CN206406069U - A kind of robot device and its robot - Google Patents
A kind of robot device and its robot Download PDFInfo
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- CN206406069U CN206406069U CN201720053188.5U CN201720053188U CN206406069U CN 206406069 U CN206406069 U CN 206406069U CN 201720053188 U CN201720053188 U CN 201720053188U CN 206406069 U CN206406069 U CN 206406069U
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- robot device
- guide sleeve
- axle sleeve
- clamping axle
- robot
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Abstract
The utility model discloses a kind of robot device and its robot, it is related to robot field, robot device includes：Main body fixture (1) and sucker clamp (2)；Guide sleeve (13) is inserted in clamping axle sleeve (12), and clamping axle sleeve (12) has inner conical surface, and multiple hard pearls (14) are inlaid with the side wall of guide sleeve (13)；Locking cylinder (11) drives clamping axle sleeve (12) to move up and down, coordinate in lock shaft (21) insertion guide sleeve (13) and with guide sleeve gap, flange (211) by hard pearl (14) respectively with inner conical surface and lock shaft is abutted against, and sucker clamp is locked.Robot device and its robot of the present utility model, locking function can be realized automatically, operating process is simplified; operating efficiency is improved, and production cost is low, when running into the accident such as power failure suddenly or source of the gas interruption; with safeguard measure, security is improved.
Description
Technical field
The utility model is related to robotic technology field, more particularly to a kind of robot device and its robot.
Background technology
At present, the application of robot is more and more extensive, and robot can replace being accomplished manually some operations specifics, such as thing
Commodity sorting process of popular industry etc..It is general that commodity are captured using robot in commodity sorting process.For example, such as
Shown in Fig. 1, Delta robots have robot device 01, and 01 point of robot device is two portions of main body fixture and sucker clamp
Point, can be according to the different sucker clamp of different commodity quick-replaceables.Main body fixture is connected with robot moving platform, sucker
Fixture quantity is multiple and quick connection can be each done with main body fixture, and sucker clamp can be drawn to the bottom of Turnover Box 02
Commodity.At present, the common robot device species of in the market is a lot, and load has from 3Kg to 120Kg, still, existing machine
Tool arm device not enough facilitates when changing sucker clamp, needs to make proprietary pinboard and main body fixture company for sucker clamp
Connect, in-convenience in use, add production cost and reduce the operating efficiency of commodity sorting.
Utility model content
In view of this, a technical problem to be solved in the utility model is to provide a kind of robot device and its machine
People.
According to one embodiment of the present utility model there is provided a kind of robot device, including：Main body fixture and sucking disc clamp
Tool；The sucker clamp includes：Lock shaft and Acetabula device；The main body fixture includes：Chuck body, locking cylinder, clamping
Axle sleeve and guide sleeve；The guide sleeve is fixedly connected with the chuck body, and the guide sleeve is inserted in the clamping axle sleeve, institute
Stating clamping shaft set has inner conical surface, and multiple hard pearls are inlaid with the side wall of the guide sleeve；The locking cylinder is arranged on
In the chuck body, for driving the clamping shaft set to move up and down, the lock shaft insert in the guide sleeve and with institute
The cooperation of guide sleeve gap is stated, the flange by the hard pearl respectively with the inner conical surface and the lock shaft is abutted against, by institute
State sucker clamp locking.
Alternatively, multiple through holes are set on the side wall of the guide sleeve, an institute is correspondingly arranged in each through hole
Hard pearl is stated, wherein, the diameter of the through hole is less than the diameter of the hard pearl.
Alternatively, the quantity of the through hole is 6, and side wall of 6 through holes along the guide sleeve is in circumferential uniform point
Cloth.
Alternatively, the hard pearl includes：Steel ball.
Alternatively, the bottom of the clamping sleeve lining is provided with the inner conical surface.
Alternatively, the main body fixture includes one or more first gas path pipes；The sucker clamp include one or
Multiple second gas path pipes；The axis of the axis of first gas path pipe and the clamping axle sleeve and the locking cylinder is put down
OK, the diameter parallel of the axis of second gas path pipe and the lock shaft.
Alternatively, the quantity of first gas path pipe and second gas path pipe is all 4.
Alternatively, the cylinder is double-acting cylinder.
Alternatively, it is provided with spring in the small chamber of the cylinder.
Alternatively, the main body fixture also includes：Including：Magnetic valve；The working port of the magnetic valve respectively with it is described
The big chamber and small chamber of locking cylinder are communicated.
Alternatively, the magnetic valve includes：Single control magnetic valve；The single control magnetic valve includes：Five two logical single control electromagnetism
Valve.
Alternatively, the material of the clamping axle sleeve, the guide sleeve and the lock shaft includes：Steel；The clamping axle sleeve,
The surface of the guide sleeve and the lock shaft all has nitriding layer.
Alternatively, the main body fixture also includes：For detecting whether the sucker clamp reaches the close of precalculated position
Switch.
According to another aspect of the present utility model there is provided a kind of robot, including：Robot device as described above.
The robot device and its robot of offer of the present utility model, the locking of main body fixture and sucker clamp use gas
Cylinder promotes clamping shaft set, and locks sucker by way of hard pearl abuts against with the inner conical surface and lock shaft of clamping axle sleeve respectively
Fixture, locking function can be realized automatically, operating process is simplified, and improve operating efficiency, and production cost is low, run into
There is safeguard measure during the accident such as power failure suddenly or source of the gas interruption, security is improved.
Brief description of the drawings
, below will be to embodiment in order to illustrate more clearly of the utility model embodiment or technical scheme of the prior art
Or the accompanying drawing used required in description of the prior art is briefly described, it should be apparent that, drawings in the following description are only
Only it is some embodiments of the present utility model, for those of ordinary skill in the art, is not paying creative labor
Under the premise of, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is the schematic diagram that robot of the prior art carries out commodity sorting；
Fig. 2 is main body fixture and sucker clamp connection in one embodiment according to robot device of the present utility model
Schematic diagram；
Fig. 3 A are the schematic front view of one embodiment according to robot device of the present utility model, and Fig. 3 B are according to this
The schematic perspective view of one embodiment of the robot device of utility model；
Fig. 4 is that the connection of the locking cylinder and magnetic valve of one embodiment according to robot device of the present utility model is shown
It is intended to.
Embodiment
The utility model is described more fully with reference to the accompanying drawings, wherein illustrating exemplary reality of the present utility model
Apply example.Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the utility model embodiment is carried out clear
Chu, it is fully described by, it is clear that described embodiment is only a part of embodiment of the utility model, rather than whole realities
Apply example.Based on the embodiment in the utility model, those of ordinary skill in the art institute under the premise of creative work is not made
The every other embodiment obtained, belongs to the scope of the utility model protection.With reference to each figure and embodiment to this reality
Many descriptions are carried out with new technical scheme.
As shown in Fig. 2,3A and 3B, the utility model provides a kind of robot device, including：Main body fixture 1 and sucking disc clamp
Tool 2.Main body fixture 1 and sucker clamp 2 can use a variety of locking modes.Sucker clamp 2 includes：Lock shaft 21 and Acetabula device
22.Main body fixture 1 includes：Chuck body, locking cylinder 11, clamping axle sleeve 12 and guide sleeve 13.Chuck body refers to that main body is pressed from both sides
The fixture overall structure of tool, including Various Components and device, such as main body frame, bottom plate, shell.
Guide sleeve 13 is fixedly connected with chuck body, can be to be threadedly coupled, snap connection.Guide sleeve 13 is inserted in clamping
In axle sleeve 12, clamping axle sleeve 12 has inner conical surface, and multiple hard pearls 14 are inlaid with the side wall of guide sleeve 13.Locking cylinder
11 are arranged in chuck body, for driving clamping axle sleeve 12 to move up and down.Locking cylinder 11 connects with the screw thread of clamping axle sleeve 12
Connect, snap connection or weld.
Lock shaft 21 insertion guide sleeve 13 in and with the gap of guide sleeve 13 coordinate, by hard pearl 14 respectively with inner conical surface
Abutted against with the flange 211 of lock shaft, sucker clamp is locked.The position of the inner conical surface of clamping axle sleeve 12 can be wanted according to design
Ask and be configured, for example, the bottom of the inwall of clamping axle sleeve 12 can be provided with inner conical surface, can also be in clamping axle sleeve 12
Inner conical surface is set at the other positions of wall.
Multiple through holes are set on the side wall of guide sleeve 13, a hard pearl 14 is correspondingly arranged in each through hole, are led to
The diameter in hole is less than the diameter of hard pearl.The quantity of through hole can be set according to design requirement, for example, 6,6 through holes
It is uniformly distributed along the side wall of guide sleeve in circumferential.One or more grooves can also be set on the side wall of guide sleeve 13, logical
Hard pearl 14 is correspondingly arranged in groove.Hard pearl 14 can have polytype, for example, steel ball etc..
When installing sucker clamp 2, locking cylinder 11 drives clamping axle sleeve 12 to move down, the inner conical surface of clamping axle sleeve 12
With hard pearl 14 there is diameter at mutually level position to become big.When lock shaft 21 inserts guide sleeve 13, or main body fixture 1
Move down, when lock shaft 21 is reached at hard pearl 14, hard pearl 14 is released to the outside of guide sleeve 13, hard pearl 14 abuts
On the inner conical surface of clamping axle sleeve 12.
When lock shaft 21 is after hard pearl 14, locking cylinder 11 drives clamping axle sleeve 12 to move up, clamping axle sleeve 12
Inner conical surface with the mutually level position of hard pearl 14 at diameter diminish, the inner conical surface of clamping axle sleeve 12 promote hard pearl 14 to
The inside of guide sleeve 13 is mobile, and hard pearl 14 abuts against with the flange 211 of inner conical surface and lock shaft, sucker clamp is locked respectively.
When dismantling sucker clamp 2, locking cylinder 11 drives clamping axle sleeve 12 to move down, the inner conical surface of clamping axle sleeve 12
With hard pearl 14 there is diameter at mutually level position to become big, the operation downwards of lock shaft 21, or main body fixture 1 is to moving up
Dynamic, the flange 211 of lock shaft has the conical surface coordinated with hard pearl 14 so that when lock shaft 21 is reached at hard pearl 14, will be hard
Matter pearl 14 is released to the outside of guide sleeve 13, and hard pearl 14 is connected on the inner conical surface of clamping axle sleeve 12, and lock shaft 21 is through really up to the mark
Matter pearl 14, dismounting is finished.
Multiple sensors and device can be used to be used for the run location for detecting lock shaft 21, and be sent to control device.
According to control parameters such as default stroke and pressure, control device control locking cylinder 11 drives clamping axle sleeve 12 is upper and lower to move
Moving up and down for dynamic and main body fixture 1, completes to install the operation such as locking and dismounting of sucker clamp 2.
Main body fixture 1 is additionally provided with for detecting whether sucker clamp reaches the proximity switch 15 in precalculated position.Main body is pressed from both sides
Tool 1 with sucker clamp 2 when being attached, the control device that feeds back signal to that proximity switch 15 will can be detected, control device
It can interpolate that current topic fixture 1 in the positional information with the connection status of sucker clamp 2 and acquisition sucker clamp 2.
The locking mode of the robot device of above-described embodiment, main body fixture and sucker clamp promotes clamping shaft using cylinder
Set pushes down hard pearl, so as to lock sucker clamp.For example, the cylinder diameter of locking cylinder 11 can be 25mm, it be able to can produce
30Kg thrusts, coupling mechanism force can meet the requirement more than 5Kg.Met after main body fixture and sucker clamp locking for robot
Positioning accuracy request ± 0.5mm.Main body fixture and the largest outside diameter of sucker clamp are 84mm, and 340mm is highly more than after connection,
It disclosure satisfy that use demand.
Main body fixture is provided with one or more first gas path pipes 16.Sucker clamp is provided with one or more second
Gas path pipe 23.The diameter parallel of the axis of first gas path pipe 16 and clamping axle sleeve 12 and locking cylinder 11, the second gas circuit pipe
The axis in road 23 and the diameter parallel of lock shaft.The quantity of first gas path pipe 16 and the second gas path pipe 23 can be according to design
It is required that being configured, for example, all it is 4, the first gas path pipe 16 and the second gas path pipe 23 can ensure Acetabula device or locking
Demand of the cylinder to gas circuit.
The gas path joint of connection can be provided on the first gas path pipe 16, the second gas path pipe 23.In main body folder
In the state of tool 1 and sucker clamp 2 are locked, the first gas path pipe 16 and the second gas path pipe 23 are connected.The axis of gas path pipe
With the diameter parallel of clamping axle sleeve 12 and locking cylinder 11 and lock shaft 21, i.e., with main body fixture and the axis of sucker clamp
It is parallel so that main body fixture and the external diameter of sucker clamp do not expand.
