CN206855470U - Feeding robot gripper for bars - Google Patents
Feeding robot gripper for bars Download PDFInfo
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- CN206855470U CN206855470U CN201720412332.XU CN201720412332U CN206855470U CN 206855470 U CN206855470 U CN 206855470U CN 201720412332 U CN201720412332 U CN 201720412332U CN 206855470 U CN206855470 U CN 206855470U
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Abstract
本实用新型公开了一种棒料的上料机器人抓手，它包括底座、滑块组件、第一抓手手指、第一连杆、第二抓手手指和第二连杆，所述滑块组件滑配在底座上，第一抓手手指的前部为第一抓部，第一抓手手指的中部铰接在底座上，第一连杆的一端与滑块组件铰接，第一连杆的另一端与第一抓手手指的后部铰接，第二抓手手指的前部为第二抓部，第二抓手手指的中部铰接在底座上，第二连杆的一端与滑块组件铰接，第二连杆的另一端与第二抓手手指的后部铰接。本实用新型能够有效地解决棒料的上料的问题，并且结构简单、省时省力、保护了工人安全、降低了生产成本。
The utility model discloses a robot gripper for loading bar materials, which comprises a base, a slider assembly, a first gripper finger, a first connecting rod, a second gripper finger and a second connecting rod. The assembly is slip-fitted on the base, the front part of the first gripper finger is the first grasping part, the middle part of the first gripper finger is hinged on the base, one end of the first connecting rod is hinged with the slider assembly, and the first connecting rod The other end is hinged with the rear part of the first gripper finger, the front part of the second gripper finger is the second gripper, the middle part of the second gripper finger is hinged on the base, and one end of the second connecting rod is hinged with the slider assembly , the other end of the second connecting rod is hinged with the rear portion of the second gripper finger. The utility model can effectively solve the problem of bar material feeding, has a simple structure, saves time and effort, protects the safety of workers, and reduces production costs.
Description
技术领域technical field
本实用新型涉及一种棒料的上料机器人抓手。The utility model relates to a robot gripper for feeding rods.
背景技术Background technique
目前，在工业生产中，越来越多的人厌烦靠人力搬运重物，在有害环境、高温等恶劣生产条件下不适合工人工作，为了避免人在生产中受到危害，极大地减轻人的劳动强度，所以机器人抓手成了他们的好选择。然而，我国对机械手的研发和应用仍处于一个较为初级的阶段，和美国、日本等国家仍有较大差距。At present, in industrial production, more and more people are tired of relying on manpower to carry heavy objects. It is not suitable for workers to work under harsh production conditions such as harmful environment and high temperature. Strength, so the robot gripper has become a good choice for them. However, the research and development and application of manipulators in my country are still in a relatively early stage, and there is still a big gap with the United States, Japan and other countries.
通过走访观察市面，了解到市面上还没有针对直径200mm，长度300mm的棒料的上料机器人抓手，因此急需设计一种上料机器人抓手。After visiting and observing the market, I learned that there is no feeding robot gripper for bars with a diameter of 200mm and a length of 300mm on the market, so it is urgent to design a feeding robot gripper.
发明内容Contents of the invention
本实用新型所要解决的技术问题是克服现有技术的缺陷，提供一种棒料的上料机器人抓手，它能够有效地解决棒料的上料的问题，并且结构简单、省时省力、保护了工人安全、降低了生产成本。The technical problem to be solved by the utility model is to overcome the defects of the prior art and provide a robot gripper for loading bars, which can effectively solve the problem of loading bars, and has a simple structure, saves time and effort, and protects Improve worker safety and reduce production costs.
为了解决上述技术问题，本实用新型的技术方案是：一种棒料的上料机器人抓手，它包括：In order to solve the above-mentioned technical problems, the technical solution of the present utility model is: a robot gripper for loading rods, which includes:
底座；base;
滑块组件，所述滑块组件滑配在底座上；a slider assembly, the slider assembly is slidably fitted on the base;
第一抓手手指，所述第一抓手手指的前部为第一抓部，所述第一抓手手指的中部铰接在底座上；The first gripper finger, the front part of the first gripper finger is the first grasping part, and the middle part of the first gripper finger is hinged on the base;
第一连杆，所述第一连杆的一端与所述滑块组件铰接，所述第一连杆的另一端与所述第一抓手手指的后部铰接；a first connecting rod, one end of the first connecting rod is hinged to the slider assembly, and the other end of the first connecting rod is hinged to the rear of the first gripper finger;
第二抓手手指，所述第二抓手手指的前部为第二抓部，所述第二抓手手指的中部铰接在底座上；The second gripper finger, the front part of the second gripper finger is the second grasping part, and the middle part of the second gripper finger is hinged on the base;
第二连杆，所述第二连杆的一端与所述滑块组件铰接，所述第二连杆的另一端与所述第二抓手手指的后部铰接；a second connecting rod, one end of the second connecting rod is hinged to the slider assembly, and the other end of the second connecting rod is hinged to the rear of the second gripper finger;
其中，通过在底座上动作所述滑块组件，使所述第一抓手手指的第一抓部和所述第二抓手手指的第二抓部做相向运动或背向运动。Wherein, by moving the slider assembly on the base, the first grasping portion of the first gripper finger and the second grasping portion of the second gripper finger move toward each other or move back.
进一步提供了一种滑块组件的具体结构，滑块组件包括导杆和滑块，所述导杆滑配在底座上，以便所述导杆在底座上轴向移动，所述滑块安装在导杆上，所述第一连杆的一端铰接在滑块的一端，所述第二连杆的一端铰接在滑块的另一端上。A specific structure of the slider assembly is further provided, the slider assembly includes a guide rod and a slider, the guide rod is slidingly fitted on the base so that the guide rod can move axially on the base, the slider is installed on On the guide rod, one end of the first connecting rod is hinged to one end of the slider, and one end of the second connecting rod is hinged to the other end of the slider.
进一步提供了一种滑块与导杆的连接结构，滑块通过螺纹连接在导杆上。A connection structure between the slider and the guide rod is further provided, the slider is connected to the guide rod through threads.
进一步提供了一种底座的具体结构，底座的前部为抓手手指支撑部，所述底座的后部为滑块组件支撑部，所述抓手手指支撑部包括第一支撑板、第二支撑板和肋板，第一支撑板的后端、第二支撑板的后端和肋板的前端连接在一起，所述第一支撑板和第二支撑板形成V型结构，所述肋板的后端与滑块组件支撑部相连通。A specific structure of the base is further provided, the front part of the base is a gripper finger support part, the rear part of the base is a slider assembly support part, and the gripper finger support part includes a first support plate, a second support Plates and ribs, the rear end of the first support plate, the rear end of the second support plate and the front end of the rib are connected together, the first support plate and the second support plate form a V-shaped structure, the ribs The rear end communicates with the support part of the slider assembly.
进一步为了很好地夹持棒料，第一抓部和所述第二抓部对称设置，并且第一抓部的棒料夹紧面、第二抓部的棒料夹紧面的直径分别与棒料的直径相同。Further, in order to clamp the bar well, the first grip and the second grip are arranged symmetrically, and the diameters of the bar clamping surface of the first grip and the bar clamping surface of the second grip are respectively the same as The bar stock has the same diameter.
采用了上述技术方案后，本实用新型使用时，通过导杆在底座的导杆安装孔中轴向移动，驱动滑块的轴向移动，滑块的移动驱动第一连杆、第二连杆的摆动，第一连杆、第二连杆的同步摆动驱动铰接在底座3上的第一抓手手指6、第二抓手手指7开合，实现对棒料的抓取、上料作业，这样就能够有效地解决棒料的上料的问题，并且结构简单、省时省力、保护了工人安全、降低了生产成本。After adopting the above technical scheme, when the utility model is used, the guide rod moves axially in the guide rod installation hole of the base to drive the axial movement of the slider, and the movement of the slider drives the first connecting rod and the second connecting rod The swing of the first connecting rod and the second connecting rod drive the opening and closing of the first gripper finger 6 and the second gripper finger 7 hinged on the base 3 to realize the grabbing and loading of the bar. In this way, the problem of bar feeding can be effectively solved, and the structure is simple, time-saving and labor-saving, the safety of workers is protected, and the production cost is reduced.
附图说明Description of drawings
图1为本实用新型的棒料的上料机器人抓手的结构示意图；Fig. 1 is the structure schematic diagram of the feeding robot gripper of bar stock of the present utility model;
图2为本实用新型的棒料的上料机器人抓手的结构原理示意图。Fig. 2 is a schematic diagram of the structure and principle of the gripper of the feeding robot of the utility model.
具体实施方式detailed description
为了使本实用新型的内容更容易被清楚地理解，下面根据具体实施例并结合附图，对本实用新型作进一步详细的说明。In order to make the content of the utility model more clearly understood, the utility model will be further described in detail below based on specific embodiments and in conjunction with the accompanying drawings.
如图1、2所示，一种棒料的上料机器人抓手，它包括：As shown in Figures 1 and 2, a loading robot gripper for bar material includes:
底座3；Base 3;
滑块组件，所述滑块组件滑配在底座3上；A slider assembly, the slider assembly is slidably fitted on the base 3;
第一抓手手指6，所述第一抓手手指6的前部为第一抓部，所述第一抓手手指6的中部铰接在底座3上；The first gripper finger 6, the front part of the first gripper finger 6 is the first grasping part, and the middle part of the first gripper finger 6 is hinged on the base 3;
第一连杆4，所述第一连杆4的一端与所述滑块组件铰接，所述第一连杆4的另一端与所述第一抓手手指6的后部铰接；The first connecting rod 4, one end of the first connecting rod 4 is hinged to the slider assembly, and the other end of the first connecting rod 4 is hinged to the rear of the first gripper finger 6;
第二抓手手指7，所述第二抓手手指7的前部为第二抓部，所述第二抓手手指7的中部铰接在底座3上；The second gripper finger 7, the front part of the second gripper finger 7 is a second grasping portion, and the middle part of the second gripper finger 7 is hinged on the base 3;
第二连杆5，所述第二连杆5的一端与所述滑块组件铰接，所述第二连杆5的另一端与所述第二抓手手指7的后部铰接；A second connecting rod 5, one end of the second connecting rod 5 is hinged to the slider assembly, and the other end of the second connecting rod 5 is hinged to the rear of the second gripper finger 7;
其中，通过在底座3上动作所述滑块组件，使所述第一抓手手指6的第一抓部和所述第二抓手手指7的第二抓部做相向运动或背向运动。Wherein, by moving the slider assembly on the base 3 , the first grasping portion of the first gripper finger 6 and the second gripping portion of the second gripper finger 7 move toward each other or move back.
本实施例的棒料的上料机器人抓手采用曲柄滑块机构，滑块2作为主动件，而第一抓手手指6、第二抓手手指7作为曲柄，是从动件。The feeding robot gripper of the bar material of this embodiment adopts a crank slider mechanism, the slider 2 is used as the active part, and the first gripper finger 6 and the second gripper finger 7 are used as cranks, which are driven parts.
如图1所示，滑块组件包括导杆1和滑块2，所述导杆1滑配在底座3上，以便所述导杆1在底座3上轴向移动，所述滑块2安装在导杆1上，所述第一连杆4的一端铰接在滑块2的一端，所述第二连杆5的一端铰接在滑块2的另一端上。As shown in Figure 1, the slider assembly includes a guide rod 1 and a slider 2, the guide rod 1 is slipped on the base 3, so that the guide rod 1 can move axially on the base 3, and the slider 2 is installed On the guide rod 1 , one end of the first connecting rod 4 is hinged to one end of the slider 2 , and one end of the second connecting rod 5 is hinged to the other end of the slider 2 .
如图1所示，本滑块组件采用组装式，滑块2通过螺纹连接在导杆1上。As shown in Figure 1, the slider assembly adopts an assembled type, and the slider 2 is connected to the guide rod 1 through threads.
如图1所示，所述底座3的前部为抓手手指支撑部，所述底座3的后部为滑块组件支撑部，所述抓手手指支撑部包括第一支撑板31、第二支撑板32和肋板33，第一支撑板31的后端、第二支撑板32的后端和肋板33的前端连接在一起，所述第一支撑板31和第二支撑板32形成V型结构，所述肋板33的后端与滑块组件支撑部相连接。As shown in Figure 1, the front part of the base 3 is a gripper finger support part, the rear part of the base 3 is a slider assembly support part, and the gripper finger support part includes a first support plate 31, a second Support plate 32 and rib plate 33, the rear end of first support plate 31, the rear end of second support plate 32 and the front end of rib plate 33 are connected together, and described first support plate 31 and second support plate 32 form V Type structure, the rear end of the rib plate 33 is connected with the support part of the slider assembly.
为了更好地夹持棒料，如图1所示，第一抓部和所述第二抓部对称设置，并且第一抓部的棒料夹紧面、第二抓部的棒料夹紧面的直径分别与棒料的直径相同。In order to better clamp the bar, as shown in Figure 1, the first grip and the second grip are arranged symmetrically, and the bar clamping surface of the first grip and the bar clamping surface of the second grip The diameter of the faces is respectively the same as the diameter of the bar.
在本实施例中，两者之间的铰接关系均通过销轴或螺钉进行连接。In this embodiment, the hinge relationship between the two is connected by pins or screws.
本实用新型的工作原理如下：The working principle of the utility model is as follows:
使用时，通过导杆1在底座3的导杆安装孔中轴向移动，驱动滑块2的轴向移动，滑块2的移动驱动第一连杆4、第二连杆5的摆动，第一连杆4、第二连杆5的同步摆动驱动安装在底座3的支撑架上的第一抓手手指6、第二抓手手指7开合，实现对棒料的抓取、上料作业。When in use, the guide rod 1 moves axially in the guide rod installation hole of the base 3 to drive the axial movement of the slider 2, and the movement of the slider 2 drives the swing of the first connecting rod 4 and the second connecting rod 5, and the second The synchronous swing of the first connecting rod 4 and the second connecting rod 5 drives the opening and closing of the first gripper finger 6 and the second gripper finger 7 installed on the support frame of the base 3 to realize the grabbing and loading of the bar .
以上所述的具体实施例，对本实用新型解决的技术问题、技术方案和有益效果进行了进一步详细说明，所应理解的是，以上所述仅为本实用新型的具体实施例而已，并不用于限制本实用新型，凡在本实用新型的精神和原则之内，所做的任何修改、等同替换、改进等，均应包含在本实用新型的保护范围之内。The specific embodiments described above have further described the technical problems, technical solutions and beneficial effects solved by the utility model in detail. It should be understood that the above descriptions are only specific embodiments of the utility model and are not intended to be used To limit the utility model, any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the utility model shall be included in the protection scope of the utility model.
Claims (5)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720412332.XU CN206855470U (en) | 2017-04-19 | 2017-04-19 | Feeding robot gripper for bars |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201720412332.XU CN206855470U (en) | 2017-04-19 | 2017-04-19 | Feeding robot gripper for bars |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106945066A (en) * | 2017-04-19 | 2017-07-14 | 常州机电职业技术学院 | Feeding robot gripper for bars |
| CN108889749A (en) * | 2018-06-21 | 2018-11-27 | 明光康诚伟业机电设备有限公司 | A kind of clamping device for mobile phone camera glass cleaning |
| CN109080164A (en) * | 2018-08-31 | 2018-12-25 | 浙江御匠箱包有限公司 | A kind of material grasping propulsive mechanism of plastic part feeding device |
| WO2025213769A1 (en) * | 2024-04-12 | 2025-10-16 | 享刻智能技术(北京)有限公司 | Robot and mechanical gripper thereof |
-
2017
- 2017-04-19 CN CN201720412332.XU patent/CN206855470U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106945066A (en) * | 2017-04-19 | 2017-07-14 | 常州机电职业技术学院 | Feeding robot gripper for bars |
| CN108889749A (en) * | 2018-06-21 | 2018-11-27 | 明光康诚伟业机电设备有限公司 | A kind of clamping device for mobile phone camera glass cleaning |
| CN109080164A (en) * | 2018-08-31 | 2018-12-25 | 浙江御匠箱包有限公司 | A kind of material grasping propulsive mechanism of plastic part feeding device |
| WO2025213769A1 (en) * | 2024-04-12 | 2025-10-16 | 享刻智能技术(北京)有限公司 | Robot and mechanical gripper thereof |
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Granted publication date: 20180109 Termination date: 20210419 |