CN113618767A - Industrial robot with flexible machinery snatchs mechanism - Google Patents
Industrial robot with flexible machinery snatchs mechanism Download PDFInfo
- Publication number
- CN113618767A CN113618767A CN202110963934.5A CN202110963934A CN113618767A CN 113618767 A CN113618767 A CN 113618767A CN 202110963934 A CN202110963934 A CN 202110963934A CN 113618767 A CN113618767 A CN 113618767A
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- Prior art keywords
- fixedly connected
- piston
- gripper
- industrial robot
- piston cylinder
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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
- B25J15/06—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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- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0058—Means for cleaning manipulators, e.g. dust removing means
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an industrial robot with a flexible mechanical grabbing mechanism, and belongs to the technical field of industrial robots. The utility model provides an industrial robot with flexible machinery snatchs mechanism, includes the pedestal mounting seat, mount pad sliding connection still includes on the base: the mechanical arm is fixedly connected to the mounting seat; the fixing seat is fixedly connected to the mechanical arm; the second motor is fixedly connected to the fixed seat; the screw rod is fixedly connected to the output end of the second motor; the placing plate is connected to the screw rod in a threaded manner; the connecting rod is fixedly connected to the placing plate and is connected to the fixed seat in a sliding manner; the sucker is fixedly connected to the connecting rod; the invention has simple operation, is convenient for cleaning dust and impurities on the goods, improves the surface cleanness of the goods, increases the adsorption strength of the sucking disc on the goods, and simultaneously lifts the goods adsorbed by the sucking disc by utilizing the first gripper and the second gripper, thereby ensuring that the goods cannot fall off when being grabbed and simultaneously avoiding the goods from being damaged by being clamped.
Description
Technical Field
The invention relates to the technical field of industrial robots, in particular to an industrial robot with a flexible mechanical gripping mechanism.
Background
Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices oriented to the industrial field, can automatically execute work, and are machines which realize various functions by means of self power and control capacity. The robot can accept human command and operate according to a preset program, and modern industrial robots can also perform actions according to a principle formulated by artificial intelligence technology.
Present manipulator is when snatching the goods, can be because goods surface cleanliness is not enough, adsorb slightly not enough when the sucking disc adsorbs, the in-process that snatchs and transport leads to the goods to drop from the sucking disc, and the independent claw formula is got and is easily leaveed the impression on the goods surface when the goods is got to the clamp, influence the pleasing to the eye of goods, easily let the goods damaged when snatching simultaneously, cause unnecessary economic loss, consequently need a industrial robot who has flexible mechanical grabbing mechanism urgently to solve above-mentioned problem.
Disclosure of Invention
The invention aims to solve the problems that goods are easy to fall off and grabbing easily leaves marks on the surface of the goods in the prior art, and provides an industrial robot with a flexible mechanical grabbing mechanism.
In order to achieve the purpose, the invention adopts the following technical scheme:
the utility model provides an industrial robot with flexible machinery snatchs mechanism, includes the pedestal mounting seat, mount pad sliding connection still includes on the base: the mechanical arm is fixedly connected to the mounting seat; the fixing seat is fixedly connected to the mechanical arm; the second motor is fixedly connected to the fixed seat; the screw rod is fixedly connected to the output end of the second motor; the placing plate is in threaded connection with the screw rod; the connecting rod is fixedly connected to the placing plate and is connected to the fixed seat in a sliding manner; the sucker is fixedly connected to the connecting rod; the third one-way valve is arranged on the sucker; the first gripper is rotatably connected to the fixed seat; the second gripper is rotatably connected to the first gripper; the first gripper and the second gripper are provided with grooves, the inner walls of the grooves are rotatably connected with second idler wheels, ropes are arranged between the second gripper and the placing plate, and the fixing seat is provided with a cleaning mechanism.
In order to facilitate cleaning of dust on the goods, preferably, the cleaning mechanism comprises a first piston cylinder, the first piston cylinder is arranged on the fixing base, a first air inlet pipe and a first air outlet pipe are arranged on the first piston cylinder, first check valves are arranged on the first air inlet pipe and the first air outlet pipe, a first piston plate is connected in the first piston cylinder in a sliding mode, a first piston rod is fixedly connected on the first piston plate, one end, far away from the first piston plate, of the first piston rod is fixedly connected on the placing plate, and a spray head is arranged at one end, far away from the first piston cylinder, of the first air outlet pipe.
In order to facilitate the separation of the sucker from the goods, preferably, the fixing seat is provided with a second piston cylinder, the second piston cylinder is provided with a second air inlet pipe and a second air outlet pipe, and the second air inlet pipe and the second air outlet pipe are both provided with a second check valve.
In order to facilitate separation of the suction cups and the goods, a second piston rod is fixedly connected to the placing plate, a second piston plate is fixedly connected to one end, far away from the placing plate, of the second piston rod, the second piston plate is connected to the inside of the second piston cylinder in a sliding mode, and the second air outlet pipe is connected to one end, far away from the second piston cylinder.
In order to facilitate the pulling of the labor rope, preferably, the placing plate is provided with a second avoidance groove, the fixing seat is provided with a first avoidance groove, and the inner wall of the first avoidance groove is rotatably connected with a first roller.
In order to facilitate unfolding of the first gripper and the second gripper, preferably, a first tension spring is arranged between the first gripper and the fixing seat, and a second tension spring is arranged between the first gripper and the second gripper.
In order to facilitate the adjustment of the position of the mechanical arm, preferably, a sliding rail is fixedly connected to the base, and a sliding way is arranged on the mounting seat and is connected to the sliding rail in a sliding manner.
In order to move the position of the mechanical arm conveniently, furthermore, a first motor is fixedly connected to the mounting seat, a gear is fixedly connected to the output end of the first motor, a rack is fixedly connected to the base, and the gear is meshed with the rack.
Compared with the prior art, the invention provides an industrial robot with a flexible mechanical grabbing mechanism, which has the following beneficial effects:
1. this industrial robot with flexible machinery snatchs mechanism places board up-and-down motion through lead screw control, when placing board upward movement, the arm drives the sucking disc and pastes with the goods surface mutually, then places the board and drives sucking disc upward movement, and the goods is driven upward movement by the sucking disc, places board work rope simultaneously and makes a plurality of first tongs and the second tongs on the fixing base draw close to do and snatch the action, drags the bottom of goods, avoids first tongs and second tongs to press from both sides the goods and hinder.
2. This industrial robot with flexible machinery snatchs mechanism, when rising the height through placing the board, drive the air of first piston board on the first piston rod in with first piston cylinder and extrude, carry the shower nozzle by first outlet duct, the shower nozzle falls with the surperficial dust impurity clearance of goods, avoids the goods surface unevenness that dust impurity leads to, causes the sucking disc not enough to the adsorption strength of goods.
3. This industrial robot with flexible machinery snatchs mechanism places the board descending height through lead screw control, places the board and loosens the rope, and first tongs is expanded by first extension spring, and the second tongs is expanded by the second extension spring, and the goods of being convenient for are placed, places the second piston board that the board descends height pulling second piston rod simultaneously and gets into the second outlet duct with the air extrusion in the second piston cylinder, and the second outlet duct is carried the sucking disc with the air in, the goods and the sucking disc separation on the sucking disc of being convenient for.
The device has the advantages that the operation is simple, dust and impurities on goods can be conveniently cleaned, the surface cleaning of the goods is improved, the adsorption strength of the sucking disc on the goods is increased, meanwhile, the goods adsorbed by the sucking disc are lifted by the first gripper and the second gripper, the goods are guaranteed not to fall off when being grabbed, and meanwhile, the goods are prevented from being damaged by clamping.
Drawings
Fig. 1 is a front view of an industrial robot with a flexible mechanical gripping mechanism according to the present invention;
fig. 2 is a left side view of an industrial robot with a flexible mechanical gripping mechanism according to the present invention;
fig. 3 is a schematic structural view of a portion a in fig. 2 of an industrial robot with a flexible mechanical gripping mechanism according to the present invention;
fig. 4 is a schematic structural diagram of a fixed seat of an industrial robot with a flexible mechanical gripping mechanism according to the present invention;
fig. 5 is a schematic structural diagram of part B in fig. 4 of an industrial robot with a flexible mechanical gripping mechanism according to the present invention;
fig. 6 is a schematic structural view of a portion C in fig. 4 of an industrial robot with a flexible mechanical gripping mechanism according to the present invention;
fig. 7 is a schematic structural view of a portion D in fig. 4 of an industrial robot with a flexible mechanical gripping mechanism according to the present invention;
fig. 8 is a schematic structural view of part E in fig. 7 of an industrial robot with a flexible mechanical gripping mechanism according to the present invention;
fig. 9 is a top view of an industrial robot with a flexible mechanical gripping mechanism according to the present invention.
In the figure: 1. a base; 101. a rack; 2. a slide rail; 3. a mounting seat; 301. a slideway; 4. a first motor; 401. a gear; 5. a mechanical arm; 6. a fixed seat; 601. a first avoidance slot; 602. a first roller; 7. a second motor; 8. a screw rod; 9. a first piston cylinder; 901. a first intake pipe; 902. a first air outlet pipe; 903. a first check valve; 10. a second piston cylinder; 1001. a second intake pipe; 1002. a second air outlet pipe; 1003. a second one-way valve; 11. placing the plate; 1101. a second avoidance slot; 12. a first piston rod; 1201. a first piston plate; 13. a second piston rod; 1301. a second piston plate; 14. a connecting rod; 15. a suction cup; 16. a third check valve; 17. a first gripper; 1701. a groove; 1702. a second roller; 18. a second gripper; 19. a first tension spring; 20. a second tension spring; 21. a spray head; 22. a rope.
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.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
Example 1:
referring to fig. 1-9, an industrial robot with flexible mechanical grabbing mechanism includes a base 1, a mounting seat 3, and the mounting seat 3 is slidably connected to the base 1, and further includes: the mechanical arm 5 is fixedly connected to the mounting base 3; the fixed seat 6 is fixedly connected to the mechanical arm 5; the second motor 7 is fixedly connected to the fixed seat 6; the screw rod 8 is fixedly connected to the output end of the second motor 7; the placing plate 11 is connected to the screw rod 8 in a threaded manner; the connecting rod 14 is fixedly connected to the placing plate 11 and is connected to the fixed seat 6 in a sliding manner; the sucking disc 15 is fixedly connected to the connecting rod 14; a third one-way valve 16 arranged on the suction cup 15; the first gripper 17 is rotatably connected to the fixed seat 6; the second hand grip 18 is rotatably connected to the first hand grip 17; wherein, all seted up recess 1701 on first tongs 17 and the second tongs 18, the recess 1701 inner wall rotates and is connected with second gyro wheel 1702, second tongs 18 and place and be equipped with rope 22 between the board 11, be equipped with clearance mechanism on the fixing base 6.
Clearance mechanism includes first piston cylinder 9, first piston cylinder 9 is seted up on fixing base 6, be equipped with first intake pipe 901 and first outlet duct 902 on the first piston cylinder 9, all be equipped with first check valve 903 on first intake pipe 901 and the first outlet duct 902, sliding connection has first piston plate 1201 in the first piston cylinder 9, first piston plate 1201 is gone up first piston rod of fixedly connected with 12, the one end fixed connection that first piston plate 1201 was kept away from to first piston rod 12 is on placing board 11, the one end that first piston cylinder 9 was kept away from to first outlet duct 902 is equipped with shower nozzle 21.
The second piston cylinder 10 is arranged on the fixing seat 6, a second air inlet pipe 1001 and a second air outlet pipe 1002 are arranged on the second piston cylinder 10, and a second check valve 1003 is arranged on each of the second air inlet pipe 1001 and the second air outlet pipe 1002.
Place fixedly connected with second piston rod 13 on the board 11, the one end fixedly connected with second piston plate 1301 that the board 11 was placed to second piston rod 13 is kept away from, second piston plate 1301 sliding connection is in second piston cylinder 10, and the one end of second piston cylinder 10 is kept away from to second outlet duct 1002.
The placing plate 11 is provided with a second avoiding groove 1101, the fixing seat 6 is provided with a first avoiding groove 601, and the inner wall of the first avoiding groove 601 is rotatably connected with a first roller 602.
A first tension spring 19 is arranged between the first gripper 17 and the fixed seat 6, and a second tension spring 20 is arranged between the first gripper 17 and the second gripper 18.
Fixedly connected with slide rail 2 on the base 1 is equipped with slide 301 on the mount pad 3, and slide 301 sliding connection is on slide rail 2.
Fixedly connected with first motor 4 on the mount pad 3, first motor 4 output end fixedly connected with gear 401, fixedly connected with rack 101 on the base 1, gear 401 links to each other with the meshing of rack 101.
In the invention, when a user uses the mechanical arm 5 to control the fixed seat 6 to move, so that the fixed seat 6 moves right above a grabbed goods, the second motor 7 is started, the second motor 7 has a forward and reverse rotation function, the second motor 7 drives the screw rod 8 to rotate forward, the screw rod 8 drives the placing plate 11 to move upward when rotating forward, the placing plate 11 drives the first piston plate 1201 on the first piston rod 12 to move upward in the first piston cylinder 9, the second piston plate 1301 on the second piston rod 13 moves upward in the second piston cylinder 10, when the first piston plate 1201 moves upward in the first piston cylinder 9, gas in the first piston cylinder 9 is extruded into the first air outlet pipe 902, the air is blown out from the first air outlet pipe 902 to clean dust and impurities on the surface of the goods, meanwhile, the mechanical arm 5 drives the sucking disc 15 on the fixed seat 6 to be attached to the surface of the goods, and the air in the sucking disc 15 is discharged from the third one-way valve 16, the suction cup 15 sucks the goods.
Example 2:
referring to fig. 1-9, an industrial robot with flexible mechanical grabbing mechanism includes a base 1, a mounting seat 3, and the mounting seat 3 is slidably connected to the base 1, and further includes: the mechanical arm 5 is fixedly connected to the mounting base 3; the fixed seat 6 is fixedly connected to the mechanical arm 5; the second motor 7 is fixedly connected to the fixed seat 6; the screw rod 8 is fixedly connected to the output end of the second motor 7; the placing plate 11 is connected to the screw rod 8 in a threaded manner; the connecting rod 14 is fixedly connected to the placing plate 11 and is connected to the fixed seat 6 in a sliding manner; the sucking disc 15 is fixedly connected to the connecting rod 14; a third one-way valve 16 arranged on the suction cup 15; the first gripper 17 is rotatably connected to the fixed seat 6; the second hand grip 18 is rotatably connected to the first hand grip 17; wherein, all seted up recess 1701 on first tongs 17 and the second tongs 18, the recess 1701 inner wall rotates and is connected with second gyro wheel 1702, second tongs 18 and place and be equipped with rope 22 between the board 11, be equipped with clearance mechanism on the fixing base 6.
Clearance mechanism includes first piston cylinder 9, first piston cylinder 9 is seted up on fixing base 6, be equipped with first intake pipe 901 and first outlet duct 902 on the first piston cylinder 9, all be equipped with first check valve 903 on first intake pipe 901 and the first outlet duct 902, sliding connection has first piston plate 1201 in the first piston cylinder 9, first piston plate 1201 is gone up first piston rod of fixedly connected with 12, the one end fixed connection that first piston plate 1201 was kept away from to first piston rod 12 is on placing board 11, the one end that first piston cylinder 9 was kept away from to first outlet duct 902 is equipped with shower nozzle 21.
The second piston cylinder 10 is arranged on the fixing seat 6, a second air inlet pipe 1001 and a second air outlet pipe 1002 are arranged on the second piston cylinder 10, and a second check valve 1003 is arranged on each of the second air inlet pipe 1001 and the second air outlet pipe 1002.
Place fixedly connected with second piston rod 13 on the board 11, the one end fixedly connected with second piston plate 1301 that the board 11 was placed to second piston rod 13 is kept away from, second piston plate 1301 sliding connection is in second piston cylinder 10, and the one end of second piston cylinder 10 is kept away from to second outlet duct 1002.
The placing plate 11 is provided with a second avoiding groove 1101, the fixing seat 6 is provided with a first avoiding groove 601, and the inner wall of the first avoiding groove 601 is rotatably connected with a first roller 602.
A first tension spring 19 is arranged between the first gripper 17 and the fixed seat 6, and a second tension spring 20 is arranged between the first gripper 17 and the second gripper 18.
Fixedly connected with slide rail 2 on the base 1 is equipped with slide 301 on the mount pad 3, and slide 301 sliding connection is on slide rail 2.
Fixedly connected with first motor 4 on the mount pad 3, first motor 4 output end fixedly connected with gear 401, fixedly connected with rack 101 on the base 1, gear 401 links to each other with the meshing of rack 101.
According to the invention, when the second piston plate 1301 moves upwards in the second piston cylinder 10, outside air is pumped into the second piston cylinder 10 through the second air inlet pipe 1001 for storage, when the placing plate 11 rises, the rope 22 pulls the plurality of second grippers 18 and the first grippers 17 on the fixing base 6 to close to each other to perform a gripping action, the first grippers 17 and the second grippers 18 drag the bottom of a cargo adsorbed by the suction cups 15 to complete gripping, the first motor 4 drives the gear 401 to rotate, and the gear 401 and the rack 101 are matched with each other when rotating to enable the mounting base 3 to slide on the slide rail 2, so that the moving position of the mechanical arm 5 is convenient, and the cargo placing point is convenient to adjust.
Example 3:
referring to fig. 4-8, an industrial robot with flexible mechanical grabbing mechanism, includes base 1 mount pad 3, and mount pad 3 sliding connection is on base 1, still includes: the mechanical arm 5 is fixedly connected to the mounting base 3; the fixed seat 6 is fixedly connected to the mechanical arm 5; the second motor 7 is fixedly connected to the fixed seat 6; the screw rod 8 is fixedly connected to the output end of the second motor 7; the placing plate 11 is connected to the screw rod 8 in a threaded manner; the connecting rod 14 is fixedly connected to the placing plate 11 and is connected to the fixed seat 6 in a sliding manner; the sucking disc 15 is fixedly connected to the connecting rod 14; a third one-way valve 16 arranged on the suction cup 15; the first gripper 17 is rotatably connected to the fixed seat 6; the second hand grip 18 is rotatably connected to the first hand grip 17; wherein, all seted up recess 1701 on first tongs 17 and the second tongs 18, the recess 1701 inner wall rotates and is connected with second gyro wheel 1702, second tongs 18 and place and be equipped with rope 22 between the board 11, be equipped with clearance mechanism on the fixing base 6.
Clearance mechanism includes first piston cylinder 9, first piston cylinder 9 is seted up on fixing base 6, be equipped with first intake pipe 901 and first outlet duct 902 on the first piston cylinder 9, all be equipped with first check valve 903 on first intake pipe 901 and the first outlet duct 902, sliding connection has first piston plate 1201 in the first piston cylinder 9, first piston plate 1201 is gone up first piston rod of fixedly connected with 12, the one end fixed connection that first piston plate 1201 was kept away from to first piston rod 12 is on placing board 11, the one end that first piston cylinder 9 was kept away from to first outlet duct 902 is equipped with shower nozzle 21.
The second piston cylinder 10 is arranged on the fixing seat 6, a second air inlet pipe 1001 and a second air outlet pipe 1002 are arranged on the second piston cylinder 10, and a second check valve 1003 is arranged on each of the second air inlet pipe 1001 and the second air outlet pipe 1002.
Place fixedly connected with second piston rod 13 on the board 11, the one end fixedly connected with second piston plate 1301 that the board 11 was placed to second piston rod 13 is kept away from, second piston plate 1301 sliding connection is in second piston cylinder 10, and the one end of second piston cylinder 10 is kept away from to second outlet duct 1002.
The placing plate 11 is provided with a second avoiding groove 1101, the fixing seat 6 is provided with a first avoiding groove 601, and the inner wall of the first avoiding groove 601 is rotatably connected with a first roller 602.
A first tension spring 19 is arranged between the first gripper 17 and the fixed seat 6, and a second tension spring 20 is arranged between the first gripper 17 and the second gripper 18.
Fixedly connected with slide rail 2 on the base 1 is equipped with slide 301 on the mount pad 3, and slide 301 sliding connection is on slide rail 2.
Fixedly connected with first motor 4 on the mount pad 3, first motor 4 output end fixedly connected with gear 401, fixedly connected with rack 101 on the base 1, gear 401 links to each other with the meshing of rack 101.
In the invention, when goods need to be put down, the second motor 7 drives the screw rod 8 to rotate reversely, the placing plate 11 descends when the screw rod 8 rotates reversely, the suckers 15 descend simultaneously when the placing plate 11 descends, the ropes 22 between the first gripper 17 and the placing plate 11 and the second gripper 18 are loosened, the first tension spring 19 and the second tension spring 20 expand the first gripper 17 and the second gripper 18, meanwhile, the placing plate 11 pulls the first piston plate 1201 to move downwards in the first piston cylinder 9, the first air inlet pipe 901 sucks external air into the first piston cylinder 9, the second piston rod 13 pulls the second piston plate 1301 to move downwards in the second piston cylinder 10, and air in the second piston cylinder 10 is extruded and conveyed to the suckers 15 through the second air outlet pipe 1002, so that the suckers 15 and the goods can be separated conveniently.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (8)
1. The utility model provides an industrial robot with flexible machinery snatchs mechanism, includes base (1) mount pad (3), mount pad (3) sliding connection is on base (1), its characterized in that still includes:
the mechanical arm (5) is fixedly connected to the mounting seat (3);
the fixing seat (6) is fixedly connected to the mechanical arm (5);
the second motor (7) is fixedly connected to the fixed seat (6);
the screw rod (8) is fixedly connected to the output end of the second motor (7);
the placing plate (11) is in threaded connection with the screw rod (8);
the connecting rod (14) is fixedly connected to the placing plate (11) and is connected to the fixed seat (6) in a sliding manner;
the sucker (15) is fixedly connected to the connecting rod (14);
the third one-way valve (16) is arranged on the sucker (15);
the first gripper (17) is rotatably connected to the fixed seat (6);
a second gripper (18) rotatably connected to the first gripper (17);
the cleaning device is characterized in that grooves (1701) are formed in the first gripper (17) and the second gripper (18), the inner wall of each groove (1701) is rotatably connected with a second roller (1702), a rope (22) is arranged between the second gripper (18) and the placing plate (11), and a cleaning mechanism is arranged on the fixed seat (6).
2. The industrial robot with the flexible mechanical grabbing mechanism is characterized in that the cleaning mechanism comprises a first piston cylinder (9), the first piston cylinder (9) is arranged on the fixing seat (6), a first air inlet pipe (901) and a first air outlet pipe (902) are arranged on the first piston cylinder (9), first check valves (903) are arranged on the first air inlet pipe (901) and the first air outlet pipe (902), a first piston plate (1201) is connected in the first piston cylinder (9) in a sliding mode, a first piston rod (12) is fixedly connected to the first piston plate (1201), one end, far away from the first piston plate (1201), of the first piston rod (12) is fixedly connected to the placing plate (11), and a spray head (21) is arranged at one end, far away from the first piston cylinder (9), of the first air outlet pipe (12).
3. An industrial robot with a flexible mechanical grabbing mechanism according to claim 1, characterized in that a second piston cylinder (10) is arranged on the fixed seat (6), a second air inlet pipe (1001) and a second air outlet pipe (1002) are arranged on the second piston cylinder (10), and a second check valve (1003) is arranged on each of the second air inlet pipe (1001) and the second air outlet pipe (1002).
4. An industrial robot with a flexible mechanical gripping mechanism according to claim 3, characterized in that a second piston rod (13) is fixedly connected to the placing plate (11), a second piston plate (1301) is fixedly connected to one end of the second piston rod (13) far away from the placing plate (11), the second piston plate (1301) is slidably connected to the inside of the second piston cylinder (10), and the second air outlet pipe (1002) is far away from one end of the second piston cylinder (10).
5. An industrial robot with a flexible mechanical gripping mechanism according to claim 1, characterized in that a second avoiding groove (1101) is provided on the placing plate (11), a first avoiding groove (601) is provided on the fixing base (6), and a first roller (602) is rotatably connected to the inner wall of the first avoiding groove (601).
6. An industrial robot with a flexible mechanical gripping mechanism according to claim 1, characterized in that a first tension spring (19) is arranged between the first gripper (17) and the holder (6), and a second tension spring (20) is arranged between the first gripper (17) and the second gripper (18).
7. An industrial robot with a flexible mechanical gripping mechanism according to claim 1, characterized in that a sliding rail (2) is fixedly connected to the base (1), a slide (301) is arranged on the mounting base (3), and the slide (301) is slidably connected to the sliding rail (2).
8. An industrial robot with a flexible mechanical gripping mechanism according to claim 7, characterized in that a first motor (4) is fixedly connected to the mounting base (3), a gear (401) is fixedly connected to the output end of the first motor (4), a rack (101) is fixedly connected to the base (1), and the gear (401) is meshed with the rack (101).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110963934.5A CN113618767A (en) | 2021-08-21 | 2021-08-21 | Industrial robot with flexible machinery snatchs mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110963934.5A CN113618767A (en) | 2021-08-21 | 2021-08-21 | Industrial robot with flexible machinery snatchs mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113618767A true CN113618767A (en) | 2021-11-09 |
Family
ID=78387047
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110963934.5A Withdrawn CN113618767A (en) | 2021-08-21 | 2021-08-21 | Industrial robot with flexible machinery snatchs mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113618767A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114933166A (en) * | 2022-07-27 | 2022-08-23 | 泗阳华盛生物科技有限公司 | Energy-conserving bagging-off machine transport arm |
| CN114952923A (en) * | 2022-06-17 | 2022-08-30 | 华北电力大学（保定） | Plate taking and placing manipulator for intelligent manufacturing assembly line |
-
2021
- 2021-08-21 CN CN202110963934.5A patent/CN113618767A/en not_active Withdrawn
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114952923A (en) * | 2022-06-17 | 2022-08-30 | 华北电力大学（保定） | Plate taking and placing manipulator for intelligent manufacturing assembly line |
| CN114952923B (en) * | 2022-06-17 | 2024-04-30 | 华北电力大学（保定） | A panel is got and is put manipulator for intelligent manufacturing assembly line |
| CN114933166A (en) * | 2022-07-27 | 2022-08-23 | 泗阳华盛生物科技有限公司 | Energy-conserving bagging-off machine transport arm |
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Application publication date: 20211109 |