CN207957063U - A kind of end effector of robot for adapting to tight space bagged material and carrying - Google Patents
A kind of end effector of robot for adapting to tight space bagged material and carrying Download PDFInfo
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- CN207957063U CN207957063U CN201820168208.8U CN201820168208U CN207957063U CN 207957063 U CN207957063 U CN 207957063U CN 201820168208 U CN201820168208 U CN 201820168208U CN 207957063 U CN207957063 U CN 207957063U
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Abstract
It is a kind of adapt to tight space bagged material carry end effector of robot include frame portions, wobble component, grabbing assembly and servopackage, frame portions are used to support wobble component, grabbing assembly, servopackage, and servopackage, wobble component drive grabbing assembly to be captured, dispensing acts；Frame portions include upper mounted plate, range sensor；Servopackage includes servo motor, connecting shaft；Swing group include supporting plate, cylinder, rack, around arm axle, clutch gear；Grabbing assembly includes swing rod, connecting rod, connecting rod grasping teeth riser grasping teeth and grasping teeth transmission shaft.Its advantage is that：Bagged material production, carrying, stacking etc. can be overcome fields labour intensive, narrow space, apparatus adaptability are poor, occupied space is big, is complicated, inefficiency the problems such as, realize the automation of Bag Material handling process；Production efficiency is improved, production cost is reduced；Securely and reliably, rapidly and efficiently, for carrying narrow space, the heavy industry that works can be widely popularized whole process.
Description
Technical field
The utility model belongs to robot building technical field, and in particular to a kind of adaptation tight space bagged material carrying
End effector of robot.
Background technology
In recent years, the industries such as feed, food experienced unprecedented rapid growth, however as raw material, logistics, battalion
The costs such as pin, manpower rise steadily, both at home and abroad the raising and industrial group to energy conservation and environmental protection requirement, the scale and world
The quickening of change process, the industry and enterprises such as feed, food are faced with the challenge of cost control and the updating and upgrading of a product.It consumes simultaneously
Person to product quality and it is diversified require it is higher and higher, production technology and equipment innovation it is also imperative.In modern industry,
Automation in production process has become theme outstanding, and the automatization level of all trades and professions is higher and higher, modernizes processing cart
Between, it is often fitted with automation equipment, to improve production efficiency, worker is completed and is difficult to work complete or dangerous.Especially in bag
It fills in the carryings of raw material, palletization, most of production line is based on artificial carry, and labor intensity is big, industrial accident
Rate is high, and inefficiency increases the production management cost of the industries such as feed, food.In consideration of it, need to design it is a kind of adapt to it is compact
The mechanical device unit that space bagged material is carried solves bagged material labour intensive, the present situation of narrow space, to subtract significantly
Light manual labor improves production efficiency, reduces production cost.
Utility model content
The technical problems to be solved in the utility model is：Overcome the deficiencies of the prior art and provide a kind of adaptation tight space
The end effector of robot that bagged material is carried.It can be directly used for the bagged material on production line crawl, smoothly send to
Target position, is not limited by space and position, adapts to carry space to the greatest extent, replacement is artificial completely carries, and makes entirely mistake
Journey securely and reliably, rapidly and efficiently, for carrying narrow space, the industry that working environment is severe, workload is heavy, can be widely popularized
It uses.
Technical solution adopted by the utility model to solve its technical problems is：A kind of adaptation tight space bagged material is removed
The end effector of robot of fortune, it is characterised in that：It is described including frame portions, wobble component, grabbing assembly and servopackage
Frame portions are used to support the wobble component, the grabbing assembly, the servopackage, the servopackage, the swing
Component drives the grabbing assembly to be captured, dispensing acts；
The frame portions include upper mounted plate, proximate matter, fixed block, range sensor；The proximate matter is fixedly mounted on institute
It states on upper mounted plate, reinforces the rigidity and intensity of fixed plate；The range sensor is mounted on the proximate matter；
The servopackage includes servo motor, retarder, flange connector, connecting shaft, deep groove ball bearing, thrust ball axis
It holds；Servo motor is fixed together with retarder, and is connected by the connecting shaft and the deep-groove ball axis, the thrust ball axis
It connects；The deep-groove ball axis, the thrust ball axis are installed on the inside of the flange connector, and the lower part of the flange connector is solid
Dingan County is mounted in fixed plate centre；The servo motor by the retarder drive by the proximate matter with it is described on
The rotary unit of fixed plate composition, is suitable for different actual job operating modes, realizes that ± 360 ° of directions pick and place material, quickly input life
