CN204414127U - A kind of assembly robot dynamics monitoring gripper - Google Patents
A kind of assembly robot dynamics monitoring gripper Download PDFInfo
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- CN204414127U CN204414127U CN201520037406.7U CN201520037406U CN204414127U CN 204414127 U CN204414127 U CN 204414127U CN 201520037406 U CN201520037406 U CN 201520037406U CN 204414127 U CN204414127 U CN 204414127U
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- gripper
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- assembly robot
- robot dynamics
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Abstract
The utility model discloses a kind of assembly robot dynamics monitoring gripper, comprise sliding bar, left gripper, hollow fixed bar, mechanical arm, motor, right gripper and pressure sensor, bottom described mechanical arm, connecting plate is installed, connecting plate side is parallel is fixed with two hollow fixed bars, hollow fixed bar end is provided with left gripper, described two hollow fixed bar inside are provided with sliding bar, described sliding bar end is provided with right gripper, left pad is connected with inside left gripper, left pad rear end linking springs, the spring other end is fixed on pressure sensor, right pad is fixedly connected with inside right gripper, described a kind of assembly robot dynamics monitoring gripper, structure is simple, easy to operate, realize opening or clamping of left gripper and right gripper, ensure that the constant of the extruding force that surface of the work produces and frictional force, avoid the excessive damage causing workpiece of pressure, leading screw ensure that gripping accuracy, capture effective.
Description
Technical field
The utility model relates to robotics, specifically a kind of assembly robot dynamics monitoring gripper.
Background technology
Along with robot device's application is in the industrial production more and more extensive, the robot device of various pattern also arises at the historic moment, in, on small lot batch manufacture flexible manufacturing automatic production line, often need to realize workpiece moving between two workbench, and manipulator due to positioning precision high, stable work in work, the features such as flexible structure is various, obtain a wide range of applications, it is insecure that existing equipment also there will be crawl, easy obscission, because not all product is all firm non-friable, always some product holds to can't stand excessive grip, the damage of sample can be caused, grip size can not be accurately controlled in crawl process, impact captures effect.
Utility model content
The purpose of this utility model is to provide a kind of assembly robot dynamics to monitor gripper, to solve the problem proposed in above-mentioned background technology.
For achieving the above object, the utility model provides following technical scheme:
A kind of assembly robot dynamics monitoring gripper, comprise sliding bar, left gripper, hollow fixed bar, mechanical arm, motor, right gripper and pressure sensor, bottom described mechanical arm, connecting plate is installed, connecting plate side is parallel is fixed with two hollow fixed bars, hollow fixed bar end is provided with left gripper, described two hollow fixed bar inside are provided with sliding bar, described sliding bar end is provided with right gripper, left pad is connected with inside left gripper, left pad rear end linking springs, the spring other end is fixed on pressure sensor, pressure sensor is embedded in left gripper, pressure sensor rear end connects wireless communication module, right pad is fixedly connected with inside described right gripper, articles holding table is provided with below left gripper and right gripper, described two sliding bars are connected by connecting rod, motor is connected by leading screw in the middle part of connecting rod, motor is arranged on connecting plate.
As further program of the utility model: described two sliding bars be arranged in parallel.
As further program of the utility model: described left gripper and right gripper are rectangular structure and are oppositely arranged.
As further program of the utility model: described left pad is arranged in the internal cavities of left gripper.
As further program of the utility model: described left pad and right pad surface are provided with anti-slip veins.
As further program of the utility model: described wireless communication module is by wireless transmission method connection control device.
Compared with prior art, the beneficial effects of the utility model are: described a kind of assembly robot dynamics monitoring gripper, structure is simple, easy to operate, realize opening or clamping of left gripper and right gripper by motor positive and inverse, utilize pressure sensor, spring and left pad accurately and timely to feed back extruding force suffered by workpiece, ensure that the constant of the extruding force that surface of the work produces and frictional force, avoid the excessive damage causing workpiece of pressure, leading screw ensure that gripping accuracy, captures effective.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model.
Fig. 2 is the structural representation of gripper in the utility model.
In figure: the right pad of 1-, 2-articles holding table, 3-sliding bar, the left pad of 4-, the left gripper of 5-, 6-hollow fixed bar, 7-connecting plate, 8-mechanical arm, 9-motor, 10-leading screw, the right gripper of 11-, 12-connecting rod, 13-block, 14-pressure sensor, 15-wireless communication module, 16-internal cavities, 17-spring.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the utility model embodiment, be clearly and completely described the technical scheme in the utility model embodiment, obviously, described embodiment is only the utility model part embodiment, instead of whole embodiments.Based on the embodiment in the utility model, those of ordinary skill in the art are not making the every other embodiment obtained under creative work prerequisite, all belong to the scope of the utility model protection.
