CN206536499U - A kind of robot is grabbed - Google Patents
A kind of robot is grabbed Download PDFInfo
- Publication number
- CN206536499U CN206536499U CN201621240898.0U CN201621240898U CN206536499U CN 206536499 U CN206536499 U CN 206536499U CN 201621240898 U CN201621240898 U CN 201621240898U CN 206536499 U CN206536499 U CN 206536499U
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- lead
- handgrip
- workpiece
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- movable block
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Abstract
Grabbed the utility model discloses a kind of robot, fixture mount including grabbing mounting interface for providing hand, also include drive system and three handgrips set around cylindrical center's line, the drive system is arranged in the fixture mount, it is connected with three handgrips, the handgrip of driving three draws in or expansion moves to realize the crawl or release to workpiece, the drive system drives three handgrips to draw in or deploy to capture or discharge workpiece around the center line radial motion in the plane perpendicular to the center line, the gripping surface of the handgrip is adapted to the workpiece surface, when capturing the workpiece, contact with the workpiece contacts for face shape.During the utility model grabbing workpiece, gripping surface is contacted with workpiece surface face shape, is conducive to improving the reliability of crawl process.
Description
Technical field
The utility model is related to robot application technology field, and in particular to one kind be used for capture quality it is larger and arrangement
The robot of close cylindrical articles is grabbed.
Background technology
Compressor is the key components and parts of household electrical appliances refrigeration product, and its assembling is the key link of household appliances manufacture all the time,
Rise with labor cost, it is increasingly serious the problems such as recruitment is waste, power plant of family is faced with the problem of manufacturing cost constantly rises,
To improve profit margin, strengthen itself competitiveness, selection robot replaces artificial operation to turn into the trend of power plant of following family.
So that outdoor machine of air-conditioner is assembled as an example, in compressor installation process, because compressor is very heavy, handling process labor intensity is very big, is
Reduce labor intensity, improve the carrying assembling that efficiency can select robot to replace completing compressor, this relates to frock folder
The design of tool.The design of frock clamp needs to consider following problem：Compressor is the larger cylinder of weight；Compressor is fed
Space very little in system between two compressors, so frock clamp grasp force requires larger, and opens, closes in transverse direction
Shared space requirement is smaller.
Patent No. 201420636646.4, it is entitled《A kind of end picking-up device for robot》Chinese patent, also disclose
A kind of end picking-up device for robot for being suitable to arrange close cylindrical work crawl, concrete structure are as shown in figure 1, including enclosing
Three are grabbed finger 6, and three middle parts for grabbing finger 6 are hinged on the periphery of one piece of chassis 8 grabbed and referred in the middle of 6 positioned at three, make the shape of grabbing fingers 6
The lever that its middle part hinged place is rotated is enclosed into one, is grabbed for three and is referred to 6 ends and be hinged a connecting rod 4, and is hinged on and is located at by connecting rod 4
On the movable block 21 that three are grabbed on the center line for referring to 6, movable block 21 is driven along the center line by drive mechanism (cylinder)
Slide up and down, the movable block 21 acts on the upper end of grabbing fingers 6 by the connecting rod 4, make grabbing fingers 6 maintain to enclose
In the case that the shape gone out is basically unchanged, front end makees open and close movement by a small margin to realize the crawl and release of workpiece.
This end picking-up device for robot is primarily present following problem above：
1) open and close movement for grabbing finger 6 is substantially a kind of rotation around its middle part pin joint, and this motion mode is caused
Concrete structure regardless of its gripping surface, the contact with workpiece is all a kind of line contact, because active area is small, grabs finger
6 quick abrasions, after abrasion, workpiece is easily tilted during grabbing workpiece, the reliability reduction of crawl；
2) drive mechanism of end picking-up device for robot uses cylinder above, and the stroke design of cylinder need to obtain all workpiece in advance
Size, and stroke once it is determined that, cannot typically change, so this end picking-up device for robot adaptability is poor.
Utility model content
Goal of the invention of the present utility model is to provide a kind of robot of dependable performance and grabbed.
Goal of the invention of the present utility model is achieved through the following technical solutions：A kind of robot is grabbed, including for providing
Hand grabs the fixture mount of mounting interface, in addition to drive system and three handgrips around cylindrical center's line setting, the driving
System is arranged in the fixture mount, is connected with three handgrips, three handgrips of driving are drawn in or expansion move with
Realize crawl or release to workpiece, it is characterised in that the drive system drives three handgrips in described
Drawn in one plane of heart line around the center line radial motion or deploy to capture or discharge workpiece, the handgrip is grabbed
Face is taken to be adapted to the workpiece surface, when capturing the workpiece, the contact with the workpiece contacts for face shape.
The rotation open and close movement mode that terminal-collecting machine in background technology grabs finger is different from, the utility model handgrip passes through in level
Radial motion on face carrys out grabbing workpiece, in the case where its gripping surface is adapted to workpiece surface, can keep good with workpiece
Face shape contact, so as to expand active area, is conducive to improving the reliability of crawl process.
It is used as preferred embodiment of the present utility model：Have in the fixture mount, around the center line radially installed
Three secondary line slideways, three handgrips are divided on the three secondary line slideways, and the drive system drives and grabbed described in three
Hand draws in or deployed along the line slideway radial motion.
Include two parallel line slideways per the secondary line slideway, the handgrip is across in two parallel line slideways
Between, the both sides of the handgrip is all arranged on by the line slideway in the fixture mount.
The drive system includes driver element, lead and movable block, and the lead is arranged on the center line,
The movable block is sleeved on the lead, and the top of the handgrip passes through two parallel connecting rods and the movable block phase
Even, the movable block, handgrip, two connecting rods are made to constitute a parallelogram motion mechanism, the driver element drives the activity
Block is moved up and down along the lead, described with moving up and down for the movable block according to parallelogram motion mechanism characteristicses
Handgrip in the case where keeping with the centerline parallel, along the line slideway move and radially adjacent to or away from the center
Line.
The lead is rotatably installed on the center line, and the movable block constitutes one with the lead and transports revolution
The dynamic screw mandrel for being converted to linear motion, the driver element includes motor and belt gear, the motor
Output shaft be arranged in parallel with the lead, and is linked by the belt gear and the lead, is oriented to described
The rotation of post, the movable block is moved up and down along the lead.
It is used as the preferred embodiment of the utility model fixture mount：
The fixture mount includes installing plate, fixed plate, pedestal, between being from top to bottom layered by upright supports between them
Every setting, the center line is overlapped with the center line of the fixture mount, and the installing plate provides hand and grabs mounting interface, described to lead
The fixed plate is rotatably installed in respectively to post two ends and on the pedestal, the belt gear is arranged on the installing plate
Between fixed plate, the motor is arranged between the fixed plate and the pedestal parallel to the lead, and its is defeated
The upper end of shaft and the lead passes vertically through the fixed plate, is connected together by the belt gear and realizes linkage,
The pedestal periphery is uniformly provided with the cutting mouthful of three radial directions, and the handgrip is located in the cutting mouthful, and both sides respectively pass through one
Line slideway described in bar is arranged on the both sides of the pedestal cutting mouthful.
Compared to prior art, the utility model has the advantages that：
1) during the utility model grabbing workpiece, gripping surface is contacted with workpiece surface face shape, is conducive to improving crawl process
Reliability；
2) the folding amplitude of grasping end of finger in the prior art, is grabbed by controlling its rotational angle to realize, even if
The amplitude for referring to and only rotating very little is grabbed, the displacement of its grasping end in the plane may also be very big, compared to prior art, this practicality
The displacement of new directly control handgrip grasping end, crawl, the displacement of release process planar can be controlled in smaller model
Interior progress is enclosed, the crawl of the close various sizes of cylindrical work of arrangement can be preferably adapted to；
3) compared to the structure for driving movable block using cylinder in the prior art, the utility model uses motor, this
Flexibly, adaptability strengthens utility model handgrip Stroke Control.
Brief description of the drawings
Fig. 1 is the structural representation that existing robot is grabbed；
Fig. 2 is the structural representation that the utility model robot grabs preferred embodiment；
Fig. 3 is handgrip, connecting rod, the explosive view of movable block attachment structure in Fig. 1；
Wherein, 1- pedestals；2- fixed plates；3- installing plates；4- pillars；6- mounting holes；7- pillars；8- motors；10-
Lead；11- movable blocks；12- synchronous belts；13- synchronizing wheels；14- connecting rods；15- large arm；16- slide rails；17- sliding blocks；18- is small
Arm；20- non-slip rubber blocks.
