CN112454418A - Dead-angle-free grabbing method for industrial robot arm - Google Patents
Dead-angle-free grabbing method for industrial robot arm Download PDFInfo
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- CN112454418A CN112454418A CN202011405475.0A CN202011405475A CN112454418A CN 112454418 A CN112454418 A CN 112454418A CN 202011405475 A CN202011405475 A CN 202011405475A CN 112454418 A CN112454418 A CN 112454418A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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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
- B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
- B25J15/0408—Connections means
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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
Abstract
The invention discloses a dead-angle-free grabbing method for an industrial robot arm, which comprises a robot body, a threaded rod, a magnetic block, a magnetic metal rod, a spring and an extension plate, wherein a connecting rod is fixedly connected to the front end of the robot body, a shell is fixedly connected to the front end of the connecting rod, first connecting blocks are fixedly arranged on the left side and the right side of the surface of the shell, the threaded rod is movably arranged inside the first connecting block on the left side of the shell, a limiting rod is movably arranged inside the first connecting block on the right side of the shell, the tail end of the limiting rod and the tail end of the threaded rod are respectively provided with a second connecting block, a fixed block is fixedly connected to the top end of the threaded rod, and. According to the industrial robot arm dead-angle-free grabbing method, the clamping rod can be replaced quickly through the clamping structure on the device, the protection effect during object clamping can be guaranteed, and the initial position and the angle of the device can be adjusted and fixed before use.
Description
Technical Field
The invention relates to the technical field of industrial robots, in particular to a dead-angle-free grabbing method for an arm of an industrial robot.
Background
The industrial robot is a robot used in industrial production and manufacturing, can fix and clamp some objects with larger size and heavier mass, and can also finish some work with higher repeatability through some instructions, so that the industrial robot can replace manpower, the labor cost is saved, and the efficiency of industrial production is also improved.
Some industrial robots currently on the market:
(1) when the existing industrial robots are used, the initial positions and angles of mechanical parts are inconvenient to adjust, dead corners are easy to generate when objects are grabbed subsequently, multi-angle clamping work is inconvenient to perform, and the adjustability is poor;
(2) when some industrial robots are used, the mechanical claw at the front end is usually fixed at the front end of the mechanical arm, so that the front-end claw piece is inconvenient to adjust and replace when the industrial robot is used, the application range is low, and the replacement is troublesome.
Therefore, an industrial robot arm dead-angle-free grabbing method is provided so as to solve the problems provided in the above.
Disclosure of Invention
The invention aims to provide a dead-angle-free grabbing method for an industrial robot arm, which aims to solve the problems that some industrial robot arms in the market are easy to generate dead angles during use, the initial state of the mechanical arm is inconvenient to adjust, and claw pieces at the front end of the mechanical arm are inconvenient to replace, wherein the problems are brought forward by the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: a dead-angle-free grabbing method for an industrial robot arm comprises a robot body, a threaded rod, a magnetic block, a magnetic metal rod, a spring and an extension plate, the front end of the robot body is fixedly connected with a connecting rod, the front end of the connecting rod is fixedly connected with a shell, the left side and the right side of the surface of the shell are both fixedly provided with a first connecting block, the inside of the first connecting block at the left side of the shell is movably provided with a threaded rod, the inside of the first connecting block at the right side of the shell is movably provided with a limiting rod, the tail end of the limiting rod and the tail end of the threaded rod are both provided with a second connecting block, the top end of the threaded rod is fixedly connected with a fixed block, the inside of the fixed block is provided with a clamping groove, a magnetic block is fixedly arranged inside the clamping groove, a magnetic metal rod is movably arranged inside the clamping groove, and the surface of the magnetic metal rod is fixedly connected with a spring, and an extension plate is fixedly connected below the spring.
Preferably, be the bearing connection between second connecting block and the threaded rod, and be threaded connection between threaded rod and the first connecting block, be sliding connection between gag lever post and the shell, the below fixedly connected with connecting shell of second connecting block, and connecting shell, second connecting block, gag lever post and extension board formula structure as an organic whole to the equal movable mounting in inside of connecting shell and the inside of shell has the loose axle, the outside laminating of loose axle is provided with the friction pad, and the inside of friction pad has seted up the inside groove to the inside movable mounting of inside groove has the interior fishplate bar, be fixed connection between interior fishplate bar and the loose axle, and the front end fixedly connected with fixed rod butt joint piece of loose axle.
