CN116968060A - Self-sensing anti-drop industrial manipulator - Google Patents
Self-sensing anti-drop industrial manipulator Download PDFInfo
- Publication number
- CN116968060A CN116968060A CN202311104158.9A CN202311104158A CN116968060A CN 116968060 A CN116968060 A CN 116968060A CN 202311104158 A CN202311104158 A CN 202311104158A CN 116968060 A CN116968060 A CN 116968060A
- Authority
- CN
- China
- Prior art keywords
- transmission
- wall
- piece
- fixedly connected
- pipeline
- 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
Links
- 230000005540 biological transmission Effects 0.000 claims abstract description 139
- 230000007246 mechanism Effects 0.000 claims abstract description 19
- 238000009826 distribution Methods 0.000 claims abstract description 3
- 238000007789 sealing Methods 0.000 claims description 17
- 230000000694 effects Effects 0.000 abstract description 28
- 230000033228 biological regulation Effects 0.000 abstract description 4
- 230000007423 decrease Effects 0.000 abstract description 4
- 238000001125 extrusion Methods 0.000 description 6
- 230000033001 locomotion Effects 0.000 description 4
- 238000005452 bending Methods 0.000 description 3
- 239000000428 dust Substances 0.000 description 3
- 230000003628 erosive effect Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 210000001503 joint Anatomy 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000007654 immersion Methods 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 238000010926 purge Methods 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B5/00—Cleaning by methods involving the use of air flow or gas flow
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of industrial automation, and discloses a self-sensing anti-drop industrial manipulator, which comprises a fixed connecting piece, wherein a clamping mechanism is arranged at the bottom of the fixed connecting piece, and comprises: the hollow cylinder transmission piece, the bottom fixedly connected with of fixed connection piece is used for the hollow cylinder transmission piece with compressed gas transfer distribution, the top fixedly connected with of hollow cylinder transmission piece is used for connecting air compressor's input pipeline's bottom. This self-sensing type anti-drop industrial manipulator through having set up fixture for through cavity cylinder transmission piece intercommunication in each U type transmission pipeline for the air pressure in each U type transmission pipeline is unanimous, makes the clamping strength of each grip block the same, makes the work piece all around by the clamping strength the same, has realized the clamping strength of each grip block of regulation of self-perception, avoids the clamping effect decline that the clamping strength difference of each grip block caused.
Description
Technical Field
The invention relates to the technical field of industrial automation, in particular to a self-sensing type anti-drop industrial manipulator.
Background
Industrial robots are devices used in automated production lines, which typically have multiple joints that simulate the actions of a human hand, for various tasks in industrial processes such as handling, assembly, welding, spraying, etc. Industrial robots generally consist of a mechanical structure, an electrical control system, and a motion control system. The mechanical structure generally comprises a base, an arm, a joint, a hand and the like, and the movement of each joint is realized through motor driving. The electrical control system is responsible for power supply, signal transmission and control of various components of the manipulator. The motion control system comprises a sensor and a motion control algorithm, and can control the position, the speed and the strength of the manipulator.
According to a known self-sensing type anti-falling industrial manipulator (publication number: CN 113172651B), the above-mentioned application is recovered by a driving cylinder during clamping, so that the rotating plate and the clamping plate are gathered and tightened to perform the operation of clamping goods.
However, the clamping plates of the manipulator are arranged according to the regular circumferential array, only square objects can be clamped, if the clamped objects are longer than the objects in width, the clamping plates can clamp only the clamping plates on the two sides corresponding to the lengths, and at the moment, the four clamping plates cannot fully contact the clamped objects, so that clamping force is reduced, and the objects are easy to fall off due to unstable clamping.
Disclosure of Invention
The invention aims to provide a self-sensing type anti-drop industrial manipulator to solve the problems in the background technology.