Embodiment
The utility model reliability is high, strong adaptability, available for the crawl and installation of cylinder shape compressor in household electrical appliances, to take
For the manpower on production line, it is possible to decrease the labor intensity of personnel on line, production efficiency is improved.
The utility model is used to be arranged on robot arm end, so that robot can complete to compress on household electrical appliances general assembly line
The assembling of machine, allows the robot to be precisely accomplished the crawl of compressor, assembling.
The utility model robot, which is grabbed, to be mainly comprised the following steps：Fixture mount, three handgrips, drive systems.
Fixture mount is used for the installation that hand grabs each functional part, while providing hand grabs mounting interface, being grabbed so as to hand to pacify
It is attached to robot arm end.
Handgrip, drive system are all arranged in fixture mount.
Handgrip is used to act to capture or discharge workpiece under the driving of drive system.
Drive system is used to drive handgrip to act.
In the present embodiment, as shown in Fig. 2 fixture mount include installing plate 3, fixed plate 2, pedestal 1, they all into circle,
By the support of column 4,7, from top to bottom layering is arranged at intervals between them.Installing plate 3 is provided with multiple mounting holes 6, will pass through
Installing plate 3 grabs whole hand installed in robot arm end.The uniform cutting for being provided with three radial directions mouthful in the periphery of pedestal 1, it is main
It is used for the installation of handgrip (hereafter talking about).
The utility model fixture mount is not limited to above structure, and those skilled in the art can be adjusted according to actual conditions
It is whole.
Three handgrips of the present embodiment are divided in the cutting of three radial directions of the periphery of pedestal 1 around the center line of fixture mount
In mouthful.Cutting mouthful both sides it is parallel provided with two line slideways.Handgrip both sides are arranged on base by line slideway described in two respectively
1 bottom surface of seat.Drive system by driving handgrip to be moved radially along line slideway in the cutting mouthful so that show gathering or
The motion state of expansion, and then capture or release workpiece.
Line slideway is made up of slide rail 16 and sliding block 17, and slide rail 16 is fixed on the bottom surface of pedestal 1.Handgrip is fixed on sliding block 17
On.
Drive system of the present utility model can have multiple choices, and the most directly selection is directly to pass through to one of which
Cylinder driving sliding block 17 is moved, so as to drive handgrip to be moved along line slideway.
As shown in Fig. 2 in the present embodiment, drive system includes driver element, lead 10 and movable block 11, lead 10
Two ends are rotatably installed in the middle part of fixed plate 2 and pedestal 1 respectively, so as to the center line of lead 10 and fixture mount center line weight
Close.Movable block 11 is sleeved on lead 10.The top of handgrip is connected by two parallel connecting rods 14 with movable block 11, makes work
Motion block 11, handgrip, two connecting rods 14 constitute a parallelogram motion mechanism, as shown in Figure 3.Driver element drives movable block 11
Moved up and down along lead 10, according to parallelogram motion mechanism characteristicses, with moving up and down for movable block 11, handgrip is being kept
In the case of the centerline parallel of lead 10, along line slideway radial motion closer or far from fixture mount center line.
The cylinder that driver element in the utility model can move up and down for driving movable block 11 along lead 10, or its
His mechanism.
Dynamical system is used as using motor in the present embodiment.
The concrete structure of driver element is in the present embodiment：Driver element includes motor 8 and belt gear, drives
Dynamic motor 8 is fixed in fixed plate 2, is be arranged in parallel with lead 10, its output shaft passes vertically through fixed plate 2.Lead 10
Upper end again passes through fixed plate 2.Belt gear is arranged between installing plate 3 and fixed plate 2, and linkage driving motor 8 is with leading
To post 10.Linked manner is specially：Belt gear is made up of the synchronizing wheel 13 of synchronous belt 12 and two, two 13 points of synchronizing wheels
It is not sleeved on the output shaft of motor 8 and lead 10, and synchronous belt 12 is then looped around in two synchronizing wheels 13.
Moved up and down to allow movable block 11 to be rotated with lead 10, the movable block 11 in the present embodiment and lead 10
Constitute a screw mandrel that gyration is converted to linear motion.In this way, motor 8 drives lead by belt gear
10 are rotated, with the rotation of lead 10, and movable block 11 is moved up and down along it.
In the present embodiment, handgrip is mainly made up of large arm 15 and forearm 18.Large arm 15 is in inverted T-shape, and upper center is formed
Cutting mouthful, the intraoral one end for being hinged two parallel connecting rods 14 of cutting, the cutting provided with three axial directions mouthful of movable block 11, position with
Incision site correspondence is cutd open on pedestal 1, the other end of two connecting rods 14 is hinged in the corresponding cutting mouthful in the position of movable block 11, to be formed
Parallelogram motion mechanism.The sliding block 17 of the wing plate of the level of large arm 15 and the line slideway of the cutting of pedestal 1 mouthful both sides is connected.It is small
Arm 18 is arranged in large arm 15, and bottom is tended to be essentially a vertical plane on the inside of fixture mount centerline direction, end, with
Just with the cylindrical work shape adaptation of large-size, and non-slip rubber block 20 is installed, the workpiece of protection crawl was being captured
Surface is not destroyed in journey.
Claims (6)
1. a kind of robot is grabbed, including grab for providing hand the fixture mount of mounting interface, in addition to drive system and surround
Three handgrips that cylindrical center's line is set, the drive system is arranged in the fixture mount, is connected with three handgrips,
The handgrip of driving three draws in or expansion moves to realize the crawl or release to workpiece, it is characterised in that the drivetrain
System driving three handgrips in the plane perpendicular to the center line around the center line radial motion and draw in or
Expansion is to capture or discharge workpiece, and the gripping surface of the handgrip is adapted to the workpiece surface, when capturing the workpiece, with institute
The contact of workpiece is stated to contact for face shape.
2. robot according to claim 1 is grabbed, it is characterised in that in the fixture mount, around the center line
Radially installed has three secondary line slideways, and three handgrips are divided on the three secondary line slideways, the drive system driving
Three handgrips draw in or deployed along the line slideway radial motion.
3. robot according to claim 2 is grabbed, it is characterised in that include per the secondary line slideway two it is parallel
Line slideway, the handgrip is all led by the straight line across between two parallel line slideways, making the both sides of the handgrip
Rail is arranged in the fixture mount.
4. robot according to claim 3 is grabbed, it is characterised in that the drive system includes driver element, is oriented to
Post and movable block, the lead are arranged on the center line, and the movable block is sleeved on the lead, the handgrip
Top be connected by two parallel connecting rods with the movable block, make the movable block, handgrip, two connecting rods constitute one parallel four
Side shape motion, the driver element drives the movable block to be moved up and down along the lead, is transported according to parallelogram
Dynamic mechanism characteristicses, with moving up and down for the movable block, the handgrip is in the case where keeping with the centerline parallel, along institute
State line slideway movement and radially adjacent to or away from the center line.
5. robot according to claim 4 is grabbed, it is characterised in that the lead is rotatably installed in the center line
On, the movable block constitutes a screw mandrel that gyration is converted to linear motion, the driver element bag with the lead
Motor and belt gear are included, the output shaft of the motor be arranged in parallel with the lead, and by described
Belt gear is linked with the lead, and with the rotation of the lead, the movable block is moved down along along the lead
It is dynamic.