In one embodiment, as shown in figure 4, locking cylinder 11 can be double-acting cylinder, the piston of double-acting cylinder
Advance or retrogressing can power outputs.Spring 112 can be set in the small chamber of locking cylinder.The working port difference of magnetic valve 17
Communicated with vacuum source, the big chamber 113 of locking cylinder 11 and small chamber.Magnetic valve 17 can be single control magnetic valve, single control magnetic valve
With Mechanical course end 171.Single control magnetic valve has a coil, changes another state during energization into, automatic reduction during no power
To reset condition, for example, the guiding valve of single control magnetic valve is spring reset, magnetic valve automatically resets after dead electricity.Single control magnetic valve
Have a variety of, for example, five two lead to single control magnetic valve etc..
For example, controlling the magnetic valve of locking cylinder 11 to be five two logical single control magnetic valves, by the Mechanical course end of magnetic valve
Cylinder compression state, i.e. locking state are set to, when unexpected have a power failure, main body fixture 1 and sucker clamp 2 remain locking shape
State.When source of the gas is interrupted, there is spring one end in locking cylinder 11, and when being not connected to source of the gas, cylinder remains squeezed state.It is actual
Locking cylinder 11 plays a part of double-acting cylinder when using, when main body fixture 1 and sucker clamp 2 are locking state, locking
The thrust that cylinder 11 is produced is equal to thrust of the thrust plus spring of air pressure generation, when source of the gas is interrupted, the thrust that cylinder is produced
Disappear, the thrust of spring can be with retainer body fixture 1 and the locking state of sucker clamp 2.
The material of clamping axle sleeve 12, guide sleeve 13 and lock shaft 21 can be steel etc., clamping axle sleeve 12, the and of guide sleeve 13
The surface of lock shaft 21 uses Nitrizing Treatment, all with nitriding layer.For example, in order to mitigate weight of equipment, main body fixture and sucker
The integrated model of fixture uses aluminum alloy materials, and the critical component such as clamping axle sleeve 12, guide sleeve 13 and lock shaft 21 uses 45# steel
Quenched rear Nitrizing Treatment processing technology, its case hardness can reach HRC60 degree or so, with excellent wearability.
In one embodiment, the utility model provides a kind of robot, including robot device as above.
Robot device and its robot that above-described embodiment is provided, the locking of main body fixture and sucker clamp use cylinder
Clamping shaft set is promoted, and sucking disc clamp is locked by way of hard pearl abuts against with the inner conical surface and lock shaft of clamping axle sleeve respectively
Tool, locking function can be realized automatically, operating process is simplified, operating efficiency is improved, and production cost is low, gas circuit axis
With main body fixture and the diameter parallel of sucker clamp, the external diameter of robot device is set not expand；If run at work suddenly
During the accident such as power failure or source of the gas interruption, with safeguard measure, security is improved.
Method and system of the present utility model may be achieved in many ways.For example, software, hardware, firmware can be passed through
Or any combinations of software, hardware, firmware realize method and system of the present utility model.The step of for method it is above-mentioned
Order is not limited to order described in detail above merely to illustrate, the step of method of the present utility model, unless with it
Its mode is illustrated.In addition, in certain embodiments, also the utility model can be embodied as to record journey in the recording medium
Sequence, these programs include being used to realize the machine readable instructions according to method of the present utility model.Thus, the utility model also covers
Lid storage is used for the recording medium for performing the program according to method of the present utility model.
Description of the present utility model is provided for the sake of example and description, and is not exhaustively or by originally
Utility model is limited to disclosed form.Many modifications and variations are obvious for the ordinary skill in the art.
Selection and description embodiment are, in order to more preferably illustrate principle of the present utility model and practical application, and to make the common skill of this area
Art personnel are it will be appreciated that the utility model is so as to design the various embodiments with various modifications suitable for special-purpose.
Claims (14)
1. a kind of robot device, it is characterised in that including：
Main body fixture (1) and sucker clamp (2)；The sucker clamp includes：Lock shaft (21) and Acetabula device (22)；The master
Body fixture includes：Chuck body, locking cylinder (11), clamping axle sleeve (12) and guide sleeve (13)；The guide sleeve (13) and institute
State chuck body to be fixedly connected, the guide sleeve (13) is inserted in the clamping axle sleeve (12), and the clamping axle sleeve (12) has
Inner conical surface, is inlaid with multiple hard pearls (14) on the side wall of the guide sleeve (13)；The locking cylinder (11) is arranged on institute
State in chuck body, for driving the clamping axle sleeve (12) to move up and down, the lock shaft (21) inserts the guide sleeve
(13) coordinate in and with the guide sleeve gap, by the hard pearl (14) respectively with the inner conical surface and the lock shaft
Flange (211) is abutted against, and the sucker clamp is locked.
