CN207415400U - Robot device - Google Patents
Robot device Download PDFInfo
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- CN207415400U CN207415400U CN201721562812.0U CN201721562812U CN207415400U CN 207415400 U CN207415400 U CN 207415400U CN 201721562812 U CN201721562812 U CN 201721562812U CN 207415400 U CN207415400 U CN 207415400U
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- clamping element
- bolster
- robot device
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- manipulator
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- 239000000463 material Substances 0.000 claims description 9
- 239000006260 foam Substances 0.000 claims description 4
- 229920002379 silicone rubber Polymers 0.000 claims description 4
- 230000008450 motivation Effects 0.000 claims description 2
- 230000033001 locomotion Effects 0.000 abstract description 7
- 230000000694 effects Effects 0.000 description 3
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000000741 silica gel Substances 0.000 description 2
- 229910002027 silica gel Inorganic materials 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 230000033764 rhythmic process Effects 0.000 description 1
- 239000007779 soft material Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
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Abstract
The utility model discloses a kind of robot devices, including mounting base and manipulator, the manipulator includes driving mechanism and grasping mechanism, the driving mechanism is fixedly connected with mounting base, the grasping mechanism includes the first clamping element and the second clamping element, first clamping element and the second clamping element are correspondingly arranged, and first clamping element and the second clamping element are fixedly connected respectively with the driving mechanism, and the driving mechanism respectively drives first clamping element and the second clamping element and moves to clamp or unclamp to be crawled object along opposite or opposite direction.Set multiple manipulators that can both ensure to capture efficiency in a mounting base, it can make the compact-sized of robot device again, the relative motion of the first clamping element and the second clamping element is respectively driven by driving mechanism can will be crawled object clamping, it is easy to operate, first clamping element and the second clamping element can move, its controllability is strong, and the robot device of the utility model can be used for the scene of multistation processing.
Description
Technical field
The utility model is related to chuck apparatus technical field more particularly to a kind of robot devices.
Background technology
With the arrival in industrial 4.0 epoch, become a kind of trend with robot charge, one side robot can continue
Work, saves the artificial time of having a rest, is not only able to improve production efficiency, and can also reduce cost of labor；On the other hand now
Workpiece structure becomes increasingly complex, also higher and higher to the precision positioning requirements of workpiece, only rely on be positioned manually can generate it is larger
Error, and robot is used to carry out material grasping its positioning accuracy height, highly reliable, stability is good.And these knots all with manipulator
Structure has a much relations, and the compact-sized degree of manipulator, crawl precision, rigidity of manipulator finger etc. can all influence its crawl
Material mode puts material mode and crawl material rhythm etc..Therefore it provides a kind of controllability is strong, compact-sized and easy to operate
Manipulator becomes a key task.
Utility model content
Technical problem to be solved in the utility model is：A kind of compact-sized and easy to operate manipulator dress is provided
It puts.
In order to solve the above-mentioned technical problem, the technical solution adopted in the utility model is：
A kind of robot device, including mounting base and at least one manipulator, at least one manipulator difference
It is fixedly connected with the mounting base, the manipulator includes driving mechanism and grasping mechanism, and the driving mechanism is consolidated with mounting base
Fixed connection, the grasping mechanism include the first clamping element and the second clamping element, and first clamping element and the second clamping element correspond to
It sets, and first clamping element and the second clamping element are fixedly connected respectively with the driving mechanism, the driving mechanism point
First clamping element and the second clamping element is not driven to move to clamp or unclamp to be crawled object along opposite or opposite direction.
Further, the driving mechanism is driving cylinder, and the driving cylinder includes first piston and second piston, institute
It states the first clamping element to be fixedly installed on the first piston, second clamping element is fixedly installed in the second piston.
Further, first clamping element is equipped with the first bolster close to the one side of the second clamping element, and described the
Two clamping elements are equipped with the second bolster close to the one side of the first clamping element, and first bolster and the second bolster correspond to
It sets.
Further, one side and second bolster of first bolster away from the first clamping element are away from
Sunk structure is respectively equipped on the one side of two clamping elements.
Further, the material of first bolster and the second bolster is silicon rubber or foam.