Refer to Fig. 1 ~ 2, in the utility model embodiment, a kind of assembly robot dynamics monitoring gripper, comprise sliding bar 3, left gripper 5, hollow fixed bar 6, mechanical arm 8, motor 9, right gripper 11 and pressure sensor 14, bottom described mechanical arm 8, connecting plate 7 is installed, connecting plate 7 side is parallel is fixed with two hollow fixed bars 6, hollow fixed bar 6 end is provided with left gripper 5, described two hollow fixed bar 6 inside are provided with sliding bar 3, two sliding bars 3 be arranged in parallel, described sliding bar 3 end is provided with right gripper 11, described left gripper 5 is rectangular structure with right gripper 11 and is oppositely arranged, left pad 4 is connected with inside left gripper 5, left pad 4 is arranged in the internal cavities 16 of left gripper 5, left pad 4 rear end linking springs 17, spring 17 other end is fixed on pressure sensor 14, pressure sensor 14 is embedded in left gripper 5, pressure sensor 14 rear end connects wireless communication module 15, wireless communication module 15 is by wireless transmission method connection control device, right pad 1 is fixedly connected with inside described right gripper 11, left pad 4 is provided with anti-slip veins with right pad 1 surface, articles holding table 2 is provided with below left gripper 5 and right gripper 11, described two sliding bars 3 are connected by connecting rod 12, motor 9 is connected by leading screw 10 in the middle part of connecting rod 12, motor 9 is arranged on connecting plate 7.
During use, the top of mobile mechanical arm 8 to articles holding table 2, when motor 9 reverses, leading screw 10 rotary actuation sliding bar 3 moves laterally, the left gripper 5 be oppositely arranged is opened with right gripper 11, left gripper 5 and right gripper 11 are placed in the both sides of workpiece, then control motor 9 to rotate forward, leading screw 10 rotary actuation sliding bar 3 moves to the inside, left gripper 5 inwardly shrinks with right gripper 11, left pad 4 and right pad 1 clamping work pieces, in the process of stepping up, left pad 4 effect of being stressed, the internal cavities 16 of gripper 5 shrinks left, thus make the spring 17 of left pad 4 rear end compress squeeze pressure sensor 14, pressure signal is transferred to controller by wireless communication module 15 by pressure sensor 14, Real-Time Monitoring workpiece pressure, setting pressure sensor 14 numerical value can be shifted to an earlier date by controller, when left pad 4 pressure reaches setting value, motor 9 stops operating, avoid the damage causing workpiece.
Operation principle of the present utility model is: described a kind of assembly robot dynamics monitoring gripper, structure is simple, easy to operate, opening or clamping of left gripper 5 and right gripper 11 is realized by motor 9 rotating, utilize pressure sensor 14, spring 17 and left pad 4 accurately and timely to feed back extruding force suffered by workpiece, ensure that the constant of the extruding force that surface of the work produces and frictional force, avoid the excessive damage causing workpiece of pressure, leading screw 10 ensure that gripping accuracy, captures effective.
To those skilled in the art, obvious the utility model is not limited to the details of above-mentioned one exemplary embodiment, and when not deviating from spirit of the present utility model or essential characteristic, can realize the utility model in other specific forms.Therefore, no matter from which point, all should embodiment be regarded as exemplary, and be nonrestrictive, scope of the present utility model is limited by claims instead of above-mentioned explanation, and all changes be therefore intended in the implication of the equivalency by dropping on claim and scope are included in the utility model.Any Reference numeral in claim should be considered as the claim involved by limiting.
In addition, be to be understood that, although this description is described according to embodiment, but not each embodiment only comprises an independently technical scheme, this narrating mode of description is only for clarity sake, those skilled in the art should by description integrally, and the technical scheme in each embodiment also through appropriately combined, can form other embodiments that it will be appreciated by those skilled in the art that.
Claims (6)
1. an assembly robot dynamics monitoring gripper, comprise sliding bar, left gripper, hollow fixed bar, mechanical arm, motor, right gripper and pressure sensor, it is characterized in that, bottom described mechanical arm, connecting plate is installed, connecting plate side is parallel is fixed with two hollow fixed bars, hollow fixed bar end is provided with left gripper, described two hollow fixed bar inside are provided with sliding bar, described sliding bar end is provided with right gripper, left pad is connected with inside left gripper, left pad rear end linking springs, the spring other end is fixed on pressure sensor, pressure sensor is embedded in left gripper, pressure sensor rear end connects wireless communication module, right pad is fixedly connected with inside described right gripper, articles holding table is provided with below left gripper and right gripper, described two sliding bars are connected by connecting rod, motor is connected by leading screw in the middle part of connecting rod, motor is arranged on connecting plate.