Preferably, the draw-in groove is central symmetry form distribution on the surface of fixed block, and laminates mutually between the inner wall of draw-in groove and the outer wall of magnetic metal pole to magnetic metal pole passes through and constitutes elastic construction between spring and the extension board, the fixed block passes through and constitutes the block structure between magnetic metal pole and spring and the extension board, and has the space between fixed block and the extension board.
Preferably, the left side of connecting shell and shell at robot body is provided with 2 groups, and the loose axle in the shell passes through the dead lever and fixes mutually between the adjacent shell, the connecting shell passes through the threaded rod and constitutes extending structure between gag lever post and the adjacent shell, and has the space between connecting shell and the shell.
Preferably, the fixed arm that is provided with in front end of dead lever, and the below of arm is provided with claw spare to the fixed surface of claw spare is provided with the pipe box, the fixed pressure spring that is provided with in inside of pipe box, and the fixed movable rod that is provided with in front end of pressure spring to the front end movable mounting of movable rod has the fixture block, the butt joint groove has been seted up to the inside of fixture block, the terminal movable mounting of claw spare has the butt joint piece, and the fixed surface that docks the piece is connected with the supporting rod to the end of supporting rod is fixed and is provided with sealed gum cover, the inside of sealed gum cover is the cavity form, the spout has been seted up to the inside of claw spare, and the inside movable mounting of spout has the slider to be fixed connection between slider and.
Preferably, the tail end of the movable rod is convex, the tail end of the movable rod penetrates through the pipe sleeve, and the front end of the movable rod penetrates through the fixture block.
Preferably, the inner wall of the butt joint groove is matched with the outer wall of the butt joint block, and the butt joint block forms a dismounting and mounting structure with the claw piece through the clamping block and the butt joint groove.
Preferably, the inner wall of the sliding groove and the outer wall of the sliding block are mutually attached, the movable rod forms a sliding structure with the claw piece through the sliding groove, the sliding block and the claw piece, and the movable rod forms an elastic structure with the pipe sleeve through the pressure spring.
An industrial robot arm dead-angle-free grabbing method comprises the following steps:
s1: the clamping device has the advantages that the shell and the robot body are integrally lapped through the connecting rod, the claw pieces are rotated through the mechanical arm after lapping is completed, so that clamping work is performed, when the clamping device is used, the inner connecting plate at the front end can be disassembled and replaced according to requirements, so that the application range of the clamping device is wider during clamping, objects can be stably clamped through the sealing rubber sleeve at the front end of the clamping rod, and the device can play a role in protection during clamping through the hollow part in the sealing rubber sleeve;
s2: when the clamping rod is disassembled, the movable rod is pulled to enable the movable rod to slide in the pipe sleeve, meanwhile, the sliding block slides in the sliding groove, the pressure spring is compressed until the movable rod is completely separated from the butt joint groove in the clamping block, at the moment, the clamping block can be disassembled from the butt joint groove, so that the butt joint block can be pulled out from the inside of the claw piece, then a new clamping rod is installed, and the replacement work of the clamping rod is completed;
s3: after the replacement work is finished, the initial angle of the front end mechanical arm of the device can be adjusted according to requirements, and because the device is provided with two groups of shells and a first connecting block, the device can perform angle adjustment work in a wider range when in use;
s4: because the limit rod limits the first connecting block, the connecting shell can only vertically move below the shell, when the threaded rod rotates, the connecting shell can move towards the shell or move towards the direction far away from the shell, so that the pressing degree between the movable shaft and the friction pad can be adjusted for the shell and the connecting shell, when the movable shaft and the friction pad are loosened, the whole friction pad can be detached from the movable shaft through the inner groove, the friction pad can be replaced, because the movable shaft is in a spherical shape, the movable shaft can perform omnibearing angle adjustment work through the connecting shell and the shell which are mutually attached to the outer wall of the friction pad, after the adjustment is completed, the movable shaft and the shell can be pressed tightly through the rotating threaded rod, and the initial angle adjustment and fixing work of the device can be completed.