In order to achieve the above purpose, the present invention provides the following technical solutions: the utility model provides a self-sensing formula anti-drop industrial robot, includes fixed connection spare, and fixed connection spare is the fixing device who is used for industrial robot, the bottom of fixed connection spare is provided with fixture, fixture includes:
the hollow cylinder transmission piece, the bottom fixedly connected with of fixed connection piece is used for the hollow cylinder transmission piece of compressed gas transfer distribution, the top fixedly connected with of hollow cylinder transmission piece is used for connecting the bottom of air compressor's input pipeline, the top of fixedly connected with U type transmission pipeline on the surface of hollow cylinder transmission piece, the inner wall fixedly connected with spring one end of U type transmission pipeline, the surface of other end fixedly connected with transmission connecting block of spring one, offered the spacing groove on the inner wall of U type transmission pipeline, the surface fixedly connected with spring two's one end, the surface of other end fixedly connected with transmission square pole of spring two, the surface hinge of transmission connecting block has the one end of locating part, the other end hinge of locating part has the surface of transmission square pole, the one end fixedly connected with that the transmission square pole kept away from the spring two is used for carrying out the grip block of centre gripping fixed to the work piece, the clamping force of each grip block of regulation of having realized from the perception, avoid the clamping effect decline that the clamping force difference caused of each grip block, prevent the drop of work piece, when the work piece is by the centre gripping to a certain extent, spring two is compressed by the extrusion, transmission connecting block and transmission square pole are close to each other this moment, the locating part is by extrusion bending deformation this moment, two quarter bars of locating part rotate each other and are close to, make the middle part articulated position of locating part remove to the direction of spacing groove, make locating part and spacing groove conflict, make the locating part no longer can continue to remove, transmission connecting block and transmission Fang Xinggan are driven fixedly by the locating part this moment, the clamping force of no longer increasing the centre gripping of locating part this moment, the effect of protection work piece has been played.
Preferably, the inner wall and the surface of the clamping plate are provided with a flexible adapting mechanism, and the flexible adapting mechanism comprises: the flexible gasbag, fixedly connected with flexible gasbag on the surface of grip block, the surface of grip block is run through by connecting tube spare, and the surface of grip block is fixed with connecting tube spare, the cavity seal groove has been seted up on the inner wall of grip block, when the grip block moved to the direction of work piece, the grip block drove the flexible gasbag that the array was arranged to the work piece and contradict for work piece surface protruding portion is with flexible gasbag compression immersion, but when a flexible gasbag was extrudeed, the inner wall of cavity seal groove was got into through connecting tube spare to the air in this flexible gasbag, the inner wall atmospheric pressure of cavity seal groove increases, make the air in the cavity seal groove get into other flexible gasbag through other connecting tube spare, make the unsmooth part of work piece surface also the centre gripping dynamics the same, play the effect of even centre gripping work piece surface, the effect of increasing the centre gripping effect has been played.
Preferably, the inner wall and the bottom of the hollow cylinder transmission piece are provided with a pressure release mechanism, and the pressure release mechanism comprises: the utility model provides a fixed lever, fixedly connected with dead lever on the inner wall of cavity cylinder transmission spare, the one end of the bottom fixedly connected with spring three of dead lever, the other end fixedly connected with sealed flexible ball of spring three, the bottom fixedly connected with gas directional transmission spare of cavity cylinder transmission spare is at the top, be fixed with middle part arc protruding piece on the inner wall of gas directional transmission spare, when the transmission connecting block is fixed by the restriction, compressed air in the U type transmission pipeline continues to increase because air compressor's continuous input, and compressed air pushes up sealed flexible ball this moment, and compressed air gets into gas directional transmission spare downwards, and rethread middle part arc protruding piece, under the characteristic that utilizes venturi, the air current is earlier through the shrink in middle part shrinkage cavity, and the expansion that then utilizes through open hole can avoid the erosion jam of air dust, then the air sweeps the work piece downwards, has played the effect of clean work piece.
Preferably, the hollow cylindrical transmission member is provided with a cavity on its inner wall, the inner wall of the hollow cylindrical transmission member is communicated with the inner wall of the U-shaped transmission pipeline, the inner wall of the U-shaped transmission pipeline is a cavity, and the surface of the transmission square rod is communicated with the inner wall of the U-shaped transmission pipeline.