Further, the manipulator further includes detent mechanism, and the detent mechanism includes positioning component, sliding part and leads
To component, the positioning component is fixedly connected with sliding part, and the sliding part is slidably sheathed on the guidance set, described
Positioning component is crawled object for compressing.
Further, the positioning component includes the first locating piece and the second locating piece, and first locating piece, second are determined
One end of position part is fixedly connected respectively with the sliding part.
Further, the guidance set includes the guide rod of at least two, the sliding part be equipped with respectively with it is described
The through hole of guide rod corresponding at least two, one end of the guide rod are fixedly connected with the mounting base, the guide rod
The other end be located in the through hole.
Further, the guidance set further includes elastic component, and the elastic component is sheathed on the guide rod, and institute
The one end for stating elastic component is fixedly connected with the sliding part.
Further, the fixed seat includes rotating part and fixed part, and the rotating part can turn compared with the fixed part
Dynamic to set, at least one manipulator is fixedly installed on respectively on the rotating part.
The beneficial effects of the utility model are：Set multiple manipulators that can both ensure crawl effect in a mounting base
Rate, and the compact-sized of robot device can be made, the phase of the first clamping element and the second clamping element is respectively driven by driving mechanism
Object can will be crawled to movement to clamp, easy to operate, the first clamping element and the second clamping element can move, and be adjusted
Property it is strong, the robot device of the utility model can be used for the scene of multistation processing.
Description of the drawings
Fig. 1 is the overall structure diagram of the robot device of the utility model embodiment one；
Fig. 2 is the structure diagram of the manipulator of the utility model embodiment one.
Label declaration：
1st, mounting base；2nd, manipulator；3rd, driving mechanism；4th, the first clamping element；5th, the second clamping element；6th, the first bolster；
7th, the second bolster；8th, sunk structure；9th, sliding part；10th, the first locating piece；11st, the second locating piece；12nd, pressure head；13rd, it is oriented to
Bar；14th, elastic component.
Specific embodiment
For the technology contents of the utility model, the objects and the effects are described in detail, below in conjunction with embodiment and match somebody with somebody
Attached drawing is closed to be explained.
The design of the utility model most critical is：Driving mechanism is by respectively driving the first clamping element and the second clamping element
Movement is crawled object so as to clamp.
Fig. 1 and Fig. 2 is refer to, a kind of robot device is at least one including mounting base and at least one manipulator
The manipulator be fixedly connected respectively with the mounting base, the manipulator include driving mechanism and grasping mechanism, the drive
Motivation structure is fixedly connected with mounting base, and the grasping mechanism includes the first clamping element and the second clamping element, first clamping element
It is correspondingly arranged with the second clamping element, and first clamping element and the second clamping element are fixed with the driving mechanism connect respectively
Connect, the driving mechanism respectively drive first clamping element and the second clamping element move to clamp along opposite or opposite direction or
Release is crawled object.
As can be seen from the above description, the beneficial effects of the utility model are：Multiple manipulators are set in a mounting base
Not only it can ensure to capture efficiency, but also the compact-sized of robot device can be made, the first clamping element is respectively driven by driving mechanism
Relative motion with the second clamping element can will be crawled object clamping, and easy to operate, the first clamping element and the second clamping element are all
It can move, controllability is strong.
Further, the driving mechanism is driving cylinder, and the driving cylinder includes first piston and second piston, institute
It states the first clamping element to be fixedly installed on the first piston, second clamping element is fixedly installed in the second piston.
Seen from the above description, by driving cylinder that first piston and second piston movement is driven to drive the first clamping
Part and the movement of the second clamping element, type of drive are simple and reliable.
Further, first clamping element is equipped with the first bolster close to the one side of the second clamping element, and described the
Two clamping elements are equipped with the second bolster close to the one side of the first clamping element, and first bolster and the second bolster correspond to
It sets.
Seen from the above description, bolster is respectively equipped on the second clamping element of the first clamping element sum, it can be to being grabbed
Object is taken to be protected, prevents from damaging due to overstress.
Further, one side and second bolster of first bolster away from the first clamping element are away from
Sunk structure is respectively equipped on the one side of two clamping elements.
Seen from the above description, sunk structure is set on the first bolster and the second bolster, bolster can be increased
With the frictional force being crawled between object, prevent that being crawled object comes off.
Further, the material of first bolster and the second bolster is silicon rubber or foam.
Seen from the above description, the material of the first bolster and the second bolster can make choice as needed.
Further, the manipulator further includes detent mechanism, and the detent mechanism includes positioning component, sliding part and leads
To component, the positioning component is fixedly connected with sliding part, and the sliding part is slidably sheathed on the guidance set, described
Positioning component is crawled object for compressing.
Seen from the above description, detent mechanism is set, object can will be crawled before crawl is crawled object and is fixed,
Object displacement is crawled when preventing the first clamping element and the second clamping element from capturing.
Further, the positioning component includes the first locating piece and the second locating piece, and first locating piece, second are determined
One end of position part is fixedly connected respectively with the sliding part.
Seen from the above description, set the first locating piece and the second locating piece that can enhance stationkeeping ability, will effectively be grabbed
Object is taken to compress.
Further, the guidance set includes the guide rod of at least two, the sliding part be equipped with respectively with it is described
The through hole of guide rod corresponding at least two, one end of the guide rod are fixedly connected with the mounting base, the guide rod
The other end be located in the through hole.
Seen from the above description, more guide rods is set to be conducive to the stability of enhancing structure, when positioning component is because compressing
When being crawled object stress, sliding part opposite on the guide bar can slide, and prevent positioning component from being damaged due to stress.
Further, the guidance set further includes elastic component, and the elastic component is sheathed on the guide rod, and institute
The one end for stating elastic component is fixedly connected with the sliding part.
Seen from the above description, elastic component can fix sliding part on the guide bar, prevent from coming off from guide rod, and
And after the power on sliding part cancels, sliding part can be returned to initial position under the action of elastic component.
Further, the fixed seat includes rotating part and fixed part, and the rotating part can turn compared with the fixed part
Dynamic to set, at least one manipulator is fixedly installed on respectively on the rotating part.
Seen from the above description, manipulator can the portion of being relatively fixed rotate, after the completion of the crawl work of a manipulator,
It rotates a certain angle, next manipulator can work on, and be suitble to the application scenarios of multistation, and work efficiency is high.
Fig. 1 and Fig. 2 is refer to, the embodiment one of the utility model is：
A kind of robot device, it is compact-sized, easy to operate, suitable for the scene of multistation processing.
As shown in Figure 1,2 device of manipulator includes mounting base 1 and at least one manipulator 2, at least one institute
Manipulator 2 is stated to be fixedly connected with the mounting base 1 respectively.The mounting base 1 includes rotating part and fixed part, the rotating part phase
It is rotatably set for the fixed part, at least one manipulator 2 is fixedly installed on respectively on the rotating part.This reality
It applies in example, is set on rotating part there are three inclined-plane, fixed there are one manipulator 2 on each inclined-plane, manipulator 2 can pass through
Screw is fixed on inclined-plane.
As shown in Fig. 2, the manipulator 2 includes driving mechanism 3 and grasping mechanism, the driving mechanism 3 is solid with mounting base 1
Fixed connection, i.e., be fixedly connected, the grasping mechanism is fixedly connected with driving mechanism 3 with the inclined-plane on rotating part.The driving machine
Structure 3 is driving cylinder, and the driving cylinder includes first piston and second piston (not shown), under the driving effect of cylinder
First piston and second piston can be moved in a straight line along opposite or opposite direction simultaneously, and the driving cylinder includes two
Stomata, when from different stomata air inlets, piston is moved to different directions, and air inlet is controlled with discouraged by solenoid valve.