Compared with the prior art, the invention has the beneficial effects that: the dead-angle-free grabbing method for the industrial robot arm comprises the following steps:
(1) two angle adjusting mechanisms are arranged at the front end of the robot body, the shell and the connecting rod can move under the limiting action of the limiting rod by the rotation of the threaded rod on the device, thereby adjusting the space between the shell and the connecting shell, adjusting the degree of compaction between the shell and the connecting shell and the friction pad by rotating the threaded rod, fixing the position of the threaded rod by a clamping mechanism on the device after the adjustment is finished, so that the machine can not be badly influenced by moving and shaking, the stability of the device is improved when in use, the device can fix the whole body after adjusting the angle of the whole body by adjusting the compression degree of the friction pad, therefore, the initial angle of the mechanical arm is adjusted and fixed in all directions, dead angles are avoided in the using process, and the adjustability of the device is improved;
(2) when the device uses, can also slide the movable rod whole through the sliding construction cooperation elasticity structure of claw spare front end, break away from the inside of fixture block until the movable rod to can carry out the block to the supporting rod of device front end, make the device can carry out quick replacement work to the supporting rod of difference, promoted the convenience that the device used.
Drawings
FIG. 1 is a schematic front view of the present invention;
FIG. 2 is a schematic view of the structure of FIG. 1 at A according to the present invention;
FIG. 3 is a schematic cross-sectional view of an extension plate according to the present invention;
FIG. 4 is a schematic view of the structure of FIG. 3 at B according to the present invention;
FIG. 5 is a schematic view of the connection structure of the magnetic metal rod and the fixing block according to the present invention;
FIG. 6 is a schematic view of the connection structure of the extension plate and the movable shaft according to the present invention;
FIG. 7 is a schematic view of the connection structure of the clamping rod and the sealing rubber sleeve of the present invention.
In the figure: 1. a robot body; 2. a connecting rod; 3. a housing; 4. a first connection block; 5. a threaded rod; 6. a limiting rod; 7. a second connecting block; 8. a fixed block; 9. a card slot; 10. a magnetic block; 11. a magnetic metal rod; 12. a spring; 13. an extension plate; 14. a connecting shell; 15. a movable shaft; 16. a friction pad; 17. an inner tank; 18. an inner connecting plate; 19. fixing the rod; 20. a mechanical arm; 21. a claw member; 22. pipe sleeve; 23. a pressure spring; 24. a movable rod; 25. a clamping block; 26. a butt joint groove; 27. a butt joint block; 28. a clamping rod; 29. a chute; 30. a slider; 31. and (5) sealing the rubber sleeve.
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. 1-7, the present invention provides a technical solution: a dead-angle-free grabbing method for an industrial robot arm comprises a robot body 1, a connecting rod 2, a shell 3, a first connecting block 4, a threaded rod 5, a limiting rod 6, a second connecting block 7, a fixing block 8, a clamping groove 9, a magnetic block 10, a magnetic metal rod 11, a spring 12, an extending plate 13, a connecting shell 14, a movable shaft 15, a friction pad 16, an inner groove 17, an inner connecting plate 18, a fixing rod 19, a mechanical arm 20, a claw piece 21, a pipe sleeve 22, a pressure spring 23, a movable rod 24, a clamping block 25, a butt joint groove 26, a butt joint block 27, a clamping rod 28, a sliding groove 29, a sliding block 30 and a sealing rubber sleeve 31, wherein the connecting rod 2 is fixedly connected to the front end of the robot body 1, the shell 3 is fixedly connected to the front end of the connecting rod 2, the first connecting block 4 is fixedly arranged on the left side and the right side of the surface of the shell, and the inside movable mounting of the first connecting block 4 in shell 3 right side has gag lever post 6, and the end of gag lever post 6 and the end of threaded rod 5 all are provided with second connecting block 7, the top fixedly connected with fixed block 8 of threaded rod 5, and draw-in groove 9 has been seted up to the inside of fixed block 8, and the inside of draw-in groove 9 is fixed and is provided with magnetic path 10, the inside movable mounting of draw-in groove 9 has magnetic metal pole 11, and the fixed surface of magnetic metal pole 11 is connected with spring 12, and the below fixedly connected with extension 13 of spring 12.
The second connecting block 7 is connected with the threaded rod 5 through a bearing, the threaded rod 5 is connected with the first connecting block 4 through threads, the limiting rod 6 is connected with the shell 3 in a sliding manner, the connecting shell 14 is fixedly connected to the lower portion of the second connecting block 7, the connecting shell 14, the second connecting block 7, the limiting rod 6 and the extension plate 13 are of an integrated structure, movable shafts 15 are movably mounted inside the connecting shell 14 and inside the shell 3, friction pads 16 are attached to the outer sides of the movable shafts 15, inner grooves 17 are formed in the friction pads 16, inner connecting plates 18 are movably mounted inside the inner grooves 17, the inner connecting plates 18 are fixedly connected with the movable shafts 15, fixing rods 19 are fixedly connected to the front ends of the movable shafts 15 to clamp the clamped portions through a butt joint component at the front end of the device, and accordingly the whole body can be conveniently and subsequently disassembled, the inner connecting plate 18 and the inner groove 17 facilitate the subsequent replacement of the friction pad 16, and ensure the stable clamping of the housing 3 and the connecting shell 14 to the movable shaft 15.
Draw-in groove 9 is central symmetry form distribution on the surface of fixed block 8, and laminate mutually between the inner wall of draw-in groove 9 and the outer wall of magnetic metal pole 11, and magnetic metal pole 11 passes through spring 12 and extends and constitutes elastic construction between the board 13, fixed block 8 passes through magnetic metal pole 11 and spring 12 and extends and constitute the block structure between the board 13, and there is the space between fixed block 8 and the extension board 13, can come the fixed work after rotating threaded rod 5 through the block structure between fixed block 8 and the extension board 13, the stability when the device used has been promoted, avoid the machine operation to lead to threaded rod 5 to take place to rotate.
Connecting shell 14 and shell 3 are provided with 2 groups on the left side of robot 1, and loose axle 15 in the shell 3 is fixed mutually between dead lever 19 and adjacent shell 3, connecting shell 14 passes through threaded rod 5 and constitutes extending structure between gag lever post 6 and the adjacent shell 3, and there is the space between connecting shell 14 and the shell 3, can adjust the interval between connecting shell 14 and the shell 3 through extending structure, make the device you can come to compress tightly loose axle 15 through shell 3 and connecting shell 14, thereby make the resistance when loose axle 15 rotates adjust, and because loose axle 15 is whole for the spheroid, and the centre of sphere is located shell 3 and connecting shell 14's inside, therefore, loose axle 15 can also keep the block when rotating, guarantee that the device can carry out omnidirectional angle modulation work.
The front end of the fixed rod 19 is fixedly provided with a mechanical arm 20, a claw member 21 is arranged below the mechanical arm 20, a pipe sleeve 22 is fixedly arranged on the surface of the claw member 21, a pressure spring 23 is fixedly arranged in the pipe sleeve 22, a movable rod 24 is fixedly arranged at the front end of the pressure spring 23, a clamping block 25 is movably arranged at the front end of the movable rod 24, a butt joint groove 26 is formed in the clamping block 25, a butt joint block 27 is movably arranged at the tail end of the claw member 21, a clamping rod 28 is fixedly connected to the surface of the butt joint block 27, a sealing rubber sleeve 31 is fixedly arranged at the tail end of the clamping rod 28, the sealing rubber sleeve 31 is hollow, a sliding groove 29 is formed in the claw member 21, a sliding block 30 is movably arranged in the sliding groove 29, the sliding block 30 is fixedly connected with the movable rod 24, and the movable rod 24 can limit the movable rod 24 through the sliding block.
The tail end of the movable rod 24 is in a convex shape, the tail end of the movable rod 24 penetrates through the pipe sleeve 22, the front end of the movable rod 24 penetrates through the inside of the clamping block 25, the clamping block 25 can be limited through the movable rod 24 on the device, and the lug at the tail end of the movable rod 24 is convenient to operate, so that the clamping effect is achieved.
The inner wall of the butt joint groove 26 is matched with the outer wall of the butt joint block 27, the butt joint block 27 forms a dismounting and mounting structure between the clamping block 25, the butt joint groove 26 and the claw piece 21, the clamping rod 28 at the front end of the device can be replaced quickly through the dismounting and mounting structure on the device, and the practicability of the device is improved.
The inner wall of the sliding groove 29 and the outer wall of the sliding block 30 are mutually attached, the movable rod 24 forms a sliding structure through the sliding groove 29, the sliding block 30 and the claw piece 21, the movable rod 24 forms an elastic structure through the pressure spring 23 and the pipe sleeve 22, the movable rod 24 can be stably translated through the sliding structure in the device, and the stability of the device during clamping is improved.
An industrial robot arm dead-angle-free grabbing method comprises the following steps:
s1: wholly come to overlap joint to shell 3 and robot 1 through connecting rod 2, after the overlap joint is accomplished, rotate claw piece 21 through arm 20, thus get the work of pressing from both sides, when the device is used, can dismantle and change the inscribing board 18 of front end as required, make the device when centre gripping, application scope is wider, can also carry out stable centre gripping work to the object through the sealed gum cover 31 of clamping rod 28 front end, and can play the guard action through the hollow part in sealed gum cover 31, make the device when centre gripping;
s2: when the clamping rod 28 is disassembled, the movable rod 24 is pulled to enable the movable rod 24 to slide in the pipe sleeve 22, meanwhile, the sliding block 30 slides in the sliding groove 29, the pressure spring 23 is compressed until the movable rod 24 is completely separated from the butt joint groove 26 in the clamping block 25, at this time, the clamping block 25 can be disassembled from the butt joint groove 26, so that the butt joint block 27 can be pulled out from the inside of the claw piece 21, then a new clamping rod 28 is installed, and therefore the replacement work of the clamping rod 28 is completed;
s3: after the replacement work is finished, the initial angle of the front end mechanical arm 20 of the device can be adjusted according to the requirement, and because the device is provided with the two groups of shells 3 and the first connecting block 4, the device can perform the angle adjustment work in a wider range when in use, the magnetic metal rod 11 is pulled upwards firstly, the spring 12 is stretched, so that the front end of the magnetic metal rod 11 is separated from the clamping groove 9 in the fixed block 8, the magnetic block 10 does not adsorb the magnetic metal rod 11, at the moment, the magnetic metal rod 11 does not clamp the fixed block 8 and the extension plate 13, and the fixed block 8 can rotate freely;
s4: because the limit rod 6 limits the first connecting block 4, so that the connecting shell 14 can only vertically move up and down below the shell 3, when the threaded rod 5 rotates, the connecting shell 14 can move towards the shell 3 or move away from the shell 3, so that the pressing degree between the movable shaft 15 and the friction pad 16 can be adjusted by the shell 3 and the connecting shell 14, when the movable shaft 15 and the friction pad 16 are loosened, the friction pad 16 can be integrally detached from the movable shaft 15 through the inner groove 17, so that the friction pad 16 is replaced, because the movable shaft 15 is in a spherical shape, the movable shaft 15 can carry out omnibearing angle adjustment work through the connecting shell 14 and the shell 3 which are mutually attached to the outer wall of the friction pad 16, after the adjustment is finished, the movable shaft 15 and the friction pad 16 can be pressed tightly by rotating the connecting shell 14 and the shell 3 through rotating the threaded rod 5, thereby completing the work of adjusting and fixing the initial angle of the device.
The above is the operation of the whole device, and the details which are not described in detail in this specification are well known to those skilled in the art.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that various changes in the embodiments and/or modifications of the invention can be made, and equivalents and modifications of some features of the invention can be made without departing from the spirit and scope of the invention.
Claims (9)
1. The utility model provides an industrial robot arm, includes robot body (1), threaded rod (5), magnetic path (10), magnetism metal pole (11), spring (12) and extension board (13), its characterized in that: the front end of the robot body (1) is fixedly connected with a connecting rod (2), the front end of the connecting rod (2) is fixedly connected with a shell (3), the left side and the right side of the surface of the shell (3) are fixedly provided with first connecting blocks (4), the inner part of each first connecting block (4) on the left side of the shell (3) is movably provided with a threaded rod (5), the inner part of each first connecting block (4) on the right side of the shell (3) is movably provided with a limiting rod (6), the tail end of each limiting rod (6) and the tail end of each threaded rod (5) are respectively provided with a second connecting block (7), the top end of each threaded rod (5) is fixedly connected with a fixing block (8), a clamping groove (9) is formed in each fixing block (8), a magnetic block (10) is fixedly arranged in each clamping groove (9), and a magnetic metal rod (11), and a spring (12) is fixedly connected to the surface of the magnetic metal rod (11), and an extension plate (13) is fixedly connected to the lower part of the spring (12).
2. An industrial robot arm according to claim 1, characterized in that: the second connecting block (7) is connected with the threaded rod (5) through a bearing, the threaded rod (5) is connected with the first connecting block (4) through a thread, the limiting rod (6) is connected with the shell (3) in a sliding way, a connecting shell (14) is fixedly connected below the second connecting block (7), the connecting shell (14), the second connecting block (7), the limiting rod (6) and the extension plate (13) are of an integrated structure, and the inner part of the connecting shell (14) and the inner part of the outer shell (3) are both movably provided with a movable shaft (15), a friction pad (16) is attached to the outer side of the movable shaft (15), an inner groove (17) is formed in the friction pad (16), an inner connecting plate (18) is movably arranged in the inner groove (17), the inner connecting plate (18) is fixedly connected with the movable shaft (15), and the front end of the movable shaft (15) is fixedly connected with a butt joint block (27) of a fixed rod (19).
3. An industrial robot arm according to claim 1, characterized in that: draw-in groove (9) are central symmetry form distribution on the surface of fixed block (8), and laminate mutually between the inner wall of draw-in groove (9) and the outer wall of magnetic metal pole (11) to constitute elastic construction between magnetic metal pole (11) passing through spring (12) and extension board (13), fixed block (8) pass through and constitute the block structure between magnetic metal pole (11) and spring (12) and extension board (13), and have the space between fixed block (8) and extension board (13).
4. An industrial robot arm according to claim 2, characterized in that: connect shell (14) and shell (3) and be provided with 2 groups in the left side of robot body (1), and loose axle (15) in shell (3) are fixed mutually between through dead lever (19) and adjacent shell (3), connect shell (14) and pass through threaded rod (5) and gag lever post (6) and constitute extending structure between adjacent shell (3), and there is the space between connecting shell (14) and shell (3).
5. An industrial robot arm according to claim 1, characterized in that: the front end of the fixing rod (19) is fixedly provided with a mechanical arm (20), a claw piece (21) is arranged below the mechanical arm (20), a pipe sleeve (22) is fixedly arranged on the surface of the claw piece (21), a pressure spring (23) is fixedly arranged in the pipe sleeve (22), a movable rod (24) is fixedly arranged at the front end of the pressure spring (23), a clamping block (25) is movably arranged at the front end of the movable rod (24), a butt joint groove (26) is formed in the clamping block (25), a butt joint block (27) is movably arranged at the tail end of the claw piece (21), a clamping rod (28) is fixedly connected to the surface of the butt joint block (27), a sealing rubber sleeve (31) is fixedly arranged at the tail end of the clamping rod (28), the sealing rubber sleeve (31) is hollow, a sliding groove (29) is formed in the claw piece (21), and a sliding block (30) is movably arranged in the sliding groove (29), and the sliding block (30) and the movable rod (24) are fixedly connected.
6. An industrial robot arm according to claim 5, characterized in that: the tail end of the movable rod (24) is in a convex shape, the tail end of the movable rod (24) penetrates through the inner part of the pipe sleeve (22), and the front end of the movable rod (24) penetrates through the inner part of the clamping block (25).
7. An industrial robot arm according to claim 5, characterized in that: the inner wall of the butt joint groove (26) is matched with the outer wall of the butt joint block (27), and the butt joint block (27) forms a dismounting and mounting structure with the claw piece (21) through the clamping block (25) and the butt joint groove (26).
8. An industrial robot arm according to claim 1, characterized in that: the inner wall of the sliding groove (29) and the outer wall of the sliding block (30) are mutually attached, the movable rod (24) forms a sliding structure with the claw piece (21) through the sliding groove (29) and the sliding block (30), and the movable rod (24) forms an elastic structure with the pipe sleeve (22) through the pressure spring (23).
9. An industrial robot arm dead-angle-free grabbing method according to claim 1, comprising the following steps:
s1: wholly come to overlap joint to shell (3) and robot body (1) through connecting rod (2), after the overlap joint is accomplished, come to rotate claw spare (21) through arm (20), thereby press from both sides and get the work, when the device used, can dismantle and change fishplate bar (18) at front end according to the demand, make the device application scope when carrying out the centre gripping wider, can also carry out stable centre gripping work to the object through sealed gum cover (31) at clamping rod (28) front end, and can play the guard action through the hollow part of sealed gum cover (31) inside, make the device when the centre gripping;
s2: when the clamping rod (28) is disassembled, the movable rod (24) is pulled to enable the movable rod (24) to slide in the pipe sleeve (22), meanwhile, the sliding block (30) slides in the sliding groove (29), the pressure spring (23) is compressed until the movable rod (24) is completely separated from the butt joint groove (26) in the clamping block (25), at the moment, the clamping block (25) can be disassembled from the butt joint groove (26), the butt joint block (27) can be pulled out from the claw piece (21) and then a new clamping rod (28) is installed, and therefore the replacement work of the clamping rod (28) is completed;
s3: after the replacement work is finished, the initial angle of a front end mechanical arm (20) of the device can be adjusted as required, and because two groups of shells (3) and a first connecting block (4) are arranged on the device, the device can perform angle adjustment work in a wider range when in use, a magnetic metal rod (11) is pulled upwards, a spring (12) is stretched, so that the front end of the magnetic metal rod (11) is separated from a clamping groove (9) in a fixed block (8), a magnetic block (10) does not adsorb the magnetic metal rod (11), at the moment, the magnetic metal rod (11) does not clamp the fixed block (8) and an extension plate (13), and the fixed block (8) can be freely rotated;
s4: because the limit rod (6) limits the first connecting block (4), the connecting shell (14) can only vertically move up and down below the shell (3), when the threaded rod (5) rotates, the connecting shell (14) can move towards the shell (3) or move towards the direction far away from the shell (3), so that the pressing degree between the movable shaft (15) and the friction pad (16) can be adjusted by the shell (3) and the connecting shell (14), when the movable shaft (15) and the friction pad (16) are loosened, the friction pad (16) can be integrally detached from the movable shaft (15) through the inner groove (17), so that the friction pad (16) can be replaced, because the movable shaft (15) is in a spherical shape, the movable shaft (15) can carry out omnibearing angle adjustment work through the connecting shell (14) and the shell (3) which are mutually attached to the outer wall of the friction pad (16), after the adjustment is finished, the connecting shell (14) and the shell (3) can tightly press the movable shaft (15) and the friction pad (16) by rotating the threaded rod (5), so that the initial angle adjustment and fixation of the device are finished.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011405475.0A CN112454418A (en) | 2020-12-05 | 2020-12-05 | Dead-angle-free grabbing method for industrial robot arm |
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| CN202011405475.0A CN112454418A (en) | 2020-12-05 | 2020-12-05 | Dead-angle-free grabbing method for industrial robot arm |
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| CN112454418A true CN112454418A (en) | 2021-03-09 |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113664851A (en) * | 2021-09-07 | 2021-11-19 | 光华临港工程应用技术研发(上海)有限公司 | Nurse robot for operating room apparatus convenient to disinfect |
-
2020
- 2020-12-05 CN CN202011405475.0A patent/CN112454418A/en not_active Withdrawn
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113664851A (en) * | 2021-09-07 | 2021-11-19 | 光华临港工程应用技术研发(上海)有限公司 | Nurse robot for operating room apparatus convenient to disinfect |
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Application publication date: 20210309 |