CN204604342U - A kind of robot assimilating type handgrip being applicable to circular arc camber workpiece - Google Patents
A kind of robot assimilating type handgrip being applicable to circular arc camber workpiece Download PDFInfo
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- CN204604342U CN204604342U CN201520269658.2U CN201520269658U CN204604342U CN 204604342 U CN204604342 U CN 204604342U CN 201520269658 U CN201520269658 U CN 201520269658U CN 204604342 U CN204604342 U CN 204604342U
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Abstract
The utility model provides a kind of robot assimilating type handgrip being applicable to circular arc camber workpiece, and it is arranged on robot movable end for capturing circular arc camber workpiece; This handgrip comprise the connecting plate that is connected with robot movable end and be arranged on connecting plate one with upper bracket; The suction unit that each described Bracket setting has drive unit and is connected with drive unit; Rack-mount and its pushing part of described drive unit is connected with suction unit; Described suction unit is arranged on bottom connecting plate, and the suction point of itself and workpiece is that round dot circumferentially distributes with workpiece centre.The robot assimilating type gripping structure that the utility model is applicable to circular arc camber workpiece is simply compact, its highly versatile, be applicable to the circular arc camber workpiece of different size, and realize firmly capturing workpiece in the quick moving process of robot, thus effectively solve the matching problem of handgrip and workpiece, improve the balance steadiness of handgrip crawl and enhance productivity.
Description
Technical field
The utility model relates to industrial robot intelligent use technical field, more particularly, relates to a kind of assimilating type handgrip.
Background technology
Robot gripper refers to some holding function imitating staff and arm, in order to capture, to carry the automatic pilot of object or operation tool by fixed routine.It can replace the heavy labor of people to realize mechanization and the automation of production, can operate to protect personal safety under hostile environment, thus be widely used in the departments such as machine-building, metallurgy, electronics, light industry and atomic energy.
In diversified robot gripper, assimilating type handgrip is owing to can effectively be captured the workpiece of the block structures such as glass by suction unit and avoid defective work piece, and therefore assimilating type handgrip is widely used in various robot palletizer.But existing assimilating type handgrip can only capture the workpiece with plane mostly, and do not mate due to drawing section and surface of the work for the workpiece with circular arc camber, therefore this handgrip cannot realize firmly capturing the workpiece with circular arc camber.
In this case, prior art can adopt clipping handgrip to capture the workpiece with circular arc camber.But clipping handgrip is rigidity handgrip, although rigidity handgrip can realize the function of grabbing workpiece, the structural fragile workpiece such as the outer surface, particularly glass board material of easy defective work piece.And, adopt clipping handgrip due to the do not fit stability of equilibrium that causes capturing of clamping part and outer surface of workpiece poor, in use the excessive velocities of robot or the weight of workpiece excessive time, easily cause the phenomenon that workpiece drops, there is certain potential safety hazard, also cause damage to enterprise.
Therefore, now need provide a kind of robot assimilating type handgrip being applicable to circular arc camber workpiece, realize firmly capturing the workpiece of circular arc camber in the quick moving process of robot.
Utility model content
The purpose of this utility model is to overcome shortcoming of the prior art with not enough, a kind of robot assimilating type handgrip being applicable to circular arc camber workpiece is provided, this assimilating type handgrip highly versatile, be applicable to the circular arc camber workpiece of different size, and realize firmly capturing workpiece in the quick moving process of robot, thus effectively solve the matching problem of handgrip and workpiece, improve the balance steadiness of handgrip crawl and enhance productivity.
In order to achieve the above object, the utility model is achieved by following technical proposals: a kind of robot assimilating type handgrip being applicable to circular arc camber workpiece, is arranged on robot movable end for capturing circular arc camber workpiece; It is characterized in that: comprise the connecting plate that is connected with robot movable end and be arranged on connecting plate one with upper bracket; The suction unit that each described Bracket setting has drive unit and is connected with drive unit; Rack-mount and its pushing part of described drive unit is connected with suction unit; Described suction unit is arranged on bottom connecting plate, and the suction point of itself and workpiece is that round dot circumferentially distributes with workpiece centre.
In such scheme, the utility model is provided with more than one suction unit be connected with drive unit pushing part, then drive suction unit lifting by drive unit and capture the workpiece of circular arc camber; And the suction point of suction unit and workpiece is that round dot circumferentially distributes with workpiece centre, suction unit can be made to mate laminating completely with the circular arc camber of workpiece, the contact area of such suction unit and workpiece increases greatly, thus enhance the absorption dynamics of handgrip, realize firmly capturing the workpiece of circular arc camber in the quick moving process of robot.Therefore, assimilating type handgrip of the present utility model effectively can solve existing assimilating type handgrip can only carry out the firm problem captured to the workpiece with plane, also effectively can solve clipping rigidity handgrip causes easy defective work piece outer surface problem to circular arc camber piece-holder, thus improve capture circular arc camber workpiece time balance steadiness and enhance productivity.
Simultaneously, the utility model can arrange two or more support, the suction unit that each support is provided with drive unit and is connected with drive unit, multiple suction unit can realize once drawing more than one piece circular arc camber workpiece simultaneously, thus improve this assimilating type handgrip practicality, capture efficiency and production efficiency.Or can draw by simultaneously microscler to one and the workpiece with circular arc camber of multiple suction unit, the workpiece of or Heavy Weight large for volume, can ensure the stability of equilibrium that handgrip captures like this.
Specifically, described suction unit comprises several suction means; Several suction means described are by connecting rod and the sucker composition for drawing workpiece.
Wherein a kind of scheme of the present utility model is: described connecting rod one end is connected with drive unit pushing part, and the other end is connected with sucker.The drive unit of the program can directly drive the lifting of suction means by pushing part and then realize capturing the workpiece of circular arc camber.
Another kind of scheme of the present utility model is: described suction unit also comprises the positioner for locating workpiece centre; Described positioner one end is connected with drive unit pushing part, other end workpiece pressing center during work; Described connecting rod one end is connected with positioner, and the other end is connected with sucker.The drive unit of the program directly can drive the lifting of positioner by pushing part, thus drives the lifting of suction means to realize capturing the workpiece of circular arc camber.And, the design of positioner effectively can improve accuracy and the validity of crawl, in handgrip use procedure, drive unit drives positioner to drop to the center of workpiece, positioner is made first to carry out compression location to workpiece, in the non-wiping situation of guarantee workpiece, control sucker again vacsorb is carried out to circular arc camber workpiece, thus validity and the accuracy of the crawl of assimilating type handgrip can be improved.
The suction point of described sucker and workpiece is that round dot circumferentially distributes with workpiece centre.
Angle of inclination is formed between described small end face and horizontal plane.The position of the utility model sucker and workpiece suction point sets and being obliquely installed of connecting rod can make the external surface shape of the shape of suction unit and circular arc camber workpiece match, ensure that suction unit mates laminating completely with each arc-shaped surface of workpiece, the contact area of such suction unit and workpiece increases greatly, thus enhance the absorption dynamics of handgrip, realize firmly capturing the workpiece of circular arc camber in the quick moving process of robot.
Each described support is also provided with guider; The guide post that described guider comprises slide rail, slide block and is connected with slide block; Described slide block mates with slide rail and is slidably connected.The setting of the utility model guider can improve the stability of suction unit lifting, particularly when suction unit draws the workpiece of constant weight, improves stability of equilibrium when suction unit rises by guider.
The utility model also includes contiguous block; Described contiguous block lower surface is connected with positioner, and upper surface is connected with drive unit pushing part.
Described slide rail is arranged on support, and guide post one end is connected with slide block, and the other end is connected with contiguous block upper surface.Contiguous block can be used as the connector of positioner and drive unit and guider, makes this assimilating type gripping structure simply compact.
The course of work that the utility model is applicable to the robot assimilating type handgrip of circular arc camber workpiece is such:
1, when drive unit drives positioner to decline, positioner drops to the center of circular arc camber workpiece, makes positioner first carry out compression location to workpiece, controls sucker again and carry out vacsorb to circular arc camber workpiece in the non-wiping situation of guarantee workpiece.
2, when drive unit drives positioner to rise, draw and have the suction unit of circular arc camber workpiece to be risen by guider Absorbable organic halogens, realize firmly firmly capturing circular arc camber workpiece in the quick moving process of robot.
Compared with prior art, the utility model tool has the following advantages and beneficial effect: the robot assimilating type gripping structure that the utility model is applicable to circular arc camber workpiece is simply compact, its highly versatile, be applicable to the circular arc camber workpiece of different size, and realize firmly capturing workpiece in the quick moving process of robot, thus effectively solve the matching problem of handgrip and workpiece, improve the balance steadiness of handgrip crawl and enhance productivity.
Accompanying drawing explanation
Fig. 1 is the structural representation one that the utility model is applicable to the robot assimilating type handgrip of circular arc camber workpiece;
Fig. 2 is the structural representation two that the utility model is applicable to the robot assimilating type handgrip of circular arc camber workpiece;
Wherein, 1 be connecting plate, 2 be support, 3 be drive unit, 4 be workpiece, 5 be connecting rod, 6 be sucker, 7 be positioner, 8 be slide rail, 9 be slide block, 10 be guide post, 11 be contiguous block, 12 for pushing part.
