CN207534829U - A kind of steel drum minor thread lid crawl screws the special end effector of industrial robot - Google Patents
A kind of steel drum minor thread lid crawl screws the special end effector of industrial robot Download PDFInfo
- Publication number
- CN207534829U CN207534829U CN201720331563.8U CN201720331563U CN207534829U CN 207534829 U CN207534829 U CN 207534829U CN 201720331563 U CN201720331563 U CN 201720331563U CN 207534829 U CN207534829 U CN 207534829U
- Authority
- CN
- China
- Prior art keywords
- steel drum
- actuator
- minor thread
- thread lid
- industrial robot
- 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.)
- Expired - Fee Related
Links
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a kind of captured for steel drum minor thread lid and screws the special end effector of industrial robot, and the special end effector of the industrial robot is made of actuator wedge shape hairclipper, executor tail end plate, spring, executor tail end cover board, hexagon socket cap head screw M5 × 10, interior hexagonal holding screw M5 × 8, air motor, actuator sleeve, gasket, hexagon socket cap head screw M5 × 16, actuator connecting plate；The crawl of steel drum minor thread lid is realized by actuator wedge shape hairclipper and spring, screwing for steel drum minor thread lid is realized by air motor and the executor tail end plate mutually agreed with steel drum minor thread lid inner wall.The special end effector of the industrial robot can be applied to the crawl of steel drum minor thread lid in steel drum production line and screw, and mechanical structure is simple, small, and control difficulty is low, efficient, have good application prospect.
Description
Technical field
The utility model is related to robot and its technical fields, particularly a kind of for bucket in 200L steel drum production lines
The special end effector of industrial robot for cover the crawl of minor thread lid, screwing.
Background technology
With the continuous development of industrial automation, modern tubbing industry enters fast-developing period, for casing steel barrel
Demand even more increasingly increases, therefore realizes that automated production is the development trend of steel drum industry.Current developed country in the world
The automation of steel drum production has tentatively been realized, has not only been saved the time, and improve the production efficiency of enterprise.In industrial automation
Evolution in, industrial robot played an important role, and since nineteen fifty-nine, First industrial robot is asked in the U.S.
Since generation, industrial robot achieves significant progress in terms of practical application, wherein the application in production line is particularly
It is prominent.
End effector has consequence in the operating of robot, is typically installed at the end of mechanical arm,
Corresponding position is moved in the process of work completes corresponding work.The design of end effector need to consider it is various because
Element, such as use cost, the complexity of operation, it is desirable that higher；The crawl of steel drum minor thread lid at present and screwing still relies on
Manual operation or the mode of semi-automation are realized, yet there are no what is realized using robot mode.Improve steel drum production flowing water
The production efficiency of line, the full automation realized the crawl of steel drum minor thread lid and screwed, is that one kind must using robot mode
Right trend, and corresponding end effector must have using robot.
Utility model content
The purpose of this utility model is to provide one kind for steel drum production line, passes through actuator wedge shape hairclipper and spring
It realizes the crawl of steel drum minor thread lid, steel is realized by air motor and the terminal end shape mutually agreed with steel drum minor thread lid inner wall
The special end effector of industrial robot that bucket minor thread lid screws.
In order to solve the above technical problems, technical solution adopted in the utility model is：The special end of the industrial robot
Actuator by actuator wedge shape hairclipper, executor tail end plate, spring, executor tail end cover board, hexagon socket cap head screw M5 ×
10th, interior hexagonal holding screw M5 × 8, air motor, actuator sleeve, gasket, hexagon socket cap head screw M5 × 16, actuator
Connecting plate forms；The actuator connecting plate is connected with industrial robot end, and the air motor is placed on the actuator
In sleeve, and pass through thread fitting, pass through hexagon socket cap head screw M5 × 16 between actuator sleeve and actuator connecting plate
Connection, therefore the connection of end effector main body and industrial robot is realized, air motor stretches out sleeve part and the execution
For device end panel by the connection of interior hexagonal holding screw M5 × 8, executor tail end cover board sets that there are two card slot, two execution
Device wedge shape hairclipper is placed at two card slots, and spring is placed in centre, and executor tail end cover board passes through interior six with executor tail end plate
Angle fillister head screw M5 × 10 connect.
Using above-mentioned technical proposal, the crawl of steel drum minor thread lid is realized by actuator wedge shape hairclipper, works as industrial machine
After people receives trigger signal, end effector is moved to right over steel drum minor thread lid, vertical downward movement, when touching steel
After bucket minor thread lid, two actuator wedge shape hairclippers are under the effect of the pressure to contract, among two actuator wedge shape hairclippers
There are one springs, and when actuator wedge shape hairclipper inwardly moves, spring also generates elastic force, the actuator wedge shape hairclipper by compression
Pressure is generated to steel drum minor thread lid inner wall, its maximum static friction with steel drum minor thread lid inner wall is may be such that by accordingly calculating
More than its own gravity of steel drum minor thread lid so as to which steel drum minor thread lid is driven to move, grabbing for steel drum minor thread lid is realized
It takes, after robot crawl minor thread lid, industrial robot is moved according to scheduled track, and it is right to reach the small silk mouth of steel drum bung
It answers at position, vertical downward movement；When touching steel drum bung silk mouth, air motor starts to drive the rotation of executor tail end plate
Turn, since executor tail end plate and the interior shape of steel drum minor thread lid mutually agree with, therefore can realize steel drum minor thread lid
Rotation；During screwing, minor thread lid progressively disengages end effector, when completing to screw, due to minor thread lid quilt
It screws, therefore frictional force is not enough to take it out, it is achieved thereby that the disengaging of steel drum minor thread lid, the special end of the industrial robot
Actuator mechanical structure is simple, and control difficulty is low, and reliability is high.
It is further characterized by：The end effector carries air motor, therefore needs not rely on industrial robot
The rotation of six axis carries out screwing for steel drum minor thread lid, and six axis only serve the effect of an adjustment posture, so that end performs
The positioning of device is more accurate, improves precision.
It is further characterized by：The executor tail end plate and actuator wedge shape hairclipper formula structure, this is simple in structure, can
By property height, after end effector stretches into steel drum minor thread lid, actuator wedge shape hairclipper is with minor thread lid inner wall in spring bullet
Under the action of power, friction is generated with inner wall, the crawl of steel drum minor thread lid is realized using frictional force.
It is further characterized by：The end effector mechanical structure is simple, which does not need to be complicated
Electrical control, it is only necessary to control air motor, simple in structure, lighter weight is relatively low to the load requirement of industrial robot.
The beneficial effects of the utility model are：The industrial robot end effector is designed for steel drum minor thread lid,
Original mode screwed by artificial or semi-automatic progress steel drum minor thread lid is changed, increases steel drum to a certain extent
The degree of automation of assembly line improves the production efficiency of steel drum；Pass through executor tail end plate and actuator wedge shape hairclipper formula knot
Structure can realize the crawl of steel drum minor thread lid easily, pass through air motor and the actuator mutually agreed with steel drum minor thread lid
End plate can rapidly realize screwing for steel drum minor thread lid, and the steel drum minor thread lid so as to largely improve screws
Efficiency, while also improve steel drum minor thread lid to a certain extent screws quality.
Description of the drawings
Fig. 1 is the utility model front view；
Fig. 2 is the utility model left view.
In Fig. 1：1- actuator wedge shape hairclippers；2- executor tail end plates；3- springs；4- executor tail end cover boards；Six in 5-
Angle fillister head screw M5 × 10；Hexagonal holding screw M5 × 8 in 6-；7- air motors；8- actuator sleeves；9- gaskets；10-
Hexagon socket cap head screw M5 × 16；11- actuator connecting plates.
Specific embodiment
Below in conjunction with the accompanying drawings 1 and attached drawing 2 describe the concrete structure and application method of bright the utility model in detail.
The special end effector of the industrial robot is by actuator wedge shape hairclipper 1, executor tail end plate 2, spring 3, execution
Device end panel 4, hexagon socket cap head screw M5 × 10 5, interior hexagonal holding screw M5 × 86, air motor 7, actuator set
Cylinder 8, gasket 9, hexagon socket cap head screw M5 × 16 10, actuator connecting plate 11 form；The actuator connecting plate 11 passes through
Connecting flange is connect with industrial robot end, and there is an external screw thread in 7 end of air motor, at 8 port of actuator sleeve
There is internal thread, the air motor 7 is assemblied in by thread fitting in the actuator sleeve 8, and the actuator sleeve 8 passes through
Hexagon socket cap head screw M5 × 16 10 are connect with the actuator connecting plate 11, therefore realize end effector main body and work
The connection of industry robot, the air motor 7 stretch out sleeve part and pass through interior hexagonal holding screw M5 × 86 and the actuator
End panel 4 connects, and the executor tail end cover board 4 is set there are two card slot, and two actuator wedge shape hairclippers 1 are placed on two
At a card slot, spring 3 is placed in centre, and the executor tail end plate 1 passes through hexagon socket cap head screw M5 × 10 5 and actuator
End panel 4 connects.
When end effector touches steel drum minor thread lid, actuator wedge shape hairclipper 1 is by inside pressure as shown in Figure 1
Power, so as to compressed spring 3 so that spring 3 generates elastic force；Then actuator wedge shape hairclipper 1 generates pressure to minor thread lid inner wall,
After actuator protrudes fully into steel drum minor thread lid, actuator stopping moves downward then is drawn up minor thread lid, performs
Device wedge shape hairclipper 1 generates stiction with minor thread lid inner wall, and 1 material of actuator wedge shape hairclipper can be obtained by calculating accordingly
When expecting for nylon66 fiber, it is more than minor thread lid its own gravity with the maximum static friction force of steel drum minor thread lid inner wall, so as to fulfill small
The crawl of threaded cap.When mechanical arm moves to the small silk mouth corresponding position of steel drum bung according to desired trajectory, air motor 7 is opened
Begin rotation, as shown in Figure 2, minor thread lid executor tail end plate 2 and the interior shape of minor thread lid mutually agree with, minor thread lid with
Air motor 7 start rotation and gradually screw-in steel drum bung on silk mouth, and minor thread lid with constantly screw and to
Lower movement, after silk mouth is completely screwed into, end effector moves upwards, you can realize the disengaging of minor thread lid, it is small so as to complete
It the crawl of threaded cap and screws.
Claims (1)
1. a kind of steel drum minor thread lid crawl screws the special end effector of industrial robot, which is characterized in that the industrial machine
The special end effector of people is by actuator wedge shape hairclipper, executor tail end plate, spring, executor tail end cover board, interior hexagonal cylindrical
Head screw M5 × 10, interior hexagonal holding screw M5 × 8, air motor, actuator sleeve, gasket, hexagon socket cap head screw M5
× 16, actuator connecting plate forms；The actuator connecting plate is connected with industrial robot end, and the air motor is placed on
In the actuator sleeve, and pass through thread fitting, pass through interior hexagonal cylindrical head between actuator sleeve and actuator connecting plate
Screw M5 × 16 connect, therefore realize the connection of end effector main body and industrial robot, and air motor stretches out sleeve part
It being connect with the executor tail end cover board by interior hexagonal holding screw M5 × 8, executor tail end cover board is set there are two card slot, and two
A actuator wedge shape hairclipper is placed at two card slots, and spring, executor tail end cover board and executor tail end are placed in centre
Plate is connected by hexagon socket cap head screw M5 × 10.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720331563.8U CN207534829U (en) | 2017-03-31 | 2017-03-31 | A kind of steel drum minor thread lid crawl screws the special end effector of industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720331563.8U CN207534829U (en) | 2017-03-31 | 2017-03-31 | A kind of steel drum minor thread lid crawl screws the special end effector of industrial robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207534829U true CN207534829U (en) | 2018-06-26 |
Family
ID=62608255
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720331563.8U Expired - Fee Related CN207534829U (en) | 2017-03-31 | 2017-03-31 | A kind of steel drum minor thread lid crawl screws the special end effector of industrial robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207534829U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106737790A (en) * | 2017-03-31 | 2017-05-31 | 江南大学 | A kind of steel drum minor thread lid crawl screws the special end effector of industrial robot |
-
2017
- 2017-03-31 CN CN201720331563.8U patent/CN207534829U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106737790A (en) * | 2017-03-31 | 2017-05-31 | 江南大学 | A kind of steel drum minor thread lid crawl screws the special end effector of industrial robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN205552501U (en) | Automatic twist screw robot | |
| CN204209686U (en) | A kind of robot arm | |
| CN207534829U (en) | A kind of steel drum minor thread lid crawl screws the special end effector of industrial robot | |
| CN110253614A (en) | One kind controling integrated intelligent electric machinery hand | |
| CN206396340U (en) | A kind of fixture automatic charging device | |
| CN206254188U (en) | A kind of mechanical grip paw for adapting to different workpieces | |
| CN106737790A (en) | A kind of steel drum minor thread lid crawl screws the special end effector of industrial robot | |
| CN205200981U (en) | Freedom adjustment screws up industrial robot working head of nut quantity simultaneously | |
| CN106826175A (en) | A kind of steel drum major thread lid crawl screws the special end effector of industrial robot | |
| CN108058177B (en) | Intelligent environment-friendly robot control method and corresponding intelligent environment-friendly robot | |
| CN207858878U (en) | A kind of mechanical automation grabbing device | |
| CN205620101U (en) | Special base of flexible mechanical arm vibration experiment | |
| CN208759609U (en) | A kind of pedestal has the 2D Visual intelligent robot of regulatory function | |
| CN203304578U (en) | Pneumatic tailstock of lathe | |
| CN209579602U (en) | A kind of industrial robot clamper | |
| CN207309944U (en) | A kind of four axis pressing robots | |
| CN207746687U (en) | Intelligence manufacture outfit based on industrial robot | |
| CN204503463U (en) | A kind of end cover of balance shaft end face circumference gluing device | |
| CN209615400U (en) | A kind of underwater electromagnetic nail gun | |
| CN202432080U (en) | Pneumatic control device of valve plate | |
| CN207682413U (en) | A kind of three coordinate machine device people Z axis telescopic system | |
| CN202488839U (en) | Energy-saving lighting control device for workshop | |
| CN205989344U (en) | A kind of flexible waist | |
| CN203089463U (en) | Novel artificial limb joint mechanism | |
| CN207770098U (en) | A kind of high speed electromagnetic cold glue spray gun |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180626 Termination date: 20200331 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |