CN111300396A - Telescopic material taking manipulator for six-axis robot - Google Patents
Telescopic material taking manipulator for six-axis robot Download PDFInfo
- Publication number
- CN111300396A CN111300396A CN201911237033.7A CN201911237033A CN111300396A CN 111300396 A CN111300396 A CN 111300396A CN 201911237033 A CN201911237033 A CN 201911237033A CN 111300396 A CN111300396 A CN 111300396A
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- Prior art keywords
- fixed
- vertical
- side wall
- plate
- block
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Classifications
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- 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
- B25J9/123—Linear actuators
-
- 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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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a telescopic material taking manipulator for a six-axis robot, which comprises an arm fixing connecting plate, wherein a lower connecting block is fixed in the middle of the bottom surface of the arm fixing connecting plate, a vertical plate extending downwards is fixed in the middle of the bottom surface of the lower connecting block, and a vertical lifting mechanism is fixed on the left side wall of the vertical plate; the vertical lifting mechanism is characterized in that a connecting transverse block is fixed on a lifting block of the vertical lifting mechanism, a vertical through groove is formed in the middle of a vertical plate in a connecting transverse block inserting sleeve mode, the right end of the connecting transverse block extends out of the right side wall of the vertical plate and is fixed with a vertical extending plate, a horizontal plate is fixed on the bottom surface of the vertical extending plate, and a grabbing head is installed on the horizontal plate. The arm tip at six robots can be installed to it, and it can be with snatching first automatic rising to can satisfy that conveying mechanism highly crosses the article of low and carry and snatch, need not to highly promote conveying mechanism, it is very convenient, thereby satisfy the transport design of whole factory building.
Description
Technical Field
The invention relates to the technical field of industrial robot equipment, in particular to a telescopic material taking manipulator for a six-axis robot.
Background
The existing industrial robot generally operates as an automatic grabbing mechanism, like a six-axis robot, the existing six-axis robot generally grabs through arm bending, the grabbing height of the existing six-axis robot is limited, and objects which are too low cannot be grabbed, if the height of a conveying mechanism cannot meet the requirement, the existing six-axis robot cannot grab, at the moment, the conveying mechanism can only be lifted, and due to the needs of factory building design and other conveying parts, the conveying mechanism cannot be lifted and installed, and at the moment, the six-axis robot cannot grab and use.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides a telescopic material taking manipulator for a six-axis robot, which can be arranged at the end part of the arm of the six-axis robot and can automatically lift a grabbing head, so that the object with too low height of a conveying mechanism can be conveyed and grabbed without lifting the height of the conveying mechanism, the telescopic material taking manipulator is very convenient, and the conveying design of the whole factory building is met.
The technical solution of the invention is as follows:
a telescopic material taking manipulator for a six-axis robot comprises an arm fixing connecting plate, wherein a lower connecting block is fixed in the middle of the bottom surface of the arm fixing connecting plate, a vertical plate extending downwards is fixed in the middle of the bottom surface of the lower connecting block, and a vertical lifting mechanism is fixed on the left side wall of the vertical plate;
the vertical lifting mechanism is characterized in that a connecting transverse block is fixed on a lifting block of the vertical lifting mechanism, a vertical through groove is formed in the middle of a vertical plate in a connecting transverse block inserting sleeve mode, the right end of the connecting transverse block extends out of the right side wall of the vertical plate and is fixed with a vertical extending plate, a horizontal plate is fixed on the bottom surface of the vertical extending plate, and a grabbing head is installed on the horizontal plate.
The vertical lifting mechanism comprises an upper connecting plate and a lower connecting plate, the two connecting plates are fixed on the upper portion and the lower portion of the left side wall of the vertical plate, two ends of the vertical screw rod are hinged to the two connecting plates through bearings, a lifting motor is fixed to the top face of the connecting plate above the vertical screw rod, the lifting motor drives the vertical screw rod to rotate, and the lifting block is in threaded connection with the vertical screw rod.
The upper portion and the lower portion of the right side wall of the vertical plate are both fixed with connecting blocks, two ends of a vertical guide rod are fixed on the two connecting blocks, and the vertical guide rod is inserted in a vertical guide through hole connected with the transverse block.
And a guide sleeve is fixed on the inner side wall of the vertical guide through hole, and the vertical guide rod is inserted in the guide sleeve.