Preferably, the surface of the transmission connecting block is connected with the piston on the inner wall of the U-shaped transmission pipeline, and the limit grooves are distributed according to an array.
Preferably, the limiting piece is formed by hinging two short rods, and a block with a hinging point is arranged between the two short rods of the limiting piece.
Preferably, the flexible air bags are arranged according to an array, the connecting pipeline piece penetrates through the inner wall of the flexible air bags, the connecting pipeline piece is fixed with the inner wall of the flexible air bags, one end of the connecting pipeline piece is communicated with the inner wall of the flexible air bags, and the other end of the connecting pipeline piece is communicated with the inner wall of the hollow sealing groove.
Preferably, the bottom of the hollow cylindrical transmission piece is provided with a through hole, and the sealing flexible ball is tightly abutted against the bottom through hole of the hollow cylindrical transmission piece.
Preferably, the middle arc-shaped protruding block is a hollow arc-shaped block with a thinner middle part and wider upper and lower sides and conforming to the characteristics of the venturi tube.
Compared with the prior art, the invention provides the self-sensing anti-drop industrial manipulator which has the following beneficial effects:
1. this from sensing type anti-drop industrial robot, through having set up fixture, the grip block of contact work piece is contradicted with the work piece, is used for in each U type transmission pipeline this moment through cavity cylinder transmission piece intercommunication for the air pressure in each U type transmission pipeline is unanimous, makes the clamping strength of each grip block the same, makes the quilt clamping strength of each position of work piece the same, has realized the clamping strength of each grip block of regulation of self-perception, avoids the clamping effect decline that the clamping strength difference of each grip block caused.
2. This from sensing type anti-drop industrial robot through having set up fixture, when the work piece is by the centre gripping to certain degree, spring two is compressed by the extrusion, transmission connecting block and transmission square pole are close to each other this moment, the locating part is by the extrusion bending deformation this moment, two quarter butt of locating part rotate each other and are close to for the middle part articulated position of locating part moves to the direction of spacing groove, makes locating part and spacing groove conflict, makes the locating part can not continue to remove again, and transmission connecting block and transmission Fang Xinggan are driven fixedly by the locating part this moment, and the dynamics of clamping is no longer continuously increased to the grip block this moment, has played the effect of protection work piece.
3. This from sensing type anti-drop industrial robot, through having set up flexible adapter mechanism, when the grip block moved to the direction of work piece, the grip block drove the flexible gasbag of array arrangement and contradicts the work piece for work piece surface protruding portion is with flexible gasbag compression entrapment, but when a flexible gasbag was extrudeed, the inner wall of hollow seal groove is got into through connecting pipe spare to the air in this flexible gasbag, the inner wall atmospheric pressure of hollow seal groove increases, make the air in the hollow seal groove get into other flexible gasbag through other connecting pipe spare, make the uneven part of work piece surface also the clamping dynamics the same, play the effect of even centre gripping work piece surface, the effect of increase centre gripping effect has been played.
4. This from sensing type anti-drop industrial robot, through having set up pressure release mechanism, when the transmission connecting block is restricted fixedly, compressed air in the U type transmission pipeline continues to increase because air compressor's continuous input, compressed air pushes up sealed flexible ball this moment, compressed air gets into gaseous directional transmission spare downwards, rethread middle part arc protruding piece, under the characteristic that utilizes venturi, the air current is earlier through the shrink in middle part shrink hole, the expansion of rethread open hole can avoid the erosion jam of air dust, then the air is to the work piece purging down, the effect of clean work piece has been played.
Drawings
FIG. 1 is a schematic diagram of a front view of the present invention;
FIG. 2 is a schematic cross-sectional view of a U-shaped transmission pipeline according to the present invention;
FIG. 3 is an enlarged schematic view of the structure of FIG. 2A according to the present invention;
FIG. 4 is a schematic cross-sectional view of a hollow cylindrical transfer member according to the present invention;
FIG. 5 is a schematic cross-sectional view of a gas directional transfer member according to the present invention;
FIG. 6 is a schematic view of the structure of the flexible bladder of the present invention;
fig. 7 is a schematic cross-sectional view of the clamping plate and flexible bladder of the present invention.