Detailed description of the invention
Below in conjunction with accompanying drawing and detailed description of the invention, the utility model is described in further detail.
Embodiment one
The present embodiment is to adopt two drive units and two suction unit be connected with drive unit respectively to being described below.
As illustrated in fig. 1 and 2, the utility model is applicable to circular arc camber workpiece robot assimilating type handgrip is mounted in robot movable end for capturing circular arc camber workpiece; This handgrip comprises the connecting plate 1 be connected with robot movable end and two supports 2 be arranged on connecting plate 1, wherein, the suction unit that each support 2 is provided with drive unit 3 and is connected with drive unit 3, drive unit 3 is arranged on support 2 and its pushing part 12 and is connected with suction unit, suction unit is arranged on bottom connecting plate 1, and the suction point of itself and workpiece 4 with workpiece 4 center for round dot circumferentially distributes.
Suction unit of the present utility model comprises four suction means, and four suction means form by connecting rod 5 and the sucker 6 for drawing workpiece 4.In order to improve accuracy and the stability of the crawl of this handgrip, suction unit of the present utility model also comprises for the positioner 7 to workpiece 4 centralized positioning, this positioner 7 one end is connected with drive unit 3 pushing part 12, other end workpiece pressing 4 center during work, wherein, connecting rod 5 one end is connected with positioner, and the other end is connected with sucker 6.Sucker 6 circumferentially distributes for round dot with workpiece 4 center with the suction point of workpiece 4, forms angle of inclination between connecting rod 5 upper surface and horizontal plane.
In order to improve the stability of suction unit lifting, support 2 of the present utility model is also provided with guider, the guide post 10 that this guider comprises slide rail 8, slide block 9 and is connected with slide block 9, and slide block 9 mates with slide rail 8 and is slidably connected.The utility model also includes contiguous block 11, and contiguous block 11 lower surface is connected with positioner 7, and upper surface is connected with drive unit 3 pushing part 12, and slide rail 8 is arranged on support 2, and guide post 10 one end is connected with slide block 9, and the other end is connected with contiguous block 11 upper surface.
The course of work that the utility model is applicable to the robot assimilating type handgrip of circular arc camber workpiece is such:
1, when drive unit 3 drives positioner 7 to decline, positioner 7 drops to the center of circular arc camber workpiece 4, make positioner 7 first carry out compression location to workpiece 4, in the non-wiping situation of guarantee workpiece 4, control sucker 6 pairs of circular arc camber workpiece 4 again carry out vacsorb.
2, when drive unit 3 drives positioner 7 to rise, draw and have the suction unit of circular arc camber workpiece 4 to be risen by guider Absorbable organic halogens, realize firmly firmly capturing circular arc camber workpiece 4 in the quick moving process of robot.
Embodiment two
The present embodiment is only with embodiment one difference: assimilating type handgrip of the present utility model can arrange a drive unit and a suction unit be connected with drive unit according to demand, or the suction unit arranging three or more drive unit and be connected with respective drive device respectively.For the structure of three or more suction unit, the suction unit that in the present embodiment, each support is provided with drive unit and is connected with drive unit, three or more suction unit can realize once drawing three or more than one piece circular arc camber workpiece simultaneously, thus improve this assimilating type handgrip practicality, capture efficiency and production efficiency.Or can draw by simultaneously microscler to one and the workpiece with circular arc camber of three or more suction unit, the workpiece of or Heavy Weight large for volume, can ensure the stability of equilibrium that handgrip captures like this.
Other structure of the present embodiment is consistent with embodiment one.
Embodiment three
The present embodiment and embodiment one difference are only: do not comprise positioner, guider and contiguous block.Connecting rod one end of the present embodiment suction means is connected with drive unit pushing part, and the other end is connected with sucker.The drive unit of this embodiment can directly drive the lifting of suction means by pushing part and then realize capturing the workpiece of circular arc camber.
Other structure of the present embodiment is consistent with embodiment one.
Above-described embodiment is the utility model preferably embodiment; but embodiment of the present utility model is not restricted to the described embodiments; change, the modification done under other any does not deviate from Spirit Essence of the present utility model and principle, substitute, combine, simplify; all should be the substitute mode of equivalence, be included within protection domain of the present utility model.