The grabbing head comprises a grabbing oil cylinder, the grabbing oil cylinder is fixed on the top surface of the horizontal plate, a push rod of the grabbing oil cylinder penetrates through the bottom surface of the horizontal plate and is fixed with a conical connector with a larger upper diameter and a smaller lower diameter, the grabbing mounting shell is fixed on the bottom surface of the horizontal plate, and the push rod of the grabbing oil cylinder and the upper part of the conical connector are inserted and sleeved in an upper through hole of the grabbing mounting shell;
a lower mounting cavity is formed at the lower part of the grabbing mounting shell, and an upper through hole is communicated with the lower mounting cavity;
the lower mounting cavity is sleeved with two clamping arc-shaped blocks in a inserting mode, the middle parts of the opposite wall surfaces of the two clamping arc-shaped blocks are conical wall surfaces, and the outer side walls of the conical connectors are tightly attached to the corresponding conical wall surfaces;
the outer side wall of the middle part of the clamping arc-shaped block is formed with an insertion hole, the inner side wall of the lower mounting cavity is fixed with a transverse column, the transverse column is inserted and sleeved in the insertion hole, a reset spring is inserted and sleeved in the insertion hole, one end of the reset spring is forced on the end face of the transverse column, and the other end of the reset spring is fixed on the inner end face of the insertion hole;
arc-shaped clamping parts are formed on the bottom surfaces of the two clamping arc-shaped blocks;
an annular supporting plate is fixed on the bottom surface of the lower mounting cavity, and the bottom surfaces of the side portions of the clamping arc-shaped blocks are tightly attached to the top surface of the annular supporting plate.
And an anti-slip elastic layer is fixed on the inner side wall of the arc-shaped clamping part.
And a lubricating wear-resistant sleeve is fixed on the inner side wall of the upper through hole, and the outer side wall of the upper part of the conical connector is tightly attached to the inner side wall of the lubricating wear-resistant sleeve.
The inner side wall of the lower mounting cavity is fixedly provided with a protective layer, and the outer side wall of the clamping arc-shaped block is tightly attached to the protective layer.
The invention has the beneficial effects that:
the arm tip at six robots can be installed to it, and it can be with snatching first automatic rising to can satisfy that conveying mechanism highly crosses the article of low and carry and snatch, need not to highly promote conveying mechanism, it is very convenient, thereby satisfy the transport design of whole factory building.
Drawings
FIG. 1 is a schematic view of a partial structure of the present invention;
FIG. 2 is an enlarged view of a portion of the present invention;
fig. 3 is a partial cross-sectional view at the gripper head of the present invention.
Detailed Description
Example (b): as shown in fig. 1 to 3, a telescopic material taking manipulator for a six-axis robot comprises an arm fixing connecting plate 10, wherein a lower connecting block 11 is fixed in the middle of the bottom surface of the arm fixing connecting plate 10, a vertical plate 12 extending downwards is fixed in the middle of the bottom surface of the lower connecting block 11, and a vertical lifting mechanism 20 is fixed on the left side wall of the vertical plate 12;
the lifting block 21 of the vertical lifting mechanism 20 is fixedly provided with a connecting transverse block 30, the connecting transverse block 30 is inserted in a vertical through groove 121 formed in the middle of the vertical plate 12, the right end of the connecting transverse block 30 extends out of the right side wall of the vertical plate 12 and is fixed with a vertical extension plate 31, the bottom surface of the vertical extension plate 31 is fixed with a horizontal plate 32, and a grabbing head 40 is installed on the horizontal plate 32.
Further, vertical elevating system 20 includes two upper and lower connecting plates 22, and two connecting plates 22 are fixed on the upper portion and the lower part of the left side wall of vertical board 12, and the both ends of vertical screw 23 pass through the bearing and articulate on two connecting plates 22, and the top surface of the connecting plate 22 of top is fixed with elevator motor 24, and elevator motor 24's output shaft is the integral key shaft, and the integral key shaft plug bush is in the splined hole that the top of vertical screw 23 has, and elevator motor 24 drives vertical screw 23 and rotates, and elevator 21 spiro union is on vertical screw 23.
Further, the upper and lower portions of the right side wall of the vertical plate 12 are fixed with connecting blocks 13, both ends of the vertical guide bar 14 are fixed on the two connecting blocks 13, and the vertical guide bar 14 is inserted into the vertical guide through hole 33 of the connecting transverse block 30.
Further, a guide sleeve 34 is fixed on the inner side wall of the vertical guide through hole 33, and the vertical guide rod 14 is inserted in the guide sleeve 34.