In the figure: 1. fixing the connecting piece; 2. a clamping mechanism; 21. a hollow cylindrical transmission member; 22. an input pipe; 23. a U-shaped transmission pipeline; 24. a first spring; 25. a transmission connecting block; 26. a limit groove; 27. a second spring; 28. a limiting piece; 29. a driving square rod; 210. a clamping plate; 3. a flexible adapting mechanism; 31. a flexible balloon; 32. a connecting pipe member; 33. a hollow seal groove; 4. a pressure release mechanism; 41. a fixed rod; 42. a third spring; 43. sealing the flexible ball; 44. a gas directional transfer member; 45. the middle part is provided with an arc-shaped protruding block.
Detailed Description
As shown in fig. 1 to 7, the present invention provides a technical solution: the utility model provides a self-sensing formula anti-drop industrial robot, includes fixed connection spare 1, and fixed connection spare 1 is the fixing device who is used for industrial robot, and the bottom of fixed connection spare 1 is provided with fixture 2, and fixture 2 is the manipulator mechanism that is used for industrial manufacturing, and fixture 2 includes:
the hollow cylinder transmission piece 21 is fixedly connected with the bottom of the fixed connection piece 1, the hollow cylinder transmission piece 21 for transferring and distributing compressed gas is fixedly connected with the bottom of an input pipeline 22 for connecting an air compressor, the top of a U-shaped transmission pipeline 23 is fixedly connected with the surface of the hollow cylinder transmission piece 21, one end of a first spring 24 is fixedly connected with the inner wall of the U-shaped transmission pipeline 23, the other end of the first spring 24 is fixedly connected with the surface of a transmission connection block 25, a limit groove 26 is formed in the inner wall of the U-shaped transmission pipeline 23, one end of a second spring 27 is fixedly connected with the surface of a second spring 27, the other end of the second spring 27 is fixedly connected with the surface of a transmission square rod 29, one end of a limit piece 28 is hinged to the surface of the transmission connection block 25, the other end of the limit piece 28 is hinged to the surface of the transmission square rod 29, one end of the transmission Fang Xinggan, far away from the spring II 27, is fixedly connected with a clamping plate 210 for clamping and fixing a workpiece, the fixed connecting piece 1 is fixed on the mechanical arm, an output pipeline of the air compressor is in butt joint with the input pipeline 22, the air compressor is started, compressed air enters the inner wall of the hollow cylindrical transmission piece 21 through the input pipeline 22, then the compressed air pushes the transmission connecting block 25 to move away from the spring I24 through the U-shaped transmission pipeline 23, the transmission connecting block 25 drives the spring II 27 to move away from the spring I24, the spring II 27 drives the transmission Fang Xinggan 29 to move away from the spring I24, the transmission Fang Xinggan drives the clamping plate 210 to move away from the spring I24, the clamping plate 210 clamps the workpiece, at the moment, the four clamping plates 210 clamp the workpiece, when the lengths and widths of the workpiece are inconsistent, the workpiece which is firstly abutted by the clamping plate 210 can generate opposite force, so that the pressure of the compressed air entering the workpiece is increased, the air pressure in the U-shaped transmission pipeline 23 at one side of the clamping plate 210 which is in back contact with the workpiece is smaller, the clamping force of the workpiece which is firstly abutted at the moment can stop increasing until the clamping plate 210 which is in back contact with the workpiece is abutted with the workpiece, the clamping force of the clamping plate 210 which is used for each U-shaped transmission pipeline 23 is communicated through the hollow cylindrical transmission piece 21 at the moment, the air pressure in each U-shaped transmission pipeline 23 is consistent, the clamping force of each clamping plate 210 is the same, the clamped force of each direction of the workpiece is the same, the self-perceived regulation of the clamping force of each clamping plate 210 is realized, avoid the clamping effect decline that the clamping dynamics of each grip block 210 caused differently, prevent the drop of work piece, when the work piece is held to a certain extent, spring two 27 is compressed by the extrusion, transmission connecting block 25 and transmission Fang Xinggan 29 are close to each other this moment, the locating part 28 is by extrusion bending deformation this moment, two quarter butt of locating part 28 rotate each other and are close to each other, make the middle part articulated position of locating part 28 remove to the direction of spacing groove 26, make locating part 28 and spacing groove 26 conflict, make locating part 28 can not continue to remove again, transmission connecting block 25 and transmission Fang Xinggan are driven fixedly by locating part 28 this moment, the dynamics of clamping is no longer continued to increase by the grip block 210 this moment, the effect of protecting the work piece has been played.