The grasping mechanism includes the first clamping element 4 and the second clamping element 5, and 4 and second clamping element 5 of the first clamping element correspondence is set
It puts, and first clamping element, 4 and second clamping element 5 is fixedly connected respectively with the driving mechanism 3, first clamping element
4 are fixedly installed on the first piston, and second clamping element 5 is fixedly installed in the second piston.The driving machine
Structure 3 is moved by respectively driving first piston and second piston, drive 4 and second clamping element 5 of the first clamping element move from
And it clamps or unclamps and be crawled object.First clamping element 4 is equipped with the first bolster 6 close to the one side of the second clamping element 5,
Second clamping element 5 is equipped with the second bolster 7, first bolster 6 and second close to the one side of the first clamping element 4
Bolster 7 is correspondingly arranged, and in the present embodiment, the material of 6 and second bolster 7 of the first bolster is silicon rubber or foam,
Can certainly be other soft materials.One side and described second of first bolster 6 away from the first clamping element 4
Bolster 7 is respectively equipped with sunk structure 8 on the one side away from the second clamping element 5, and sunk structure 8 can increase the first bolster
6th, the second bolster 7 and the frictional force being crawled between object prevent from dropping during crawl.
The manipulator 2 further includes detent mechanism, and the detent mechanism includes positioning component, sliding part 9 and guidance set,
The positioning component is fixedly connected with sliding part 9, and the sliding part 9 is slidably sheathed on the guidance set, the positioning
Component is crawled object for compressing.The positioning component includes the first locating piece 10 and the second locating piece 11, first positioning
Part 10, one end of the second locating piece 11 be fixedly connected respectively with the sliding part 9, the first locating piece 10, the second locating piece 11
The other end (free end) is crawled object for compressing, and pressure is additionally provided on the free end of the first locating piece 10 and the second locating piece 11
First 12, the shape of pressure head 12 is tubaeform, and one layer of silica gel sheath can be arranged on pressure head 12, can prevent that object pressure will be crawled
It is bad, and the skin-friction force of silica gel is larger, can prevent from skidding.The guidance set includes the guide rod 13 of at least two,
The sliding part 9 is equipped with the through hole with the guide rod 13 corresponding at least two, i.e. a guide rod 13 correspond to respectively
One through hole, in the present embodiment, equipped with four guide rods 13 and four through holes, one end and the mounting base of the guide rod 13
1 is fixedly connected, and the other end of the guide rod 13 is located in the through hole.The guidance set further includes elastic component 14, described
Elastic component 14 is sheathed on the guide rod 13, and one end of the elastic component 14 is fixedly connected with the sliding part 9, described
Elastic component 14 is spring, is arranged on each guide rod 13 there are one elastic component 14, and the elastic size of elastic component 14 can be with
It is configured as needed.
In the present embodiment, the operation principle of the manipulator 2 is：When crawl is crawled object, the first of detent mechanism is fixed
Position 10 and second locating piece 11 of part will be crawled object compression, and sliding part 9 is because of forced compression elastic component 14 and along guide rod 13 at this time
It slides a distance, cylinder is then driven, which to respectively drive first piston and second piston movement, will be crawled object and firmly grasp, promptly
Rotating part rotates a certain angle after being crawled object, and manipulator 2 will be crawled object and be moved to next station, drive cylinder at this time
Driving first piston and second piston move in the opposite direction will be crawled object release, the first locating piece 10 and the second locating piece
Stress revocation on 11, sliding part 9 slide into initial position under the action of the elastic-restoring force of elastic component 14 along guide rod 13,
Manipulator 2 can be crawled the crawl of object next time at this time, be moved in circles with this.
In conclusion a kind of robot device provided by the utility model, structure is tight, easy to operate, low manufacture cost,
Suitable for the application scenarios of multistation, work efficiency is high.
The above description is only the embodiments of the present invention, and it does not limit the scope of the patent of the present invention, every
Equivalents made based on the specification and figures of the utility model are directly or indirectly used in relevant technology neck
Domain is equally included in the patent within the scope of the utility model.
Claims (10)
1. a kind of robot device, including mounting base and at least one manipulator, at least one manipulator respectively with
The mounting base is fixedly connected, which is characterized in that the manipulator include driving mechanism and grasping mechanism, the driving mechanism with
Mounting base is fixedly connected, and the grasping mechanism includes the first clamping element and the second clamping element, first clamping element and the second folder
Tight part is correspondingly arranged, and first clamping element and the second clamping element are fixedly connected respectively with the driving mechanism, the drive
Motivation structure respectively drives first clamping element and the second clamping element and moves to clamp or unclamp to be grabbed along opposite or opposite direction
Take object.
