes 102 are symmetrically formed in the upper end of the upper side clamping groove 103, the second through holes 102 are formed in the upper end of the mounting seat 1, the second through holes 102 are overlapped with the center line of the screw holes, specifically, after the bearing plate 4 is mounted, a bolt can penetrate through the second through holes 102 downwards and is in threaded connection with the screw holes, and the bearing plate 4 is fastened.
The bearing plate 4 is away from one end of the mounting base 1 and is symmetrically and fixedly connected with two guide rods 41, the two guide rods 41 are located on the front side and the rear side of the screw rod 5, the two guide rods 41 penetrate through the nut base 6, the nut base 6 can move along the guide rods 41, and specifically, in the moving process of the nut base 6, the nut base 6 can move along the guide rods 41, so that the guiding function is realized.
The end of the screw rod 5, which is far away from the bearing plate 4, and the end of the guide rod 41, which is far away from the bearing plate 4, are both fixedly connected with the limiting disc, and particularly, the design of the limiting disc effectively prevents the nut seat 6 from falling off, so that the safety is good.
the middle position of one end of the movable plate 7, which is far away from the spring 8, is fixedly connected with a handle, and particularly, the movable plate 7 can be pulled by the handle, so that the operation is convenient.
The grab arm member 11 comprises a connecting plate 111 and a supporting insertion plate 112, the upper end of the connecting plate 111 is provided with a U-shaped mounting plate 10 and extends into the U-shaped mounting plate 10, the lower end of the connecting plate 111 is fixedly connected with the supporting insertion plate 112 which is vertically arranged, the front end and the rear end of the supporting insertion plate 112 are fixedly connected with baffle plates 113, the baffle plates 113 are fixedly connected with the connecting plate 111, one side, close to the mounting seat 1, of the upper end of the supporting insertion plate 112 is provided with an inclined surface 114 which is higher than the inside, specifically, in the inward movement process of the U-shaped mounting plate 10, the connecting plate 111 can move inwards, the supporting insertion plate 112 is driven to move inwards, the supporting insertion plate 112 is inserted into the lower end of an article and is blocked by the baffle plates 113 at two sides.
The end of the connecting plate 111 far from the inclined surface 114 is fixedly connected with the reinforcing plate and the reinforcing plate is fixedly connected with the supporting insertion plate 112, and specifically, the design of the reinforcing plate increases the connecting strength of the connecting plate 111 and the supporting insertion plate 112.
At least two third through holes 115 are formed in the edge position of the upper portion of the connecting plate 111, two first through holes 100 are formed in the left end and the right end of the third through hole 115, the two first through holes 100 are symmetrically formed in the left end and the right end of the U-shaped mounting plate 10, the inserting rod 9 penetrates through the two first through holes 100 and the third through hole 115, specifically, the inserting rod 9 penetrates through the first through holes 100 and the second through holes 102, and the connecting plate 111 and the U-shaped mounting plate 10 are fixedly mounted.
The half-round head is arranged at one end of the inserted link 9 far away from the movable plate 7, and particularly, the inserted link 9 can be conveniently inserted.
it is well within the skill of those in the art to implement and protect the present invention without undue experimentation and without undue experimentation that the present invention is directed to software and process improvements.
While there have been shown and described what are at present considered the fundamental principles and essential features of the invention and its advantages, it will be apparent to those skilled in the art that the invention is not limited to the details of the foregoing exemplary embodiments, but is capable of other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (10)
1. the utility model provides a grabbing device for robot convenient to dismouting, includes mechanical linkage arm (2), its characterized in that: the lower end of the mechanical connecting arm (2) is fixedly connected with the mounting seat (1), the middle positions of the left end and the right end of the mounting seat (1) are respectively provided with a screw rod (5), one end of the screw rod (5) close to the mounting seat (1) is rotated to be connected with the bearing plate (4) and the bearing plate (4) is detachably connected in the mounting seat (1), the bearing plate (4) faces to one end of the middle of the mounting seat (1) and is fixedly connected with a motor (3) and the motor (3) is positioned in the mounting seat (1), an output shaft of the motor (3) penetrates through the bearing plate (4) and is fixedly connected with the screw rod (5), the annular outer side of the screw rod (5) is provided with a ball nut pair mounting nut seat (6), the lower end of the nut seat (6) is fixedly connected with a U-shaped mounting plate (10), the lower end of the U-shaped mounting plate (10) is provided with, u type mounting panel (10) are kept away from two at least springs (8), at least two of mount pad (1) one end fixed connection of spring (8) are kept away from the equal fixed connection fly leaf (7) of U type mounting panel (10) one end, fly leaf (7) are close to U type mounting panel (10) one end fixed connection two at least inserted bars (9) and inserted bar (9) and run through U type mounting panel (10) and grab arm spare (11), inserted bar (9) annular outside sets up spring (8).
2. The grabbing device for robot convenient to dismouting of claim 1, characterized in that: both ends all set up about mount pad (1) and place recess (101), place both ends and all set up draw-in groove (103) and set up on mount pad (1) about recess (101), place inside motor (3) and the loading board (4) of setting up of recess (101), both ends all set up draw-in groove (103) and extend into inside draw-in groove (103) about loading board (4).
3. The grabbing device for robot convenient to dismouting of claim 1, characterized in that: two threaded holes (402) are symmetrically formed in the upper end of the bearing plate (4), two second through holes (102) are symmetrically formed in the upper end of the clamping groove (103) in the upper side, the second through holes (102) are formed in the upper end of the mounting seat (1), and the second through holes (102) and the threaded holes (402) are overlapped together.
4. the grabbing device for robot convenient to dismouting of claim 1, characterized in that: one end, far away from the mounting seat (1), of the bearing plate (4) is symmetrically and fixedly connected with two guide rods (41), the two guide rods (41) are located on the front side and the rear side of the screw rod (5), the two guide rods (41) penetrate through the nut seat (6), and the nut seat (6) can move along the guide rods (41).
5. The grabbing device for robot convenient to dismouting of claim 1, characterized in that: one end of the screw rod (5) far away from the bearing plate (4) and one end of the guide rod (41) far away from the bearing plate (4) are fixedly connected with a limiting disc.
6. The grabbing device for robot convenient to dismouting of claim 1, characterized in that: the middle position of one end of the movable plate (7) far away from the spring (8) is fixedly connected with the handle.
7. The grabbing device for robot convenient to dismouting of claim 1, characterized in that: grab arm piece spare (11) includes connecting plate (111) and support picture peg (112), connecting plate (111) upper end sets up U type mounting panel (10) and extends into in U type mounting panel (10), connecting plate (111) lower extreme fixed connection arranges support picture peg (112) perpendicularly, support picture peg (112) front and back both ends equal fixed connection baffle (113) and connecting plate (111) fixed connection, support picture peg (112) upper end is close to mount pad (1) one side and sets up outer high inland inclined plane (114).
8. The robot gripping device of claim 7, wherein: one end, far away from the inclined surface (114), of the connecting plate (111) is fixedly connected with a reinforcing plate, and the reinforcing plate is fixedly connected with the supporting inserting plate (112).
9. The robot gripping device of claim 7, wherein: at least two third through holes (115) are formed in the edge position of the upper portion of the connecting plate (111), two first through holes (100) are formed in the left end and the right end of each third through hole (115), the two first through holes (100) are symmetrically formed in the left end and the right end of the U-shaped mounting plate (10), and the inserting rod (9) penetrates through the two first through holes (100) and the third through holes (115).
10. The grabbing device for robot convenient to dismouting of claim 1, characterized in that: and a semicircular head is arranged at one end of the inserted bar (9) far away from the movable plate (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910880922.9A CN110561477A (en) | 2019-09-18 | 2019-09-18 | Grabbing device for robot convenient to dismouting |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910880922.9A CN110561477A (en) | 2019-09-18 | 2019-09-18 | Grabbing device for robot convenient to dismouting |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110561477A true CN110561477A (en) | 2019-12-13 |
Family
ID=68780835
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910880922.9A Withdrawn CN110561477A (en) | 2019-09-18 | 2019-09-18 | Grabbing device for robot convenient to dismouting |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110561477A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110871920A (en) * | 2020-01-20 | 2020-03-10 | 佛山隆深智能装备有限公司 | Packaging robot for transporting home decoration plates |
| CN112657273A (en) * | 2020-12-08 | 2021-04-16 | 萍乡宝海锌营养科技有限公司 | Production zinc sulfate is with high-efficient belt cleaning device of filter pressing cloth |
-
2019
- 2019-09-18 CN CN201910880922.9A patent/CN110561477A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110871920A (en) * | 2020-01-20 | 2020-03-10 | 佛山隆深智能装备有限公司 | Packaging robot for transporting home decoration plates |
| CN112657273A (en) * | 2020-12-08 | 2021-04-16 | 萍乡宝海锌营养科技有限公司 | Production zinc sulfate is with high-efficient belt cleaning device of filter pressing cloth |
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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 | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20191213 |
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| WW01 | Invention patent application withdrawn after publication |