2. a kind of assembly robot dynamics monitoring gripper according to claim 1, it is characterized in that, described two sliding bars be arranged in parallel.
3. a kind of assembly robot dynamics monitoring gripper according to claim 1, it is characterized in that, described left gripper and right gripper are rectangular structure and are oppositely arranged.
4. a kind of assembly robot dynamics monitoring gripper according to claim 1, it is characterized in that, described left pad is arranged in the internal cavities of left gripper.
5. a kind of assembly robot dynamics monitoring gripper according to claim 1, it is characterized in that, described left pad and right pad surface are provided with anti-slip veins.
6. a kind of assembly robot dynamics monitoring gripper according to claim 1, it is characterized in that, described wireless communication module is by wireless transmission method connection control device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520037406.7U CN204414127U (en) | 2015-01-20 | 2015-01-20 | A kind of assembly robot dynamics monitoring gripper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520037406.7U CN204414127U (en) | 2015-01-20 | 2015-01-20 | A kind of assembly robot dynamics monitoring gripper |
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| CN204414127U true CN204414127U (en) | 2015-06-24 |
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| CN201520037406.7U Active CN204414127U (en) | 2015-01-20 | 2015-01-20 | A kind of assembly robot dynamics monitoring gripper |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107042526A (en) * | 2017-03-28 | 2017-08-15 | 江阴兴澄特种钢铁有限公司 | A kind of general-purpose manipulator for capturing steel |
| CN108445794A (en) * | 2018-02-28 | 2018-08-24 | 辽宁科技大学 | A kind of induction machine pincers clamping controller system and control method |
| CN108908387A (en) * | 2018-08-15 | 2018-11-30 | 江西应用技术职业学院 | A kind of industrial robot fixture of anti-slip |
| CN109940644A (en) * | 2017-12-21 | 2019-06-28 | 沈阳新松机器人自动化股份有限公司 | A kind of general rotation centralizer |
| CN111185932A (en) * | 2020-02-19 | 2020-05-22 | 哈尔滨商业大学 | Robot snatchs mechanism |
| CN112318533A (en) * | 2020-09-23 | 2021-02-05 | 南京合信智能装备有限公司 | Adjustable cylinder clamping mechanism based on intelligent welding robot technology |
| CN107813333B (en) * | 2017-09-05 | 2021-04-27 | 芜湖瑞思机器人有限公司 | Food grabbing mechanism for high-speed parallel robot |
-
2015
- 2015-01-20 CN CN201520037406.7U patent/CN204414127U/en active Active
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107042526A (en) * | 2017-03-28 | 2017-08-15 | 江阴兴澄特种钢铁有限公司 | A kind of general-purpose manipulator for capturing steel |
| CN107813333B (en) * | 2017-09-05 | 2021-04-27 | 芜湖瑞思机器人有限公司 | Food grabbing mechanism for high-speed parallel robot |
| CN109940644A (en) * | 2017-12-21 | 2019-06-28 | 沈阳新松机器人自动化股份有限公司 | A kind of general rotation centralizer |
| CN109940644B (en) * | 2017-12-21 | 2022-02-11 | 沈阳新松机器人自动化股份有限公司 | Universal rotary centering fixture |
| CN108445794A (en) * | 2018-02-28 | 2018-08-24 | 辽宁科技大学 | A kind of induction machine pincers clamping controller system and control method |
| CN108445794B (en) * | 2018-02-28 | 2021-08-27 | 辽宁科技大学 | Induction machine clamp holding controller system and control method |
| CN108908387A (en) * | 2018-08-15 | 2018-11-30 | 江西应用技术职业学院 | A kind of industrial robot fixture of anti-slip |
| CN108908387B (en) * | 2018-08-15 | 2020-07-24 | 江西应用技术职业学院 | Anti-slip industrial robot clamp |
| CN111185932A (en) * | 2020-02-19 | 2020-05-22 | 哈尔滨商业大学 | Robot snatchs mechanism |
| CN112318533A (en) * | 2020-09-23 | 2021-02-05 | 南京合信智能装备有限公司 | Adjustable cylinder clamping mechanism based on intelligent welding robot technology |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |