CN111844111A - Terminal dichotomous instrument of industrial robot - Google Patents
Terminal dichotomous instrument of industrial robot Download PDFInfo
- Publication number
- CN111844111A CN111844111A CN202010825818.2A CN202010825818A CN111844111A CN 111844111 A CN111844111 A CN 111844111A CN 202010825818 A CN202010825818 A CN 202010825818A CN 111844111 A CN111844111 A CN 111844111A
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- disc
- connecting block
- quick
- hollow screw
- flat
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- 210000003437 trachea Anatomy 0.000 claims description 2
- 238000010521 absorption reaction Methods 0.000 description 2
- 210000000078 claw Anatomy 0.000 description 2
- 241000755266 Kathetostoma giganteum Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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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
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
- B25J15/0683—Details of suction cup structure, e.g. grooves or ridges
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a terminal bisection type tool of an industrial robot, which is characterized by comprising a quick-change device, a flat-mouth grab device and a sucker device, wherein the tail end of the robot is connected with the quick-change device; the flat mouth grabbing device is flexible through an expansion link through an air cylinder B inside the flat mouth grabbing device, so that the inner clamping type pneumatic gripper is driven to grab a workpiece in a flexible mode, meanwhile, an air hole inside the sucking disc device is matched with an air pipe for use, the rubber sucking disc nozzle is pumped into a vacuum state, the sucking of the rubber sucking disc nozzle to the workpiece is achieved, the flat mouth grabbing device is reasonable in structure, convenient to control, low in cost, multifunctional, flexible to control, multi-degree-of-freedom movement, stable and reliable characteristics are achieved, the flat mouth grabbing device is mainly suitable for plane positioning, operation of assembling is carried out in the.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a terminal bisection type tool of an industrial robot.
Background
Due to the improvement of the productivity level and the increasing progress of science and technology, industrial robots are more widely applied and are developing towards the directions of high speed, high precision, light weight, heavy load, high flexibility and high reliability; the robot manipulator can replace the mankind to accomplish repetition, it is boring, dangerous work, alleviate people intensity of labour, improve work efficiency, so that the robot manipulator has obtained more and more extensive application, the market demand of industrial robot professional talent has been enlarged, the construction of the relevant specialty of professional institute school industrial robot has been promoted, however, present robot manipulator most adopts clamping jaw clamp to press from both sides or sucking disc absorption, make the function of snatching of manipulator more single, make clamping jaw clamp press from both sides to press from both sides and can not exist simultaneously with sucking disc absorption, this just needs to purchase the manipulator of many having different functions, economic expenditure has been increased to a certain extent, economic cost has been increased, therefore, we propose an industrial robot terminal dichotomous instrument.
Disclosure of Invention
According to the technical problem, the invention provides a terminal bisection type tool of an industrial robot, which is characterized by comprising a quick-change device, a flat-mouth grabbing device and a sucker device, wherein the tail end of the robot is connected with the quick-change device;
the quick-change device comprises a disc, a disc cylinder, a quick-change interface, a gas receiving hole A, a gas receiving hole B, a magnetic alignment device, a bottom block, a connecting block A and a connecting block B, wherein the connecting block B is installed at the top of the flat-mouth grabbing device, the connecting block A is installed at the top of the sucker device, the bottom block is installed at the tops of the connecting block A and the connecting block B, the disc cylinder is installed at the top of the bottom block, the disc is installed at the top of the disc cylinder, the gas receiving hole A is formed in the disc, the magnetic alignment device is installed on the side wall of the disc, the quick-change interface is arranged at the center of the disc, the gas receiving hole B is installed on the side wall of the disc, and the gas receiving;
the flat-mouth gripping device consists of an end cover B, an air receiving hole C, an air cylinder B and an internal clamping type pneumatic paw, wherein the end cover B is installed at the bottom of the connecting block B, the air cylinder B is installed at the bottom of the end cover B, the air receiving hole C is formed in the end cover B, and the internal clamping type pneumatic paw is installed at the bottom of the air cylinder B;
the sucking disc device comprises gas pocket, upper nut, hollow screw, lower nut, rubber suction cup mouth, the mounting hole has been seted up to connecting block A's inside, and hollow screw is installed to this mounting hole, upper nut is installed to hollow screw's upper end, the lower nut is installed to hollow screw's lower extreme, hollow screw fixes with connecting block A through upper nut, the rubber suction cup nozzle is installed through the lower nut to hollow screw's lower extreme, the gas pocket is installed to hollow screw's upper end, the gas pocket is connected with the trachea.
The invention has the beneficial effects that: the invention uses the quick-change device, the flat-mouth grab device and the sucker device in a matching way, the flat-mouth grab device is stretched through the telescopic rod through the cylinder B in the flat-mouth grab device, so as to drive the inner clamping type pneumatic paw to telescopically grab a workpiece, and meanwhile, the air hole in the sucker device is used in a matching way with the air pipe, so that the rubber sucker nozzle is vacuumized, the rubber sucker nozzle can suck the workpiece, and the invention has the characteristics of reasonable structure, convenient control, lower cost, multifunction, flexible control, multi-degree-of-freedom motion, stability and reliability, is mainly suitable for plane positioning and assembling operation in the vertical direction, and is more suitable for the teaching and practical training of industrial.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
fig. 2 is a schematic view of the quick-change device of the invention;
FIG. 3 is a schematic view of a flathead grip apparatus of the present invention;
FIG. 4 is a schematic view of a suction cup device of the present invention.
As shown in the figure, the device comprises a flat-mouth grabbing device 1, a 3-1 inner clamping type pneumatic paw, a 3-2 air receiving hole C, a 3-3 end cover B, a 3-4 cylinder B, a 2-quick-change device, a 2-4 disc, a 2-3 disc cylinder, a 2-5 quick-change interface, a2-7 air receiving hole A, a 2-8 air receiving hole B, a 2-6 magnetic alignment device, a 2-2 bottom block, a2-9 connecting block A, a 2-1 connecting block B, a 3-sucker device, a 4-1 air hole, a 4-2 upper nut, a 4-3 hollow screw rod, a 4-4 lower nut and a 4-5 rubber sucker nozzle.
Detailed Description
Example 1
The invention provides a terminal bisection type tool of an industrial robot, which is characterized by comprising a quick-change device 2, a flat-mouth grab device 1 and a sucker device 3, wherein the tail end of the robot is connected with the quick-change device, the lower end of the quick-change device is connected with the flat-mouth grab device 1 and the sucker device 3, and the sucker device 3 is arranged on the right side of the flat-mouth grab device 1;
the quick-change device comprises a disc 2-4, a disc 2-4 column, a quick-change connector 2-5, an air-receiving hole A2-7,
The device comprises air receiving holes B2-8, a magnetic alignment device 2-6, a bottom block 2-2, a connecting block A2-9 and a connecting block B2-1, wherein the top of the flat grab device 1 is provided with the connecting block B2-1, the top of the sucker device 3 is provided with the connecting block A2-9, the top of the connecting block A2-9 and the connecting block B2-1 is provided with the bottom block 2-2, the top of the bottom block 2-2 is provided with a disc 2-4 cylinder, the top of the disc 2-4 cylinder is provided with a disc 2-4, the inside of the disc 2-4 is provided with air receiving holes A2-7, the side wall of the disc 2-4 is provided with the magnetic alignment device 2-6, the center of the disc 2-4 is provided with a quick-change connector 2-5, the side wall of the disc 2-4 is provided, the air receiving holes B2-8 are arranged at the two sides of the magnetic alignment device 2-6;
the flat-mouth gripping device 1 consists of an end cover B3-3, an air receiving hole C3-2, an air cylinder B3-4 and an internally-clamped pneumatic claw 3-1, wherein the bottom of the connecting block B2-1 is provided with the end cover B3-3, the bottom of the end cover B3-3 is provided with the air cylinder B3-4, the air receiving hole C3-2 is formed in the end cover B3-3, and the bottom of the air cylinder B3-4 is provided with the internally-clamped pneumatic claw 3-1;
the sucking disc device 3 comprises an air hole 4-1, an upper nut 4-2, a hollow screw 4-3, a lower nut 4-4 and a rubber sucking disc nozzle 4-5, a mounting hole is formed in the connecting block A2-9, the hollow screw 4-3 is mounted in the mounting hole, the upper nut 4-2 is mounted at the upper end of the hollow screw 4-3, the lower nut 4-4 is mounted at the lower end of the hollow screw 4-3, the hollow screw 4-3 is fixed with the connecting block A2-9 through the upper nut 4-2, the rubber sucking disc nozzle is mounted at the lower end of the hollow screw 4-3 through the lower nut 4-4, the air hole 4-1 is mounted at the upper end of the hollow screw 4-3, and the air hole 4-1 is connected with an air pipe.
Example 2
When the pneumatic vacuum gripping device is used, the quick-change device 2, the flat-mouth gripping device 1 and the sucker device 3 are matched for use, the flat-mouth gripping device 1 is stretched through the air cylinder B1-4 in the flat-mouth gripping device 1 through the telescopic rod, so that the inner clamping type pneumatic paw 3-1 is driven to stretch and grip a workpiece, meanwhile, the air hole 4-1 in the sucker device 3 is matched with an air pipe for use, so that the rubber sucker mouth 4-5 is vacuumized, the rubber sucker mouth 4-5 can suck the workpiece, and the pneumatic vacuum gripping device has the characteristics of reasonable structure, convenience in control and lower cost, has the characteristics of multiple functions, flexibility in control, multiple-degree-of-freedom motion, stability and reliability, is mainly suitable for plane positioning and vertical-direction assembly operation, and is more suitable.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. While the invention has been described with respect to the above embodiments, it will be understood by those skilled in the art that the invention is not limited to the above embodiments, which are described in the specification and illustrated only to illustrate the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention as defined by the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (2)
1. A bipartition tool at the tail end of an industrial robot is characterized by comprising a quick-change device, a flat-mouth grab device and a sucker device, wherein the tail end of the robot is connected with the quick-change device;
the quick-change device comprises a disc, a disc cylinder, a quick-change interface, a gas receiving hole A, a gas receiving hole B, a magnetic alignment device, a bottom block, a connecting block A and a connecting block B, wherein the connecting block B is installed at the top of the flat-mouth grabbing device, the connecting block A is installed at the top of the sucker device, the bottom block is installed at the tops of the connecting block A and the connecting block B, the disc cylinder is installed at the top of the bottom block, the disc is installed at the top of the disc cylinder, the gas receiving hole A is formed in the disc, the magnetic alignment device is installed on the side wall of the disc, the quick-change interface is arranged at the center of the disc, the gas receiving hole B is installed on the side wall of the disc, and the gas receiving;
the flat-mouth gripping device consists of an end cover B, an air receiving hole C, an air cylinder B and an internal clamping type pneumatic paw, wherein the end cover B is installed at the bottom of the connecting block B, the air cylinder B is installed at the bottom of the end cover B, the air receiving hole C is formed in the end cover B, and the internal clamping type pneumatic paw is installed at the bottom of the air cylinder B;
the sucking disc device comprises gas pocket, upper nut, hollow screw, lower nut, rubber suction mouth, the mounting hole has been seted up to connecting block A's inside, and hollow screw is installed to this mounting hole, upper nut is installed to hollow screw's upper end, lower nut is installed to hollow screw's lower extreme, rubber suction nozzle is installed through lower nut to hollow screw's lower extreme, the gas pocket is installed to hollow screw's upper end, the gas pocket is connected with the trachea.
2. An industrial robot end bi-parting tool according to claim 1, characterized in that the hollow screw is secured to the connecting piece a by means of an upper nut.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010825818.2A CN111844111A (en) | 2020-08-17 | 2020-08-17 | Terminal dichotomous instrument of industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010825818.2A CN111844111A (en) | 2020-08-17 | 2020-08-17 | Terminal dichotomous instrument of industrial robot |
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| Publication Number | Publication Date |
|---|---|
| CN111844111A true CN111844111A (en) | 2020-10-30 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010825818.2A Pending CN111844111A (en) | 2020-08-17 | 2020-08-17 | Terminal dichotomous instrument of industrial robot |
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| CN (1) | CN111844111A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205043797U (en) * | 2015-10-13 | 2016-02-24 | 苏州博众精工科技有限公司 | Manipulator sucking disc jaw clamp subassembly |
| CN206705228U (en) * | 2017-04-06 | 2017-12-05 | 上海盈领锐博科技发展有限公司 | A kind of Novel industrial robot handgrip |
| CN208132987U (en) * | 2018-03-22 | 2018-11-23 | 阳谷昊泉机械有限公司 | A kind of Pneumatic flexible rotor gripper structure |
| CN208557555U (en) * | 2018-07-03 | 2019-03-01 | 钟华 | A kind of electromagnetism quick-release connector of manipulator |
| CN210452446U (en) * | 2019-07-26 | 2020-05-05 | 阿尔特汽车技术股份有限公司 | Positioning quick-change structure |
| CN212312065U (en) * | 2020-08-17 | 2021-01-08 | 天津博诺智创机器人技术有限公司 | Terminal dichotomous instrument of industrial robot |
-
2020
- 2020-08-17 CN CN202010825818.2A patent/CN111844111A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205043797U (en) * | 2015-10-13 | 2016-02-24 | 苏州博众精工科技有限公司 | Manipulator sucking disc jaw clamp subassembly |
| CN206705228U (en) * | 2017-04-06 | 2017-12-05 | 上海盈领锐博科技发展有限公司 | A kind of Novel industrial robot handgrip |
| CN208132987U (en) * | 2018-03-22 | 2018-11-23 | 阳谷昊泉机械有限公司 | A kind of Pneumatic flexible rotor gripper structure |
| CN208557555U (en) * | 2018-07-03 | 2019-03-01 | 钟华 | A kind of electromagnetism quick-release connector of manipulator |
| CN210452446U (en) * | 2019-07-26 | 2020-05-05 | 阿尔特汽车技术股份有限公司 | Positioning quick-change structure |
| CN212312065U (en) * | 2020-08-17 | 2021-01-08 | 天津博诺智创机器人技术有限公司 | Terminal dichotomous instrument of industrial robot |
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