6. robot according to claim 5 is grabbed, it is characterised in that the fixture mount include installing plate, fixed plate,
Pedestal, is from top to bottom layered the center of interval setting, the center line and the fixture mount by upright supports between them
Line is overlapped, and the installing plate provides hand and grabs mounting interface, and the lead two ends are rotatably installed in the fixed plate and institute respectively
State on pedestal, the belt gear is arranged between the installing plate and fixed plate, the motor is parallel to described
Lead is arranged between the fixed plate and the pedestal, and the upper end of its output shaft and the lead passes vertically through described solid
Fixed board, is connected together by the belt gear and realizes linkage, and the pedestal periphery is uniformly provided with the cutting of three radial directions
Mouthful, the handgrip is located in the cutting mouthful, and both sides are respectively arranged on the pedestal cutting mouthful by a line slideway
Both sides.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621240898.0U CN206536499U (en) | 2016-11-18 | 2016-11-18 | A kind of robot is grabbed |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621240898.0U CN206536499U (en) | 2016-11-18 | 2016-11-18 | A kind of robot is grabbed |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206536499U true CN206536499U (en) | 2017-10-03 |
Family
ID=59937615
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621240898.0U Withdrawn - After Issue CN206536499U (en) | 2016-11-18 | 2016-11-18 | A kind of robot is grabbed |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206536499U (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106514690A (en) * | 2016-11-18 | 2017-03-22 | 中国电器科学研究院有限公司 | Robot tooling |
| CN107553516A (en) * | 2017-10-24 | 2018-01-09 | 安徽理工大学 | The adaptive handgrip of dual-purpose type inside and outside foundry robot |
| CN109368247A (en) * | 2018-10-29 | 2019-02-22 | 南京航空航天大学溧水仿生产业研究院有限公司 | A kind of Medical Robot's grasping mechanism |
| CN110270794A (en) * | 2019-08-02 | 2019-09-24 | 格力电器（芜湖）有限公司 | Pipe joint welding grabbing and positioning device, welding method and water heater |
| CN110407077A (en) * | 2019-07-09 | 2019-11-05 | 广汽新能源汽车有限公司 | Clamp device and Lift-on/Lift-off System |
| CN110653954A (en) * | 2019-09-29 | 2020-01-07 | 王旋 | Luminous jade and preparation device and method thereof |
| CN110774310A (en) * | 2019-11-12 | 2020-02-11 | 华南理工大学 | Under-actuated three-finger mechanical gripper with multiple gripping states |
| CN110978021A (en) * | 2019-12-24 | 2020-04-10 | 广东技术师范大学 | Flexible pneumatic manipulator |
-
2016
- 2016-11-18 CN CN201621240898.0U patent/CN206536499U/en not_active Withdrawn - After Issue
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106514690A (en) * | 2016-11-18 | 2017-03-22 | 中国电器科学研究院有限公司 | Robot tooling |
| CN106514690B (en) * | 2016-11-18 | 2019-02-15 | 中国电器科学研究院有限公司 | A kind of end picking-up device for robot |
| CN107553516A (en) * | 2017-10-24 | 2018-01-09 | 安徽理工大学 | The adaptive handgrip of dual-purpose type inside and outside foundry robot |
| CN109368247A (en) * | 2018-10-29 | 2019-02-22 | 南京航空航天大学溧水仿生产业研究院有限公司 | A kind of Medical Robot's grasping mechanism |
| CN110407077B (en) * | 2019-07-09 | 2024-05-10 | 广汽新能源汽车有限公司 | Clamping device and hoisting system |
| CN110407077A (en) * | 2019-07-09 | 2019-11-05 | 广汽新能源汽车有限公司 | Clamp device and Lift-on/Lift-off System |
| CN110270794B (en) * | 2019-08-02 | 2021-08-20 | 格力电器（芜湖）有限公司 | Pipe joint welding grabbing and positioning device, welding method and water heater |
| CN110270794A (en) * | 2019-08-02 | 2019-09-24 | 格力电器（芜湖）有限公司 | Pipe joint welding grabbing and positioning device, welding method and water heater |
| CN110653954A (en) * | 2019-09-29 | 2020-01-07 | 王旋 | Luminous jade and preparation device and method thereof |
| CN110653954B (en) * | 2019-09-29 | 2021-09-21 | 深圳市彩瓷珠宝有限公司 | Luminous jade and preparation device and method thereof |
| CN110774310A (en) * | 2019-11-12 | 2020-02-11 | 华南理工大学 | Under-actuated three-finger mechanical gripper with multiple gripping states |
| CN110978021A (en) * | 2019-12-24 | 2020-04-10 | 广东技术师范大学 | Flexible pneumatic manipulator |
| CN110978021B (en) * | 2019-12-24 | 2022-04-19 | 广东技术师范大学 | Flexible pneumatic manipulator |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20171003 Effective date of abandoning: 20190215 |