Further, the grabbing head 40 comprises a grabbing oil cylinder 41, the grabbing oil cylinder 41 is fixed on the top surface of the horizontal plate 32, a push rod of the grabbing oil cylinder 41 penetrates through the bottom surface of the horizontal plate 32 and is fixed with a conical connector 42 with a larger upper diameter and a smaller lower diameter, a grabbing mounting shell 43 is fixed on the bottom surface of the horizontal plate 32, and the push rod of the grabbing oil cylinder 41 and the upper part of the conical connector 42 are inserted and sleeved in an upper through hole 44 of the grabbing mounting shell 43;
a lower mounting cavity 45 is formed at the lower part of the grabbing mounting shell 43, and an upper through hole 44 is communicated with the lower mounting cavity 45;
the lower mounting cavity 45 is sleeved with two clamping arc-shaped blocks 46 in a inserting manner, the middle parts of the opposite wall surfaces of the two clamping arc-shaped blocks 46 are conical wall surfaces, and the outer side wall of the conical connector 42 is tightly attached to the corresponding conical wall surface;
a jack 461 is formed on the outer side wall of the middle part of the clamping arc-shaped block 46, a transverse column 451 is fixed on the inner side wall of the lower mounting cavity 45, the transverse column 451 is inserted in the jack 461, a return spring 1 is inserted in the jack 461, one end of the return spring 1 is forced on the end surface of the transverse column 451, and the other end of the return spring 1 is fixed on the inner end surface of the jack 461;
arc-shaped clamping parts 47 are formed on the bottom surfaces of the two clamping arc-shaped blocks 46;
the annular support plate 2 is fixed on the bottom surface of the lower mounting cavity 45, and the bottom surface of the edge part of the clamping arc-shaped block 46 is tightly attached to the top surface of the annular support plate 2.
Further, an anti-slip elastic layer 48 is fixed on the inner side wall of the arc-shaped holding portion 47.
Furthermore, a lubricating wear-resistant sleeve 3 is fixed on the inner side wall of the upper through hole 44, and the upper outer side wall of the conical connector 42 is tightly attached to the inner side wall of the lubricating wear-resistant sleeve 3.
Furthermore, a protective layer 4 is fixed on the inner side wall of the lower mounting cavity 45, and the outer side wall of the clamping arc-shaped block 46 is tightly attached to the protective layer 4.
In this embodiment, it can fix arm fixed connection board 10 at six axis robot's arm tip, then, can use, when using, through elevator motor 24 operation, can realize vertical screw 23 and rotate to the height position that realizes snatching head 40 is adjusted, thereby can have the article of snatching the conveying mechanism on the co-altitude.
The grabbing principle of the grabbing head 40 is that the tapered connecting head 42 is lifted by retracting the push rod of the grabbing oil cylinder 41, and the two arc-shaped clamping parts 47 are close to each other through the reset of the reset spring 1, so that an object is clamped between the two arc-shaped clamping parts 47 and is pressed on the object through the anti-skidding elastic layer 48, the object is firmly clamped and is not easy to slide, and the grabbing effect is improved.
Claims (8)
1. The utility model provides a six robots are with scalable material manipulator of getting, includes arm fixed connection board (10), its characterized in that: a lower connecting block (11) is fixed in the middle of the bottom surface of the arm fixing connecting plate (10), a vertical plate (12) extending downwards is fixed in the middle of the bottom surface of the lower connecting block (11), and a vertical lifting mechanism (20) is fixed on the left side wall of the vertical plate (12);
the vertical lifting mechanism is characterized in that a connecting transverse block (30) is fixed on a lifting block (21) of the vertical lifting mechanism (20), a vertical through groove (121) formed in the middle of a vertical plate (12) is connected with the connecting transverse block (30) in an inserting sleeve mode, the right end of the connecting transverse block (30) extends out of the right side wall of the vertical plate (12) and is fixed with a vertical extension plate (31), a horizontal plate (32) is fixed on the bottom surface of the vertical extension plate (31), and a grabbing head (40) is installed on the horizontal plate (32).
2. The telescopic material taking manipulator for the six-axis robot as claimed in claim 1, wherein: vertical elevating system (20) are including two upper and lower connecting plates (22), and two connecting plates (22) are fixed on the upper portion and the lower part of the left side wall of vertical board (12), and the both ends of vertical screw rod (23) pass through the bearing and articulate on two connecting plates (22), and the top surface of the connecting plate (22) of top is fixed with elevator motor (24), and elevator motor (24) drive vertical screw rod (23) and rotate, and elevator (21) spiro union is on vertical screw rod (23).
3. The telescopic material taking manipulator for the six-axis robot as claimed in claim 1, wherein: the upper portion and the lower portion of the right side wall of the vertical plate (12) are both fixed with connecting blocks (13), two ends of a vertical guide rod (14) are fixed on the two connecting blocks (13), and the vertical guide rod (14) is inserted in a vertical guide through hole (33) connected with the transverse block (30).