Claims (9)
1. being applicable to a robot assimilating type handgrip for circular arc camber workpiece, being arranged on robot movable end for capturing circular arc camber workpiece; It is characterized in that: comprise the connecting plate that is connected with robot movable end and be arranged on connecting plate one with upper bracket; The suction unit that each described Bracket setting has drive unit and is connected with drive unit; Rack-mount and its pushing part of described drive unit is connected with suction unit; Described suction unit is arranged on bottom connecting plate, and the suction point of itself and workpiece is that round dot circumferentially distributes with workpiece centre.
2. the robot assimilating type handgrip being applicable to circular arc camber workpiece according to claim 1, is characterized in that: described suction unit comprises several suction means; Several suction means described are by connecting rod and the sucker composition for drawing workpiece.
3. the robot assimilating type handgrip being applicable to circular arc camber workpiece according to claim 2, is characterized in that: described connecting rod one end is connected with drive unit pushing part, and the other end is connected with sucker.
4. the robot assimilating type handgrip being applicable to circular arc camber workpiece according to claim 2, is characterized in that: described suction unit also comprises the positioner for locating workpiece centre; Described positioner one end is connected with drive unit pushing part, other end workpiece pressing center during work; Described connecting rod one end is connected with positioner, and the other end is connected with sucker.
5. the robot assimilating type handgrip being applicable to circular arc camber workpiece according to claim 3 or 4, is characterized in that: the suction point of described sucker and workpiece is that round dot circumferentially distributes with workpiece centre.
6. the robot assimilating type handgrip being applicable to circular arc camber workpiece according to claim 3 or 4, is characterized in that: form angle of inclination between described small end face and horizontal plane.
7. the robot assimilating type handgrip being applicable to circular arc camber workpiece according to claim 4, is characterized in that: each described support is also provided with guider; The guide post that described guider comprises slide rail, slide block and is connected with slide block; Described slide block mates with slide rail and is slidably connected.
8. the robot assimilating type handgrip being applicable to circular arc camber workpiece according to claim 7, is characterized in that: also include contiguous block; Described contiguous block lower surface is connected with positioner, and upper surface is connected with drive unit pushing part.
9. the robot assimilating type handgrip being applicable to circular arc camber workpiece according to claim 8, it is characterized in that: described slide rail is arranged on support, guide post one end is connected with slide block, and the other end is connected with contiguous block upper surface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520269658.2U CN204604342U (en) | 2015-04-29 | 2015-04-29 | A kind of robot assimilating type handgrip being applicable to circular arc camber workpiece |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520269658.2U CN204604342U (en) | 2015-04-29 | 2015-04-29 | A kind of robot assimilating type handgrip being applicable to circular arc camber workpiece |
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| CN204604342U true CN204604342U (en) | 2015-09-02 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520269658.2U Withdrawn - After Issue CN204604342U (en) | 2015-04-29 | 2015-04-29 | A kind of robot assimilating type handgrip being applicable to circular arc camber workpiece |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104772763A (en) * | 2015-04-29 | 2015-07-15 | 广东泰格威机器人科技有限公司 | Suction type robot hand grab applied to circular arc surface workpieces |
| CN105397831A (en) * | 2015-12-28 | 2016-03-16 | 桂林电子科技大学 | Multi-suction-cup manipulator capable of grabbing irregular objects |
| CN105835976A (en) * | 2016-05-13 | 2016-08-10 | 中国东方电气集团有限公司 | Magnetic adsorption driving wheel group device capable of achieving automatic axis included angle adjustment |
-
2015
- 2015-04-29 CN CN201520269658.2U patent/CN204604342U/en not_active Withdrawn - After Issue
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104772763A (en) * | 2015-04-29 | 2015-07-15 | 广东泰格威机器人科技有限公司 | Suction type robot hand grab applied to circular arc surface workpieces |
| CN104772763B (en) * | 2015-04-29 | 2017-04-26 | 广东泰格威机器人科技有限公司 | Suction type robot hand grab applied to circular arc surface workpieces |
| CN105397831A (en) * | 2015-12-28 | 2016-03-16 | 桂林电子科技大学 | Multi-suction-cup manipulator capable of grabbing irregular objects |
| CN105835976A (en) * | 2016-05-13 | 2016-08-10 | 中国东方电气集团有限公司 | Magnetic adsorption driving wheel group device capable of achieving automatic axis included angle adjustment |
| CN105835976B (en) * | 2016-05-13 | 2018-05-18 | 中国东方电气集团有限公司 | A kind of magnetic suck driving wheel group device of axis angle automatic adjustment |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20150902 Effective date of abandoning: 20170426 |