2. robot device according to claim 1, which is characterized in that the driving mechanism is to drive cylinder, the drive
Cylinder of taking offence includes first piston and second piston, and first clamping element is fixedly installed on the first piston, and described second
Clamping element is fixedly installed in the second piston.
3. robot device according to claim 1, which is characterized in that first clamping element is close to the second clamping element
One side is equipped with the first bolster, and second clamping element is equipped with the second bolster close to the one side of the first clamping element,
First bolster and the second bolster are correspondingly arranged.
4. robot device according to claim 3, which is characterized in that first bolster is away from the first clamping element
Sunk structure is respectively equipped on one side and the one side of second bolster away from the second clamping element.
5. robot device according to claim 3, which is characterized in that the material of first bolster and the second bolster
Matter is silicon rubber or foam.
6. robot device according to claim 1, which is characterized in that the manipulator further includes detent mechanism, described
Detent mechanism includes positioning component, sliding part and guidance set, and the positioning component is fixedly connected with sliding part, the sliding part
It is slidably sheathed on the guidance set, the positioning component is crawled object for compressing.
7. robot device according to claim 6, which is characterized in that the positioning component includes the first locating piece and the
Two locating pieces, first locating piece, one end of the second locating piece are fixedly connected respectively with the sliding part.
8. robot device according to claim 6, which is characterized in that the guidance set includes the guiding of at least two
Bar, the sliding part are equipped with the through hole with the guide rod corresponding at least two respectively, one end of the guide rod with
The mounting base is fixedly connected, and the other end of the guide rod is located in the through hole.
9. robot device according to claim 8, which is characterized in that the guidance set further includes elastic component, described
Elastic component is sheathed on the guide rod, and one end of the elastic component is fixedly connected with the sliding part.
10. robot device according to claim 1, which is characterized in that the fixed seat includes rotating part and fixed part,
The rotating part is rotatably set compared with the fixed part, and at least one manipulator is fixedly installed on the rotation respectively
On transfer part.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721562812.0U CN207415400U (en) | 2017-11-20 | 2017-11-20 | Robot device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721562812.0U CN207415400U (en) | 2017-11-20 | 2017-11-20 | Robot device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207415400U true CN207415400U (en) | 2018-05-29 |
Family
ID=62303854
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721562812.0U Active CN207415400U (en) | 2017-11-20 | 2017-11-20 | Robot device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207415400U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107775661A (en) * | 2017-11-20 | 2018-03-09 | 深圳春兴数控设备有限责任公司 | Robot device |
| CN108994237A (en) * | 2018-08-03 | 2018-12-14 | 安徽六方重联机械股份有限公司 | A kind of quick grasping mechanism of press forging |
| CN111071777A (en) * | 2019-11-29 | 2020-04-28 | 浙江杭可科技股份有限公司 | Multi-clip carrying manipulator |
| CN111958628A (en) * | 2020-08-12 | 2020-11-20 | 武汉城市职业学院 | Component for workpiece station conversion |
-
2017
- 2017-11-20 CN CN201721562812.0U patent/CN207415400U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107775661A (en) * | 2017-11-20 | 2018-03-09 | 深圳春兴数控设备有限责任公司 | Robot device |
| CN108994237A (en) * | 2018-08-03 | 2018-12-14 | 安徽六方重联机械股份有限公司 | A kind of quick grasping mechanism of press forging |
| CN111071777A (en) * | 2019-11-29 | 2020-04-28 | 浙江杭可科技股份有限公司 | Multi-clip carrying manipulator |
| CN111958628A (en) * | 2020-08-12 | 2020-11-20 | 武汉城市职业学院 | Component for workpiece station conversion |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20191227 Address after: 518000 Guangdong city of Shenzhen province Pingshan Pingshan six community and Gaosite industrial city 6 Building 2, 3, 4 floor, No. 11, 2, 3, 1 building 4 floor Patentee after: Shenzhen China-Asia CNC Machinery Co., Ltd. Address before: 518000 Guangdong province Shenzhen Guangming New District Gongming office yulv village Fourth Industrial Zone No. 63 Yu Xing Lu C Building 1 floor C District Patentee before: SHENZHEN CHUNXING CNC EQUIPMENT CO., LTD. |