CN111844089A - Industrial robot clamping area differentiation equipment - Google Patents

Industrial robot clamping area differentiation equipment Download PDF

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Publication number
CN111844089A
CN111844089A CN202010645788.7A CN202010645788A CN111844089A CN 111844089 A CN111844089 A CN 111844089A CN 202010645788 A CN202010645788 A CN 202010645788A CN 111844089 A CN111844089 A CN 111844089A
Authority
CN
China
Prior art keywords
rod
movably
screw
industrial robot
block
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
Application number
CN202010645788.7A
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Chinese (zh)
Inventor
金倩倩
Original Assignee
金倩倩
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 金倩倩 filed Critical 金倩倩
Priority to CN202010645788.7A priority Critical patent/CN111844089A/en
Publication of CN111844089A publication Critical patent/CN111844089A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/0052Gripping heads and other end effectors multiple gripper units or multiple end effectors
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/02Gripping heads and other end effectors servo-actuated
    • B25J15/0206Gripping heads and other end effectors servo-actuated comprising articulated grippers
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/06Gripping heads and other end effectors with vacuum or magnetic holding means
    • B25J15/0616Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum

Abstract

The invention relates to the technical field of robots and discloses an industrial robot clamping area differentiation device which comprises a device main body, wherein a driving screw is arranged in the internal society of the device main body, a sliding block and a moving block are connected in the outer side thread of the driving screw, an extrusion block is connected in the outer side thread of the connecting screw, an extrusion rod and a driving rod are movably connected below the extrusion block, a butting rod is movably connected below the driving rod, a butting spring is movably connected on the outer side of the butting rod, a shaft rod is movably connected on the outer side of the butting spring, a butting block is movably connected at one end, far away from the butting spring, of the shaft rod, and a clamping opening is formed in the bottom of. A buffer spring is clamped in the moving screw rod and used for buffering rigid impact generated when the moving screw rod is extruded; a sucker is movably connected below the moving screw rod and used for sucking an object clamped by the clamping opening; the butt joint piece is flexible material, avoids causing the damage to the object by the centre gripping.

Description

Industrial robot clamping area differentiation equipment
Technical Field
The invention relates to the technical field of robots, in particular to a device for distinguishing a clamping area of an industrial robot.
Background
The industrial robot is a multi-joint manipulator or multi-freedom-degree machine device oriented to the industrial field, can automatically execute work, is a machine which realizes various functions by self power and control capacity, can receive human commands and can operate according to a pre-programmed program, the modern industrial robot can also act according to a principle and a outline formulated by an artificial intelligence technology, and the industrial robot can replace a human to do some monotonous, frequent and repeated long-time operations in industrial production.
In developed countries, industrial robot automation line complete equipment becomes the mainstream of automation equipment and the future development direction. Industrial robot automatic production lines have been widely used in foreign automobile industries, electronic and electrical appliance industries, engineering machinery and other industries to ensure product quality, improve production efficiency and avoid a large number of industrial accidents. When grabbing large-scale article, industrial robot can not carry out the analysis to the article, and is only simple to the article transport, to some special articles in addition, can damage the object by too hard, then is difficult to guarantee the stability of article in the transportation not hard.
Therefore, we have proposed an industrial robot grip area differentiation equipment, utilize the characteristic of centre gripping object, distinguish its centre gripping condition for the mode that the centre gripping large-scale object and small-size object adopted is different, and the machine can not need only same mode work, and the machine possesses stable adsorption equipment such as sucking disc, avoids traditional centre gripping equipment to cause the damage to the object easily, and is difficult for guaranteeing the problem of object stability.
Disclosure of Invention
Technical scheme
In order to realize the advantages, the invention provides the following technical scheme: the utility model provides an industrial robot centre gripping district differentiation equipment, includes the equipment main part, the inside society of equipment main part has drive screw, drive screw's outside threaded in-connection has slider and motion piece, the below swing joint of slider has the motion screw, the below swing joint of motion piece has connecting screw, connecting screw's outside threaded connection has the extrusion piece, the below swing joint of extrusion piece has extrusion pole and actuating lever, the below swing joint of actuating lever has the butt pole, the outside swing joint of butt pole has the butt spring, the outside swing joint of butt spring has the axostylus axostyle, the one end swing joint that the butt spring was kept away from to the axostylus axostyle has the butt piece, the bottom of equipment main part is provided with the clamp mouth.
Preferably, a buffer spring is clamped inside the moving screw rod and used for buffering rigid impact generated when the moving screw rod is extruded.
Preferably, a sucker is movably connected below the moving screw rod and used for sucking an object clamped by the clamping opening.
Preferably, the suction cup is provided with a suction port inside thereof so that the suction cup generates suction force.
Preferably, sub-screws are clamped between the sliding block and the moving block and between the moving screw and the connecting screw, and the moving screw and the connecting screw are driven to move by the sub-screws.
Preferably, the motion blocks are provided with two groups in a symmetrical shape.
Preferably, the clamping openings are provided with two groups for abutting against the clamping object.
Preferably, four groups of the abutting blocks are arranged and made of flexible materials.
Advantageous effects
Compared with the prior art, the invention provides an industrial robot clamping area differentiation device, which has the following beneficial effects:
1. this industrial robot centre gripping differentiation equipment, because the scope of pressing from both sides a mouthful centre gripping is limited, presss from both sides a mouthful butt department scope great, can't realize the purpose of the less object of centre gripping, when the less article of centre gripping, the unable centre gripping of clamp mouth, the rotation through the motion screw rod drives the sucking disc and begins to descend and adsorb, has avoided the waste of the energy for the centre gripping is more meticulous.
2. The industrial robot clamping area differentiation equipment clamps a buffer spring through the inside of a moving screw and is used for buffering rigid impact generated when the moving screw is extruded; a sucker is movably connected below the moving screw rod and used for sucking an object clamped by the clamping opening; the butt joint piece is flexible material, avoids causing the damage to the object by the centre gripping.
3. The industrial robot clamping area differentiation equipment clamps an object by abutting and clamping two groups of clamping openings; the abutting block is pushed out to abut against the object clamped by the clamping opening, so that the object is prevented from falling; the rotation through the motion screw rod then drives the sucking disc and begins rotatory decline, and the induction port produces a large amount of adsorption affinity, adsorbs the object of being pressed from both sides a mouthful centre gripping to realized firmly absorptive purpose to the object, avoided traditional centre gripping equipment to cause the damage to the object easily, and be difficult for guaranteeing the problem of object stability.
Drawings
FIG. 1 is a schematic view of the connection structure of the main body of the apparatus of the present invention;
FIG. 2 is a schematic view of a drive screw according to the present invention;
FIG. 3 is a schematic view of a slider connection structure according to the present invention;
FIG. 4 is a schematic view of the connection structure of the moving screw according to the present invention;
FIG. 5 is a schematic view of a connection structure of a buffer spring according to the present invention;
FIG. 6 is a schematic view of a driving rod connection structure according to the present invention;
FIG. 7 is a schematic cross-sectional view taken along area A of FIG. 6 according to the present invention;
FIG. 8 is a schematic cross-sectional view of the area A in FIG. 6 according to the present invention;
FIG. 9 is a schematic view of a driving rod connection structure according to the present invention;
FIG. 10 is an enlarged view of the structure of the area B in FIG. 9 according to the present invention.
In the figure: 1-device body, 2-driving screw, 3-sliding block, 4-moving block, 5-moving screw, 6-connecting screw, 7-extruding block, 8-extruding rod, 9-driving rod, 10-abutting rod, 11-abutting spring, 12-shaft rod, 13-abutting block, 14-clamping opening, 15-buffer spring, 16-sucking disc, 17-air suction opening and 18-sub screw.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-10, an industrial robot clamping area differentiation apparatus includes an apparatus main body 1, a driving screw 2 is socially arranged inside the apparatus main body 1, a sliding block 3 and a moving block 4 are connected in the outer thread of the driving screw 2, two symmetrical sets of the moving block 4 are provided, a moving screw 5 is movably connected below the sliding block 3, a connecting screw 6 is movably connected below the moving block 4, an extrusion block 7 is connected to the outer thread of the connecting screw 6, an extrusion rod 8 and a driving rod 9 are movably connected below the extrusion block 7, a butt rod 10 is movably connected below the driving rod 9, a butt spring 11 is movably connected outside the butt rod 10, a shaft rod 12 is movably connected outside the butt spring 11, one end of the shaft rod 12 far away from the butt spring 11 is movably connected with a butt block 13, the butt block 13 is provided with four sets, which are made of flexible material, a clamping opening 14 is provided at the bottom of the apparatus main body 1, the two groups of clamping openings 14 are used for abutting and clamping objects, and a buffer spring 15 is clamped in the moving screw 5 and used for buffering rigid impact generated when the moving screw 5 is extruded; a suction cup 16 is movably connected below the moving screw 5 and used for sucking the object clamped by the clamping opening 14; the abutting block 13 is made of flexible materials, and damage to clamped objects is avoided.
The below swing joint of motion screw rod 5 has sucking disc 16 for adsorb the object of being pressed from both sides the mouth 14 centre gripping, the inside of sucking disc 16 is provided with induction port 17, make sucking disc 16 produce the adsorption affinity, because the scope of pressing from both sides the mouth 14 centre gripping is limited, it is great to press from both sides the mouth 14 butt department scope, can't realize the purpose of the less object of centre gripping, when the less object of centre gripping, the unable centre gripping of the mouth 14 of pressing from both sides, the rotation through motion screw rod 5 drives sucking disc 16 and begins to descend and adsorb, the waste of the energy has been avoided, make more becoming more meticulous of.
Sub-screws 18 are clamped between the sliding block 3 and the moving block 4 and between the moving screw 5 and the connecting screw 6, and the moving screw 5 and the connecting screw 6 are driven to move through the sub-screws 18; the two groups of clamping openings 14 are abutted and clamped to clamp an object; the abutting block 13 is pushed out to abut against the object clamped by the clamping opening 14, so that the object is prevented from falling; the rotation through the motion screw rod 5 then drives the sucking disc 16 and begins rotatory decline, and the induction port 17 produces a large amount of adsorption affinity, adsorbs the object of being pressed from both sides the mouth 14 centre gripping to realized firmly absorptive purpose to the object, avoided traditional centre gripping equipment to cause the damage to the object easily, and be difficult for guaranteeing the problem of object stability.
The working principle is as follows: when the device is used, the driving screw rod 2 starts to rotate, the sliding block 3 and the moving block 4 are driven to move along with the driving screw rod 2, the sliding block 3 and the moving block 4 are driven to rotate by the sub screw rod 18, the moving screw rod 5 and the connecting screw rod 6 start to rotate, the connecting screw rod 6 rotates, the extrusion block 7 connected with the connecting screw rod is driven to rotate and descend, the extrusion rod 8 connected with the connecting screw rod is pushed to drive the clamping openings 14 connected with the connecting screw rod to bend and abut, and the two groups of clamping openings 14 abut and clamp an object; meanwhile, the driving rod 9 connected with the extrusion block 7 is also extruded by descending of the extrusion block, the driving rod 9 then extrudes the abutting rod 10 connected with the driving rod, the abutting rod 10 pushes the shaft rod 12 connected with the driving rod outwards to be pushed along with the shaft rod, the abutting block 13 connected with the shaft rod is pushed out to abut against the object clamped by the clamping opening 14, the object is prevented from falling, and the abutting block 13 is made of a flexible material, so that the clamped object is prevented from being damaged; the rotation through the motion screw rod 5 then drives the sucking disc 16 and begins rotatory decline, and the induction port 17 produces a large amount of adsorption affinity, adsorbs the object of being pressed from both sides the mouth 14 centre gripping, avoids traditional centre gripping equipment to cause the damage to the object easily, and is difficult for guaranteeing the problem of object stability.
And because the range of the clamping opening 14 is limited, the range of the butt joint of the clamping opening 14 is large, the purpose of clamping a small object cannot be realized, when the small object is clamped, the clamping opening 14 cannot be clamped, the sucker 16 is driven to descend for adsorption by the rotation of the moving screw 5, the waste of energy is avoided, and the clamping is more refined.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims (8)

1. An industrial robot grip area differentiation equipment, includes equipment main part (1), its characterized in that: the device comprises a device body (1), wherein a driving screw (2) is arranged in the internal society of the device body (1), a sliding block (3) and a moving block (4) are connected in the outer side thread of the driving screw (2), a moving screw (5) is movably connected to the lower portion of the sliding block (3), a connecting screw (6) is movably connected to the lower portion of the moving block (4), an extrusion block (7) is connected to the outer side thread of the connecting screw (6), an extrusion rod (8) and a driving rod (9) are movably connected to the lower portion of the extrusion block (7), a butting rod (10) is movably connected to the lower portion of the driving rod (9), a butting spring (11) is movably connected to the outer side of the butting rod (10), a shaft lever (12) is movably connected to the outer side of the butting spring (11), and a butting block (13) is movably connected to one end, far away, the bottom of the equipment main body (1) is provided with a clamping opening (14).
2. An industrial robot grip differentiation apparatus according to claim 1, characterized in that: a buffer spring (15) is clamped inside the moving screw (5).
3. An industrial robot grip differentiation apparatus according to claim 2, characterized in that: a sucker (16) is movably connected below the moving screw rod (5).
4. An industrial robot grip differentiation apparatus according to claim 1, characterized in that: an air suction port (17) is arranged in the sucker (16).
5. An industrial robot grip differentiation apparatus according to claim 1, characterized in that: sub-screws (18) are clamped between the sliding block (3) and the moving block (4) and between the moving screw (5) and the connecting screw (6).
6. An industrial robot grip differentiation apparatus according to claim 1, characterized in that: the motion blocks (4) are provided with two groups which are symmetrical.
7. An industrial robot grip differentiation apparatus according to claim 1, characterized in that: two groups of clamping openings (14) are arranged.
8. An industrial robot grip differentiation apparatus according to claim 1, characterized in that: the abutting blocks (13) are provided with four groups and are made of flexible materials.
CN202010645788.7A 2020-07-07 2020-07-07 Industrial robot clamping area differentiation equipment Pending CN111844089A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202010645788.7A CN111844089A (en) 2020-07-07 2020-07-07 Industrial robot clamping area differentiation equipment

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202010645788.7A CN111844089A (en) 2020-07-07 2020-07-07 Industrial robot clamping area differentiation equipment

Publications (1)

Publication Number Publication Date
CN111844089A true CN111844089A (en) 2020-10-30

Family

ID=73152876

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202010645788.7A Pending CN111844089A (en) 2020-07-07 2020-07-07 Industrial robot clamping area differentiation equipment

Country Status (1)

Country Link
CN (1) CN111844089A (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112517187A (en) * 2020-10-31 2021-03-19 王亚亭 Electromagnetic principle-based stable clamping magnetic suction hydraulic clamp

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112517187A (en) * 2020-10-31 2021-03-19 王亚亭 Electromagnetic principle-based stable clamping magnetic suction hydraulic clamp

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