CN207290137U - A kind of robot gripper with anti-falling function - Google Patents
A kind of robot gripper with anti-falling function Download PDFInfo
- Publication number
- CN207290137U CN207290137U CN201721381841.7U CN201721381841U CN207290137U CN 207290137 U CN207290137 U CN 207290137U CN 201721381841 U CN201721381841 U CN 201721381841U CN 207290137 U CN207290137 U CN 207290137U
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- CN
- China
- Prior art keywords
- housing
- electromagnet
- revolving door
- pressure sensor
- robot gripper
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Abstract
It the utility model is related to robot gripper, more particularly to a kind of robot gripper with anti-falling function, including housing, case top is equipped with connecting rod, housing bottom is equipped with opening and inclined floor, case top inner wall place opposite with opening is equipped with first pressure sensor, place opposite with first pressure sensor is equipped with the first electromagnet on housing, housing both sides are opposite to be equipped with pressing plate, revolving door, pressing plate is connected by spring with inner walls, pressing plate side is equipped with magnetic patch, place opposite with magnetic patch is equipped with the second electromagnet on housing, revolving door is connected by shaft with housing, shaft is connected with motor, motor is fixed by fixed frame and housing, revolving door is equipped with cushion pad close to the side of pressing plate, revolving door opposite side is equipped with gag lever post, gag lever post is equipped with second pressure sensor, the 3rd electromagnet is equipped with revolving door, iron is equipped with below 3rd electromagnet；Technical solution provided by the utility model, which can effectively overcome, to be easily damaged material top layer, easily the defects of situation that material falls occurs.
Description
Technical field
It the utility model is related to robot gripper, and in particular to a kind of robot gripper with anti-falling function.
Background technology
With the continuous development of scientific technology, there are more and more industrial robots.These industrial robots are extensive
Apply in fields such as automobile making, cutting, deburring, mould spraying, grinding and polishing, material carrying, packaging and pallets on ground.
Particularly to the work of some repetitives, the use of robot gripper greatly reduces the labor intensity of worker, and carries
High work efficiency and product quality.
Existing robot gripper is mostly rigid handgrip, although rigid handgrip can realize the function of crawl material,
It is very easy to damage material top layer.In addition, the situation of structure member aging occurs after robot gripper long-time service, and then lead
Cause handgrip can not firmly grasp material, the situation that material falls occur, the quality of material in itself can not only be impacted, can more injured by a crashing object
Worker.
Utility model content
(1) technical problem solved
For the disadvantages mentioned above present in the prior art, the utility model provides a kind of machine with anti-falling function
People's handgrip, can effectively overcome being easily damaged material top layer, easily situation that material falls etc. occur present in the prior art
Defect.
(2) technical solution
In order to achieve the above object, the utility model is achieved by the following technical programs：
A kind of robot gripper with anti-falling function, including housing, the case top are equipped with connecting rod, the housing
Bottom is equipped with opening and inclined floor, and the case top inner wall is opposite with opening to be located to be equipped with first pressure sensor, the shell
Place opposite with first pressure sensor is equipped with the first electromagnet on body, and the housing both sides are opposite to be equipped with pressing plate, revolving door, the pressure
Plate is connected by spring with inner walls, and the pressing plate side is equipped with magnetic patch, and place opposite with magnetic patch is equipped with second on the housing
Electromagnet, the revolving door are connected by shaft with housing, and the shaft is connected with motor, and the motor passes through fixed frame and housing
Fixed, the revolving door is equipped with cushion pad close to the side of pressing plate, and the revolving door opposite side is equipped with gag lever post, is set on the gag lever post
There is second pressure sensor, the 3rd electromagnet is equipped with the revolving door, iron, the revolving door are equipped with below the 3rd electromagnet
Bottom, housing bottom place opposite with iron are equipped with limited mouth, and controller is additionally provided with the housing.
Preferably, the first pressure sensor, second pressure sensor, be equipped with wireless communication module in controller.
Preferably, second electromagnet, the 3rd electromagnet are electrically connected with controller.
Preferably, the first pressure sensor, the model of second pressure sensor are mpx10dp.
Preferably, the cushion pad is made of sponge.
Preferably, the gag lever post is L-shaped.
Preferably, first electromagnet, motor, the 3rd electromagnet are electrically connected with external control switch.
(3) beneficial effect
Compared with prior art, a kind of robot gripper with anti-falling function provided by the utility model being capable of profit
With the first electromagnet by iron material out of opening suction casing, controller close the second electromagnet, in the work of spring force
Material can be bound to lower platen on inclined floor, realizes the fixation to material in housing using inclined floor, utilize this
The method of kind suction can effectively avoid conventional rigid handgrip from damaging material top layer；After revolving door closure, controller is closed
3rd electromagnet, iron are inserted into limited mouth under gravity, so as to fulfill to the effective fixed of revolving door, are avoided in housing
Material fall at revolving door.