2. robot device as claimed in claim 1, it is characterised in that
Multiple through holes are set on the side wall of the guide sleeve (13), a hard pearl is correspondingly arranged in each through hole
(14), wherein, the diameter of the through hole is less than the diameter of the hard pearl.
3. robot device as claimed in claim 2, it is characterised in that
The quantity of the through hole is 6, and side wall of 6 through holes along the guide sleeve is uniformly distributed in circumferential.
4. robot device as claimed in claim 2, it is characterised in that
The hard pearl includes：Steel ball.
5. robot device as claimed in claim 1, it is characterised in that
The bottom of clamping axle sleeve (12) inwall is provided with the inner conical surface.
6. robot device as claimed in claim 1, it is characterised in that
The main body fixture includes：One or more first gas path pipes (16)；The sucker clamp includes：One or more
Two gas path pipes (23)；The axis of first gas path pipe (16) and the clamping axle sleeve (12) and the locking cylinder (11)
Diameter parallel, the axis of second gas path pipe (23) and the diameter parallel of the lock shaft.
7. robot device as claimed in claim 6, it is characterised in that
The quantity of first gas path pipe (16) and second gas path pipe (23) is all 4.
8. robot device as claimed in claim 1, it is characterised in that
The locking cylinder (11) is double-acting cylinder.
9. robot device as claimed in claim 8, it is characterised in that
Spring (112) is provided with the small chamber of the locking cylinder.
10. robot device as claimed in claim 8, it is characterised in that
The main body fixture also includes：Magnetic valve (17)；The working port of the magnetic valve (17) respectively with the locking cylinder
Big chamber (113) and small chamber communicate.
11. robot device as claimed in claim 10, it is characterised in that
The magnetic valve includes：Single control magnetic valve；
The single control magnetic valve includes：Five two logical single control magnetic valves.
12. robot device as claimed in claim 1, it is characterised in that
The material of the clamping axle sleeve, the guide sleeve and the lock shaft includes：Steel；
The surface of the clamping axle sleeve, the guide sleeve and the lock shaft all has nitriding layer.
13. robot device as claimed in claim 1, it is characterised in that
The main body fixture also includes：For detecting whether the sucker clamp reaches the proximity switch (15) in precalculated position.
14. a kind of robot, it is characterised in that including：
Robot device as described in any one of claim 1 to 13.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720053188.5U CN206406069U (en) | 2017-01-18 | 2017-01-18 | A kind of robot device and its robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720053188.5U CN206406069U (en) | 2017-01-18 | 2017-01-18 | A kind of robot device and its robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206406069U true CN206406069U (en) | 2017-08-15 |
Family
ID=59555913
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720053188.5U Active CN206406069U (en) | 2017-01-18 | 2017-01-18 | A kind of robot device and its robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206406069U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108326880A (en) * | 2017-01-18 | 2018-07-27 | 北京京东尚科信息技术有限公司 | A kind of robot device and its robot |
| TWI707753B (en) * | 2020-05-07 | 2020-10-21 | 鈦昇科技股份有限公司 | Automatic arm replacement mechanism |
-
2017
- 2017-01-18 CN CN201720053188.5U patent/CN206406069U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108326880A (en) * | 2017-01-18 | 2018-07-27 | 北京京东尚科信息技术有限公司 | A kind of robot device and its robot |
| TWI707753B (en) * | 2020-05-07 | 2020-10-21 | 鈦昇科技股份有限公司 | Automatic arm replacement mechanism |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20200624 Address after: Room A1905, 19th floor, No. 2 Building, 18 Kechuang 11th Street, Beijing Daxing District, Beijing Patentee after: Beijing Jingdong Qianshi Technology Co.,Ltd. Address before: East Building 11, 100195 Beijing city Haidian District xingshikou Road No. 65 west Shan creative garden district 1-4 four layer of 1-4 layer Co-patentee before: BEIJING JINGDONG CENTURY TRADING Co.,Ltd. Patentee before: BEIJING JINGDONG SHANGKE INFORMATION TECHNOLOGY Co.,Ltd. |
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| TR01 | Transfer of patent right |