In this embodiment, the inner wall and the surface of the holding plate 210 are provided with a flexible fitting mechanism 3, and the flexible fitting mechanism 3 includes: the flexible air bags 31 are fixedly connected to the surfaces of the clamping plates 210, the surfaces of the clamping plates 210 are penetrated by the connecting pipeline pieces 32, the surfaces of the clamping plates 210 are fixed with the connecting pipeline pieces 32, the inner walls of the clamping plates 210 are provided with hollow sealing grooves 33, when the clamping plates 210 move towards the workpiece, the clamping plates 210 drive the flexible air bags 31 distributed in an array to collide with the workpiece, so that the protruding parts on the surfaces of the workpiece compress the flexible air bags 31, but when one flexible air bag 31 is extruded, air in the flexible air bags 31 enters the inner walls of the hollow sealing grooves 33 through the connecting pipeline pieces 32, the air pressure in the hollow sealing grooves 33 is increased, and the air in the hollow sealing grooves enters other flexible air bags 31 through other connecting pipeline pieces 32, so that the uneven parts on the surfaces of the workpiece are uniformly clamped, the effect of uniformly clamping the surfaces of the workpiece is achieved, and the effect of increasing the clamping effect is achieved.
Wherein, the inner wall and the bottom of cavity cylinder transmission piece 21 are provided with relief mechanism 4, and relief mechanism 4 includes: the fixed rod 41 is fixedly connected with the fixed rod 41 on the inner wall of the hollow cylindrical transmission piece 21, one end of the spring III 42 is fixedly connected with the bottom of the fixed rod 41, the other end of the spring III 42 is fixedly connected with the sealing flexible ball 43, the bottom of the hollow cylindrical transmission piece 21 is fixedly connected with the top of the gas directional transmission piece 44, the middle arc-shaped protruding block 45 is fixedly arranged on the inner wall of the gas directional transmission piece 44, when the transmission connection block 25 is limited and fixed, compressed air in the U-shaped transmission pipeline 23 continues to increase because of continuous input of the air compressor, at the moment, the compressed air pushes up the sealing flexible ball 43, the compressed air downwards enters the gas directional transmission piece 44, and then passes through the middle arc-shaped protruding block 45.
It is noted that the hollow cylindrical transmission member 21 has a hollow cavity formed in its inner wall, the hollow cylindrical transmission member 21 has an inner wall communicated with the inner wall of the U-shaped transmission pipe 23, the inner wall of the U-shaped transmission pipe 23 is a hollow cavity, the surface of the transmission Fang Xinggan is communicated with the inner wall of the U-shaped transmission pipe 23, the surface of the transmission connection block 25 is connected with the inner wall of the U-shaped transmission pipe 23 by piston, the limiting grooves 26 are arranged in an array, the limiting members 28 are two short rods hinged to each other, the middle of the two short rods of the limiting members 28 is a block with a hinged point, the flexible air bags 31 are arranged in an array, the connecting pipe members 32 penetrate the inner wall of the flexible air bags 31, the connecting pipe members 32 are fixed with the inner wall of the flexible air bags 31, one end of the connecting pipe members 32 is communicated with the inner wall of the flexible air bags 31, the other end of the connecting pipe members 32 is communicated with the inner wall of the hollow sealing groove 33, the bottom of the hollow cylindrical transmission member 21 is provided with a through hole, the sealing flexible ball 43 is tightly abutted against the bottom through hole of the hollow cylindrical transmission member 21, and the middle arc-shaped protruding block 45 is a hollow arc block which is a middle part with a narrow venturi tube with the characteristics conforming to the upper and lower sides.
During the use, fix fixed connection spare 1 to the arm, dock air compressor's output pipeline and input pipeline 22, open air compressor, after the inner wall of cavity cylinder transmission spare 21 is got into through input pipeline 22 to compressed air, then compressed air promotes the transmission connecting block 25 and moves to the direction of keeping away from spring one 24 through U type transmission pipeline 23, transmission connecting block 25 drives spring two 27 and moves to the direction of keeping away from spring one 24, spring two 27 drives transmission Fang Xinggan and moves to the direction of keeping away from spring one 24, transmission Fang Xinggan drives grip block 210 and moves to the direction of keeping away from spring one 24, make grip block 210 carry out the centre gripping to the work piece, four grip blocks 210 carry out the centre gripping at this moment, when the length of work piece is inconsistent, the pressure that grip block 210 contradicted earlier can produce an opposite force, make the pressure that compressed air of this place got into increase, air pressure in the U type transmission pipeline 23 of back contact work piece's grip block 210 one side is less this moment, make the grip block 210 of work piece that contacts earlier stop increasing the centre gripping power, until the grip block 210 of back contact work piece is contradicted with work piece and work piece one direction of keeping away from the direction of keeping away from spring one 24, four grip blocks 210 drive grip blocks and move to the direction of keeping away from spring one 24, four grip blocks 210 carry out the centre gripping to work piece, at this moment, four grip blocks carry out the centre gripping plates 210 carry out the centre gripping, each force on each piece, each piece is used for each hollow piece has been used for each piece, each position of the cylinder piece has been avoided, the centre gripping effect is different to have been made the centre gripping effect that the same, and has been made the centre gripping effect each cylinder, and has been made each pressure force in each cylinder, and has the centre gripping effect each well-shaped and has been made each pressure and has well-shaped effect and has well effect and has been made each inside each grip plate and has each effect and has.
When the clamping plate 210 moves towards the workpiece, the clamping plate 210 drives the flexible air bags 31 arranged in an array to collide with the workpiece, so that the protruding parts on the surface of the workpiece compress the flexible air bags 31, but when one flexible air bag 31 is extruded, air in the flexible air bags 31 enters the inner wall of the hollow sealing groove 33 through the connecting pipeline piece 32, the air pressure of the inner wall of the hollow sealing groove 33 is increased, and air in the hollow sealing groove enters other flexible air bags 31 through other connecting pipeline pieces 32, so that the uneven parts on the surface of the workpiece have the same clamping force, the effect of uniformly clamping the surface of the workpiece is achieved, and the effect of increasing the clamping effect is achieved.
When the work piece is clamped to a certain degree, the second spring 27 is extruded and compressed, the transmission connecting block 25 and the transmission Fang Xinggan 29 are close to each other, the limiting piece 28 is extruded and bent to deform at the moment, and the two short rods of the limiting piece 28 are close to each other in a rotating way, so that the middle hinged position of the limiting piece 28 moves towards the direction of the limiting groove 26, the limiting piece 28 is in collision with the limiting groove 26, the limiting piece 28 can not move continuously, the transmission connecting block 25 and the transmission Fang Xinggan are driven and fixed by the limiting piece 28, and the clamping plate 210 does not continuously increase clamping force at the moment, so that the work piece is protected.
When the transmission connecting block 25 is limited and fixed, the compressed air in the U-shaped transmission pipeline 23 is continuously increased because of continuous input of the air compressor, at the moment, the compressed air pushes up the sealing flexible ball 43, the compressed air downwards enters the gas directional transmission piece 44, and then passes through the middle arc-shaped protruding block 45, under the characteristic of utilizing the venturi tube, the air flow firstly passes through the shrinkage of the middle shrinkage hole, and then is expanded through the open hole, so that the erosion and blockage of air dust can be avoided, and then the air downwards sweeps the workpiece, thereby playing the role of cleaning the workpiece.
The foregoing invention has been generally described in great detail, but it will be apparent to those skilled in the art that modifications and improvements can be made thereto. Accordingly, it is intended to cover modifications or improvements within the spirit of the inventive concepts.
Claims (9)
1. The utility model provides a self-sensing formula anti-drop industrial robot, includes fixed connection spare (1), its characterized in that: the bottom of fixed connection (1) is provided with fixture (2), fixture (2) include:
hollow cylinder transmission piece (21), the bottom fixedly connected with of fixed connection piece (1) is used for the hollow cylinder transmission piece (21) of compressed gas transfer distribution, the top fixedly connected with of hollow cylinder transmission piece (21) is used for connecting the bottom of the input pipeline (22) of air compressor, the top of the fixedly connected with U type transmission pipeline (23) on the surface of hollow cylinder transmission piece (21), the one end of the inner wall fixedly connected with spring one (24) of U type transmission pipeline (23), the surface of transmission connecting block (25) is offered to the other end fixedly connected with of spring one (24), the one end of spring two (27) is offered on the inner wall of U type transmission pipeline (23), the other end fixedly connected with transmission square rod (29) of spring two (27), the one end of limiting piece (28) is articulated on the surface of transmission connecting block (25), the other end of limiting piece (28) articulates the surface of transmission square rod (29), transmission square rod (27) is kept away from fixed holding plate (210) of work piece one end that is used for keeping away from spring two (27).
2. The self-sensing anti-drop industrial robot of claim 1, wherein: the inner wall and the surface of the clamping plate (210) are provided with a flexible adapting mechanism (3), and the flexible adapting mechanism (3) comprises: the flexible airbag (31), fixedly connected with flexible airbag (31) on the surface of grip block (210), the surface of grip block (210) is run through by connecting pipeline spare (32), and the surface and the connecting pipeline spare (32) of grip block (210) are fixed, hollow seal groove (33) have been seted up on the inner wall of grip block (210).
3. The self-sensing anti-drop industrial robot of claim 1, wherein: the inner wall and the bottom of cavity cylinder transmission piece (21) are provided with relief mechanism (4), relief mechanism (4) include: the fixing rod (41), fixedly connected with dead lever (41) on the inner wall of cavity cylinder transmission spare (21), the one end of the bottom fixedly connected with spring three (42) of dead lever (41), the other end fixedly connected with sealed flexible ball (43) of spring three (42), the top of the bottom fixedly connected with gas directional transmission spare (44) of cavity cylinder transmission spare (21), be fixed with middle part arc protruding piece (45) on the inner wall of gas directional transmission spare (44).
4. The self-sensing anti-drop industrial robot of claim 1, wherein: the hollow cylindrical transmission part is characterized in that a cavity is formed in the inner wall of the hollow cylindrical transmission part (21), the inner wall of the hollow cylindrical transmission part (21) is communicated with the inner wall of the U-shaped transmission pipeline (23), the inner wall of the U-shaped transmission pipeline (23) is a cavity, and the surface of the transmission square rod (29) is communicated with the inner wall of the U-shaped transmission pipeline (23).
5. The self-sensing anti-drop industrial robot of claim 1, wherein: the surface of the transmission connecting block (25) is connected with the piston on the inner wall of the U-shaped transmission pipeline (23), and the limiting grooves (26) are arranged according to an array.
6. The self-sensing anti-drop industrial robot of claim 1, wherein: the limiting piece (28) is formed by hinging two short rods, and a block with a hinging point is arranged between the two short rods of the limiting piece (28).
7. The self-sensing anti-drop industrial robot of claim 2, wherein: the flexible air bags (31) are arranged according to an array, the connecting pipeline pieces (32) penetrate through the inner wall of the flexible air bags (31), the connecting pipeline pieces (32) are fixed with the inner wall of the flexible air bags (31), one ends of the connecting pipeline pieces (32) are communicated with the inner wall of the flexible air bags (31), and the other ends of the connecting pipeline pieces (32) are communicated with the inner wall of the hollow sealing groove (33).
8. A self-sensing anti-slip industrial robot as claimed in claim 3, wherein: the bottom of the hollow cylindrical transmission piece (21) is provided with a through hole, and the sealing flexible ball (43) is tightly abutted against the bottom through hole of the hollow cylindrical transmission piece (21).
9. A self-sensing anti-slip industrial robot as claimed in claim 3, wherein: the middle arc-shaped protruding block (45) is a hollow arc-shaped block with a thinner middle part and wider upper and lower sides and accords with the characteristics of a venturi tube.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311104158.9A CN116968060A (en) | 2023-08-30 | 2023-08-30 | Self-sensing anti-drop industrial manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311104158.9A CN116968060A (en) | 2023-08-30 | 2023-08-30 | Self-sensing anti-drop industrial manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116968060A true CN116968060A (en) | 2023-10-31 |
Family
ID=88471484
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311104158.9A Pending CN116968060A (en) | 2023-08-30 | 2023-08-30 | Self-sensing anti-drop industrial manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116968060A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118493359A (en) * | 2024-07-17 | 2024-08-16 | 广东达安建设科技有限公司 | Anti-drop shield constructs manipulator of quick-witted blade processing |
| CN118513176A (en) * | 2024-07-24 | 2024-08-20 | 洛阳景圭机械科技有限公司 | Clamping device and method for slurry valve production |
-
2023
- 2023-08-30 CN CN202311104158.9A patent/CN116968060A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118493359A (en) * | 2024-07-17 | 2024-08-16 | 广东达安建设科技有限公司 | Anti-drop shield constructs manipulator of quick-witted blade processing |
| CN118513176A (en) * | 2024-07-24 | 2024-08-20 | 洛阳景圭机械科技有限公司 | Clamping device and method for slurry valve production |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN116968060A (en) | Self-sensing anti-drop industrial manipulator | |
| JP4632065B2 (en) | robot | |
| CN107891419B (en) | Phagocytic grabbing and conveying integrated flexible robot | |
| CN110509267B (en) | Soft manipulator based on swallowing effect | |
| CN105459107B (en) | A kind of mechanical arm for spraying large-diameter pipeline inner wall | |
| CN110654828A (en) | Automatic glass bottle grabbing and overturning equipment and using method thereof | |
| Osumi et al. | Development of a manipulator suspended by parallel wire structure | |
| CN115990899B (en) | Line inspection robot | |
| CN112518708A (en) | Large-scale cargo handling robot | |
| CN208084354U (en) | A kind of flexible robot for narrow space detection | |
| CN108145730B (en) | Multi-angle grabbing mechanical claw and grabbing method thereof | |
| JP2023170088A (en) | Robot, gripping device, method, program and system | |
| CN107234626B (en) | Fluid self-adaptive parallel clamping coupling switching robot finger device | |
| CN215240916U (en) | Intelligent robot locking type end effector | |
| CN109968333B (en) | Three-translation grabbing robot mechanism with synchronous belt transmission structure | |
| CN110000765B (en) | High-speed two-translation grabbing robot mechanism with synchronous belt transmission structure | |
| CN113084859A (en) | Clamping head structure for industrial robot | |
| CN217967037U (en) | Pneumatic flexible manipulator | |
| CN118061159B (en) | Inflatable flexible manipulator | |
| CN220840236U (en) | Clamping jaw mechanism | |
| CN216577853U (en) | Industrial robot arm that stability is good | |
| CN213999515U (en) | Dual-drive pneumatic multidirectional bending flexible actuator | |
| CN218698797U (en) | Robot carrying mechanical paw | |
| CN214446364U (en) | High-speed mechanical arm structure | |
| CN215433732U (en) | Clamping mechanism for industrial robot based on computer control |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20231031 |