Brief description of the drawings
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described.It should be evident that drawings in the following description are only
It is some embodiments of the utility model, for those of ordinary skill in the art, in the premise not made the creative labor
Under, other attached drawings can also be obtained according to these attached drawings.
Fig. 1 is the utility model structure diagram；
In figure：
1st, housing；2nd, connecting rod；3rd, it is open；4th, inclined floor；5th, the first electromagnet；6th, first pressure sensor；7th, second
Electromagnet；8th, pressing plate；9th, spring；10th, magnetic patch；11st, revolving door；12nd, shaft；13rd, motor；14th, fixed frame；15th, cushion pad；16、
Gag lever post；17th, the 3rd electromagnet；18th, iron；19th, limited mouth；20th, second pressure sensor；21st, controller.
Embodiment
It is new below in conjunction with this practicality to make the purpose, technical scheme and advantage of the utility model embodiment clearer
Attached drawing in type embodiment, the technical scheme in the utility model embodiment is clearly and completely described.Obviously, retouched
The embodiment stated is the utility model part of the embodiment, instead of all the embodiments.Based on the implementation in the utility model
Example, those of ordinary skill in the art's all other embodiments obtained without creative efforts, belongs to
The scope of the utility model protection.
A kind of robot gripper with anti-falling function, as shown in Figure 1, including housing 1, the top of housing 1 is equipped with connecting rod
2,1 bottom of housing is equipped with opening 3 and inclined floor 4, and opposite place is equipped with first pressure sensor to 1 top inner wall of housing with opening 3
6, opposite place is equipped with the first electromagnet 5 with first pressure sensor 6 on housing 1, and 1 both sides of housing are opposite to be equipped with pressing plate 8, revolving door
11, pressing plate 8 is connected by spring 9 with 1 inner wall of housing, and 8 side of pressing plate is equipped with magnetic patch 10, is set on housing 1 with magnetic patch 10 with respect to place
There is the second electromagnet 7, revolving door 11 is connected by shaft 12 with housing 1, and shaft 12 is connected with motor 13, and motor 13 passes through fixed frame
14 fix with housing 1, and revolving door 11 is equipped with cushion pad 15 close to the side of pressing plate 8, and 11 opposite side of revolving door is equipped with gag lever post 16, spacing
Bar 16 is equipped with second pressure sensor 20, and the 3rd electromagnet 17 is equipped with revolving door 11, and the lower section of the 3rd electromagnet 17 is equipped with iron
18,11 bottom of revolving door, 1 bottom of housing and iron 18 are equipped with limited mouth 19 with respect to place, and controller 21 is additionally provided with housing 1.
First pressure sensor 6, second pressure sensor 20, be equipped with wireless communication module, the second electricity in controller 21
Magnet 7, the 3rd electromagnet 17 are electrically connected with controller 21, first pressure sensor 6, the model of second pressure sensor 20
It is mpx10dp, cushion pad 15 is made of sponge, and gag lever post 16 is L-shaped, the first electromagnet 5, motor 13, the 3rd electromagnetism
Iron 17 is electrically connected with external control switch.
In use, drive link 2 drives housing 1 to be moved to above material, opening 3 is directed at material, is controlled by outside
Switch opens the first electromagnet 5, by iron material from opening 3 in suction casing 1.When first pressure sensor 6 detects thing
When material is entered in housing 1, controller 21 closes the second electromagnet 7, and pressing plate 8 can be by material bullet under the action of 9 elastic force of spring
Onto inclined floor 4, the fixation to material in housing 1 is realized using inclined floor 4, can be had using the method for this suction
Effect avoids conventional rigid handgrip from damaging material top layer.Cushion pad 15 can prevent material from colliding with revolving door 11.
After housing 1 is moved at placement material, motor 13 is opened by external control switch, motor 13 is driven by shaft 12
Turn door 11 is opened, and the material in housing 1 is tumbled along inclined floor 4.Control motor 13 to invert by external control switch, close
Revolving door 11 is closed, after second pressure sensor 20, which detects revolving door 11, to be closed, controller 21 closes the 3rd electromagnet 17, iron 18
It is inserted under gravity in limited mouth 19, so as to fulfill the material to the effective fixed of revolving door 11, avoided in housing 1 from turning
Fall at door 11.3rd electromagnet 17 can be opened by external control switch, iron 18 is suctioned out from limited mouth 19, is easy to
Open revolving door 11.
In addition, storage battery can be set in housing 1 is each power supply for electrical equipment.Pressed using first pressure sensor 6, second
The data that force snesor 20 detects are controlled the second electromagnet 7, the 3rd electromagnet 17 routine techniques for belonging to control field
Means, the circuit structure involved by it is also the common knowledge of those skilled in the art, therefore this will not be repeated here.Wireless communication
Module can use zigbee modules, and controller 21 can use STM32 chips to complete above-mentioned control operation.
A kind of robot gripper with anti-falling function provided by the utility model can utilize the first electromagnet will
For iron material out of opening suction casing, controller closes the second electromagnet, and pressing plate can incite somebody to action under the action of spring force
Material is bound on inclined floor, is realized the fixation to material in housing using inclined floor, is utilized the method energy of this suction
It is enough effectively to avoid conventional rigid handgrip from damaging material top layer；After revolving door closure, controller closes the 3rd electromagnet, iron
It is inserted under gravity in limited mouth, so as to fulfill to the effective fixed of revolving door, avoids the material in housing at revolving door
Fall.
Above example is only to illustrate the technical solution of the utility model, rather than its limitations；Although with reference to foregoing reality
Example is applied the utility model is described in detail, it will be understood by those of ordinary skill in the art that：It still can be to preceding
State the technical solution described in each embodiment to modify, or equivalent substitution is carried out to which part technical characteristic；And these
Modification or replace, can't make appropriate technical solution essence depart from various embodiments of the utility model technical solution spirit and
Scope.
Claims (7)
- A kind of 1. robot gripper with anti-falling function, it is characterised in that：Including housing (1), set at the top of the housing (1) There is connecting rod (2), housing (1) bottom is equipped with opening (3) and inclined floor (4), housing (1) top inner wall and opening (3) opposite place is equipped with first pressure sensor (6), locates to be equipped with first relatively with first pressure sensor (6) on the housing (1) Electromagnet (5), housing (1) both sides are opposite to be equipped with pressing plate (8), revolving door (11), and the pressing plate (8) passes through spring (9) and shell Body (1) inner wall is connected, and pressing plate (8) side is equipped with magnetic patch (10), and opposite place is equipped with the with magnetic patch (10) on the housing (1) Two electromagnet (7), the revolving door (11) are connected by shaft (12) with housing (1), and the shaft (12) is connected with motor (13), The motor (13) is fixed by fixed frame (14) and housing (1), and the revolving door (11) is equipped with buffering close to the side of pressing plate (8) Pad (15), revolving door (11) opposite side is equipped with gag lever post (16), and the gag lever post (16) is equipped with second pressure sensor (20), the 3rd electromagnet (17) is equipped with the revolving door (11), iron (18) is equipped with below the 3rd electromagnet (17), it is described Revolving door (11) bottom, housing (1) bottom and iron (18) are equipped with limited mouth (19) with respect to place, are additionally provided with the housing (1) Controller (21).
- 2. the robot gripper according to claim 1 with anti-falling function, it is characterised in that：The first pressure passes Wireless communication module is equipped with sensor (6), second pressure sensor (20), controller (21).
- 3. the robot gripper according to claim 1 with anti-falling function, it is characterised in that：Second electromagnet (7), the 3rd electromagnet (17) is electrically connected with controller (21).
- 4. the robot gripper according to claim 1 with anti-falling function, it is characterised in that：The first pressure passes Sensor (6), the model of second pressure sensor (20) are mpx10dp.
- 5. the robot gripper according to claim 1 with anti-falling function, it is characterised in that：The cushion pad (15) It is made of sponge.
- 6. the robot gripper according to claim 1 with anti-falling function, it is characterised in that：The gag lever post (16) It is L-shaped.
- 7. the robot gripper according to claim 1 with anti-falling function, it is characterised in that：First electromagnet (5), motor (13), the 3rd electromagnet (17) are electrically connected with external control switch.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721381841.7U CN207290137U (en) | 2017-10-25 | 2017-10-25 | A kind of robot gripper with anti-falling function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721381841.7U CN207290137U (en) | 2017-10-25 | 2017-10-25 | A kind of robot gripper with anti-falling function |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207290137U true CN207290137U (en) | 2018-05-01 |
Family
ID=62273600
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721381841.7U Expired - Fee Related CN207290137U (en) | 2017-10-25 | 2017-10-25 | A kind of robot gripper with anti-falling function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207290137U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109465812A (en) * | 2018-11-26 | 2019-03-15 | 广东工业大学 | A kind of magnetic bodies and non-magnetic object stacking mechanical arm and control method |
-
2017
- 2017-10-25 CN CN201721381841.7U patent/CN207290137U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109465812A (en) * | 2018-11-26 | 2019-03-15 | 广东工业大学 | A kind of magnetic bodies and non-magnetic object stacking mechanical arm and control method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180501 Termination date: 20201025 |