4. The telescopic material taking manipulator for the six-axis robot as claimed in claim 3, wherein: a guide sleeve (34) is fixed on the inner side wall of the vertical guide through hole (33), and the vertical guide rod (14) is inserted in the guide sleeve (34).
5. The telescopic material taking manipulator for the six-axis robot as claimed in claim 1, wherein: the grabbing head (40) comprises a grabbing oil cylinder (41), the grabbing oil cylinder (41) is fixed on the top surface of the horizontal plate (32), a push rod of the grabbing oil cylinder (41) penetrates through the bottom surface of the horizontal plate (32) and is fixed with a conical connector (42) with a large upper diameter and a small lower diameter, the grabbing mounting shell (43) is fixed on the bottom surface of the horizontal plate (32), and the push rod of the grabbing oil cylinder (41) and the upper part of the conical connector (42) are inserted into an upper through hole (44) of the grabbing mounting shell (43);
a lower mounting cavity (45) is formed at the lower part of the grabbing mounting shell (43), and an upper through hole (44) is communicated with the lower mounting cavity (45);
the lower mounting cavity (45) is sleeved with two clamping arc-shaped blocks (46) in a inserting mode, the middle parts of the opposite wall surfaces of the two clamping arc-shaped blocks (46) are conical wall surfaces, and the outer side wall of each conical connector (42) is tightly attached to the corresponding conical wall surface;
a jack (461) is formed on the outer side wall of the middle part of the clamping arc-shaped block (46), a transverse column (451) is fixed on the inner side wall of the lower mounting cavity (45), the transverse column (451) is inserted and sleeved in the jack (461), a return spring (1) is inserted and sleeved in the jack (461), one end of the return spring (1) is applied to the end surface of the transverse column (451), and the other end of the return spring (1) is fixed on the inner end surface of the jack (461);
arc-shaped clamping parts (47) are formed on the bottom surfaces of the two clamping arc-shaped blocks (46);
an annular supporting plate (2) is fixed on the bottom surface of the lower mounting cavity (45), and the bottom surface of the edge part of the clamping arc-shaped block (46) is tightly attached to the top surface of the annular supporting plate (2).
6. The telescopic material taking manipulator for the six-axis robot as claimed in claim 5, wherein: an anti-slip elastic layer (48) is fixed on the inner side wall of the arc-shaped clamping part (47).
7. The telescopic material taking manipulator for the six-axis robot as claimed in claim 5, wherein: and a lubricating wear-resistant sleeve (3) is fixed on the inner side wall of the upper through hole (44), and the inner side wall of the lubricating wear-resistant sleeve (3) is tightly attached to the outer side wall of the upper part of the conical connector (42).
8. The telescopic material taking manipulator for the six-axis robot as claimed in claim 5, wherein: the inner side wall of the lower mounting cavity (45) is fixedly provided with a protective layer (4), and the outer side wall of the clamping arc-shaped block (46) is tightly attached to the protective layer (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911237033.7A CN111300396A (en) | 2019-12-05 | 2019-12-05 | Telescopic material taking manipulator for six-axis robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911237033.7A CN111300396A (en) | 2019-12-05 | 2019-12-05 | Telescopic material taking manipulator for six-axis robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111300396A true CN111300396A (en) | 2020-06-19 |
Family
ID=71154426
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911237033.7A Withdrawn CN111300396A (en) | 2019-12-05 | 2019-12-05 | Telescopic material taking manipulator for six-axis robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111300396A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111994736A (en) * | 2020-08-25 | 2020-11-27 | 武汉博腾电力工程有限公司 | Outdoor cable pay-off rack for electric power engineering installation |
| CN113023642A (en) * | 2021-02-06 | 2021-06-25 | 杭州义顺科技有限公司 | Drive and control new coronavirus test tube device of uncapping of integral type |
| CN115139252A (en) * | 2022-06-17 | 2022-10-04 | 深圳市高捷力科技有限公司 | Electric cabinet panel assembly fixture |
-
2019
- 2019-12-05 CN CN201911237033.7A patent/CN111300396A/en not_active Withdrawn
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111994736A (en) * | 2020-08-25 | 2020-11-27 | 武汉博腾电力工程有限公司 | Outdoor cable pay-off rack for electric power engineering installation |
| CN113023642A (en) * | 2021-02-06 | 2021-06-25 | 杭州义顺科技有限公司 | Drive and control new coronavirus test tube device of uncapping of integral type |
| CN115139252A (en) * | 2022-06-17 | 2022-10-04 | 深圳市高捷力科技有限公司 | Electric cabinet panel assembly fixture |
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| 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 | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20200619 |