Production；
The wobble component include supporting plate, grasping teeth cylinder, cylinder flange, Y-shaped connector, around arm link, pendulum tooth cylinder, tooth
Item, the guide plate of gear rack, fixed plate, around arm axle, clutch gear, electromagnetic clutch；
The fixed plate is vertically fixedly mounted in four corners on the supporting plate, and the upper surface of the fixed plate connects institute
State the fixed plate in connection frame portions；The middle part of the supporting plate, backwards to the grasping teeth cylinder arranged symmetrically, described in two
The pendulum tooth cylinder is set between grasping teeth cylinder；
The grasping teeth cylinder is connected to by the cylinder flange on the supporting plate, there are one the grasping teeth cylinder is gathered around
The degree of freedom that can be rotated around cylinder flange；Worn in two symmetrical fixed plates it is described around arm axle, the grasping teeth cylinder
Piston rod is described around arm link by Y-shaped connector connection, described described around arm axle around arm link connection；Pass through grasping teeth cylinder
Opening and closing control the gearing around arm axle, to drive the grasping movement of grabbing assembly；
The piston rod at the both ends of the pendulum tooth cylinder is separately connected the rack, and the guide plate of gear rack is buckled in the tooth
On item, the upper surface of the guide plate of gear rack connects fixed plate；One end of the rack passes through the guide plate of gear rack
It is positioned, ensures direction of advance degree of freedom, limit remaining degree of freedom, guide groove is being arranged in the supporting plate below arm axle, institute
The other end of rack is stated by the guide groove of the supporting plate, ensures direction of advance degree of freedom, limits remaining degree of freedom；
The clutch gear is sheathed on described on arm axle, and gathers around that there are one can be around the freedom rotated around arm axle
Degree, the clutch gear are connect by pin hole with grabbing assembly；The pendulum tooth cylinder passes through the rack and the clutch
Gear engages, and the clutch gear connects the electromagnetic clutch；The electromagnetic clutch on arm axle, leads to mounted on described
The opening and closing of overswing tooth cylinder, the gearing of the control rack and the clutch gear, to drive crawl group
The dispensing of part acts；
The grabbing assembly includes swing rod, connecting rod, connecting rod grasping teeth, upper tie-beam, lower tie-beam, riser, riser grasping teeth
With grasping teeth transmission shaft；One end of the swing rod be fixed on it is described around the end of arm axle, the other end and the upper tie-beam, it is described under
Tie-beam is fixedly connected；The clutch gear is connect by pin hole with one end of the connecting rod, and the other end of the connecting rod connects
Connect the connecting rod grasping teeth；
The connecting rod grasping teeth, the riser grasping teeth are connected to by the grasping teeth transmission shaft in the link slot of the riser,
The grasping teeth transmission shaft gathers around that there are one the degree of freedom that are rotated around the riser；The riser is uniformly distributed in groups, is equidistantly fixed on described
For upper tie-beam on the lower tie-beam, the riser grasping teeth is uniformly distributed in groups, is equidistantly fixed on the grasping teeth transmission shaft, intermediate
Position is connecting rod grasping teeth；
The front end sharpening forward directing material of the riser grasping teeth, the connecting rod grasping teeth；Grabbing assembly is by being fixed on around arm
On axis around arm link, clutch gear, electromagnetic clutch synergy, realize that connecting rod grasping teeth, riser grasping teeth go out hook or receive hook
Pick and place material.
Preferably, the wobble component further includes first bearing, and the first bearing is set in the fixed plate
Endoporus in, described be arranged in the first bearing around arm axle is rotated.
Preferably, the wobble component further includes cylinder connection piece, key A, key B；The pendulum tooth cylinder passes through the gas
Cylinder connector is fixed on the supporting plate；It is described be fixed on by the key A around arm link it is described on arm axle；The key B will
Electromagnetic clutch is fixed on described on arm axle.
Preferably, the wobble component further includes spacer, Large lining and ringfeder, and the swing rod passes through the spacer, institute
State Large lining, the ringfeder be fixed on it is described around the end of arm axle；The Large lining is connected with the swing rod, and the ringfeder is arranged
In in the Large lining, the end sleeve around arm axle is set in the ringfeder, and the ringfeder is acted on by itself tensioner and being connected
It is the Large lining, described around arm axle；The spacer is sheathed on described around arm axle, the fixed Large lining of positioning.
Preferably, the frame portions further include range sensor holder, and the range sensor passes through range sensor
Holder is mounted on the proximate matter.
Preferably, the range sensor has three groups, is separately mounted to three corners of the proximate matter, realizes three directions
On material full inspection survey.
Preferably, the wobble component further includes second bearing, and the clutch gear passes through its internal institute installed
Second bearing is stated to connect around arm axle with described.
Preferably, the frame portions further include fixed block, and the fixed block is fixedly mounted on fixed plate, described
The corner of proximate matter.
Compared with prior art, the utility model has the beneficial effects that：The utility model can overcome bagged material production,
The fields such as carrying, stacking labour intensive, narrow space, apparatus adaptability is poor, occupied space is big, complicated, inefficiency etc.
Problem realizes the automation of Bag Material handling process；The bagged material crawl on production line is can be directly used for, is smoothly sent to target
Position, is not limited by space and position, and crawl, de- material of putting use different control modes, occupy little space, beat efficiency
Height, simultaneity factor carries servo motor, it can be achieved that ± 360 ° of crawl materials；Small space fast removal is realized, utmostly
Adaptation carry space, replace artificial carry completely；The degree of automation in production process is improved, improves working conditions, avoids
Personal injury improves production efficiency, reduces production cost；Whole process is securely and reliably, rapidly and efficiently, narrow for carrying space
Industry small, working environment is severe, workload is heavy can be widely used to promote.
Description of the drawings
Fig. 1 is the dimensional structure diagram of the utility model embodiment；
Fig. 2 is wobble component and grabbing assembly dimensional structure diagram in Fig. 1；
Fig. 3 is the vertical view of the wobble component and grabbing assembly in Fig. 2；
Fig. 4 is the utility model material grasping schematic diagram；
Fig. 5 is that the utility model carries schematic diagram；
Fig. 6 is the utility model blowing schematic diagram.
In figure label for：
1, frame portions；10, upper mounted plate；11, proximate matter；12, fixed block；13, range sensor；
14, range sensor holder；15, fixed block；2, wobble component；21, supporting plate；22, grasping teeth cylinder；23, cylinder method
It is blue；24, Y-shaped connector；25, around arm link；26, tooth cylinder is put；27, rack；28, the guide plate of gear rack；29, fixed plate；
201, around arm axle；202, clutch gear；203, electromagnetic clutch；206, key A；207, key B；208, spacer；
209, Large lining；210, ringfeder；3, grabbing assembly；31, swing rod；32, connecting rod；33, connecting rod grasping teeth；
34, upper tie-beam；35, lower tie-beam；36, riser；37, riser grasping teeth；38, grasping teeth transmission shaft；4, servopackage；
41, servo motor；42, retarder；43, flange connector；44, connecting shaft.
Specific implementation mode
Embodiment below in conjunction with the accompanying drawings is described further the utility model：
Embodiment one
As shown in Figures 1 to 6, a kind of end effector of robot for adapting to tight space bagged material and carrying, including frame body
Component 1, wobble component 2, grabbing assembly 3 and servopackage 4, frame portions 1 are used to support wobble component 2, grabbing assembly 3, watch
Take component 4；Frame portions 1 include upper mounted plate 10, proximate matter 11, fixed block 12, range sensor 13, range sensor holder
14, fixed block 15；Wobble component 2 include supporting plate 21, grasping teeth cylinder 22, cylinder flange 23, Y-shaped connector 24, around arm link 25, pendulum tooth
Cylinder 26, rack 27, the guide plate of gear rack 28, fixed plate 29, around arm axle 201, clutch gear 202, electromagnetic clutch 203,
One bearing, cylinder connection piece, key A206, key A, spacer 208, Large lining 209, ringfeder 210, second bearing；Grabbing assembly 3 wraps
Include swing rod 31, connecting rod 32, connecting rod grasping teeth 33, upper tie-beam 34, lower tie-beam 35, riser 36, riser grasping teeth 37, grasping teeth transmission shaft
38；Servopackage 4 includes servo motor 41, retarder 42, flange connector 43, connecting shaft 44, deep groove ball bearing, thrust ball axis
It holds；
Servopackage 4, wobble component 2 control the transmission work around arm axle 201 by the opening and closing of grasping teeth cylinder 22
With to drive the grasping movement of grabbing assembly 3；Servopackage 4, wobble component 2 by put tooth cylinder 26 opening and closing,
The gearing for controlling rack 27 and clutch gear 202, to drive the dispensing of grabbing assembly 3 to act；Grabbing assembly 3 includes
Uniformly distributed riser 36 and riser grasping teeth 37 in groups, riser 36 and connecting rod grasping teeth 33, riser grasping teeth 37 are attached using screw, even
The front end sharpening forward directing material of bar grasping teeth 33, riser grasping teeth 37；Grabbing assembly 3 by be fixed on arm axle 201 around arm
Connecting rod 25, clutch gear 202,203 synergy of electromagnetic clutch, realize connecting rod grasping teeth 33, riser grasping teeth 37 go out hook or
Hook is received, material is picked and placeed.
Proximate matter 11 and fixed block 12 in frame portions 1 are fixed on upper mounted plate 10, and upper mounted plate 10 is led by rack
Wobble component 2 is connected to plate 28 and fixed plate 29；Totally three groups of range sensor 14 is mounted on type by range sensor holder 13
On material 11, realize that three direction material full inspections are surveyed.
Servo motor 41 is fixed together with retarder 42, and retarder 42 passes through connecting shaft 44 and deep-groove ball axis 45, thrust
Ball axis 46 connects；Deep-groove ball axis 45, thrust ball axis 46 are installed on the inside of flange connector 43, and the lower part of flange connector 43 is solid
Dingan County is mounted in the centre of the upper mounted plate 10 in frame portions 1；Servo motor 41 by retarder 42 drive by proximate matter 11,
The rotary unit that upper mounted plate 10 forms is suitable for different actual job operating modes, realizes that ± 360 ° of directions pick and place material, quickly throws
Enter production.
The upper and lower end face of fixed plate 29 in wobble component 2 totally four, fixed plate 29 is separately connected frame portions 1 and pendulum
Dynamic component 2, first bearing are mounted in the endoporus of fixed plate 29；It is arranged in 21 outside of supporting plate along substantially symmetrical about its central axis around arm axle 201,
Both ends are positioned by fixed plate 29, gather around that there are one the degree of freedom that can be rotated around fixed plate 29 around arm axle 201.
Grasping teeth cylinder 22 is connected to by cylinder flange 23 on supporting plate 21 along arrangement substantially symmetrical about its central axis, and is gathered around there are one can
The degree of freedom rotated around cylinder flange 23；Pendulum tooth cylinder 26 is fixed on by cylinder connection piece on supporting plate 21, grasping teeth cylinder 22
Piston rod front end is connected by Y-shaped connector 24 around arm link 25, is fixed on arm axle 201 by key A206 around arm link 25；Key B
Electromagnetic clutch 203 is fixed on arm axle 201；The front end for putting the piston rod of 26 left and right ends of tooth cylinder, is separately connected tooth
Item 27；One end of pendulum tooth cylinder 26 is positioned by the guide plate of gear rack 28 being connect with upper mounted plate 10 in frame portions 1, is protected
Its direction of advance degree of freedom is demonstrate,proved, remaining degree of freedom is limited；The other end of tooth cylinder 26 is put by the guide groove on supporting plate 21, is ensured
Direction of advance degree of freedom limits remaining degree of freedom.
Clutch gear 202 is engaged with rack 27, and the inside of clutch gear 202 is equipped with second bearing, clutch teeth
Wheel 202 is socketed by second bearing with around arm axle 201, and clutch gear 202 is gathered around there are one can be around the freedom rotated around arm axle 201
Degree；Clutch gear 202 is connect by pin hole thereon with the connecting rod 32 in grabbing assembly 3, there are one clutch gear 202 is gathered around
The degree of freedom that can be rotated around 35 connecting shaft of connecting rod；Clutch gear 202 is combined into linkage unit, electromagnetism with electromagnetic clutch 203
Clutch 203 is fixed on arm axle 201.
When needing to capture material, clutch gear 202 and 203 locking of electromagnetic clutch, the connecting rod in grabbing assembly 3
32, it clutch gear 202, electromagnetic clutch 203 and is relatively fixed around arm axle 201, forms a rigid body；Put tooth cylinder 26 freely
Scaling, by grasping teeth cylinder 22 drive rotate integrally, drive grabbing assembly 3 capture material, at this time end effector by electromagnetism from
Grabbing assembly 3 is formed integral rigidity system by clutch 203；
When needing to launch material, clutch gear 202 is opened with electromagnetic clutch 203, the connecting rod in grabbing assembly 3
32, clutch gear 202, electromagnetic clutch 203 and around arm axle 201 relatively rotate, grasping teeth cylinder 22 keep stretching state, by putting
Tooth cylinder 26 drives clutch gear 202 that connecting rod 32 is driven to rotate, and individually opens riser grasping teeth 37, realizes that material is quickly launched,
Drop spaces are saved, grabbing assembly 3 is formed flexible autonomous system, structure by end effector by electromagnetic clutch 203 at this time
Compact, crawl is solid and reliable.
Swing rod 31 in grabbing assembly 3 is fixed on by spacer 208, Large lining 209 and ringfeder 210 around the end of arm axle 201
Portion, Large lining 209 are connected with swing rod 31, and ringfeder 210 is sheathed in Large lining 209, and the end sleeve around arm axle 201 is set to ringfeder
In 210, ringfeder 210 acts on the Large lining 209 that is connected by itself tensioner, around arm axle 201；Spacer 208 is sheathed on around arm axle 201,
The Large lining 209 is fixed in positioning.
Grabbing assembly 3 is two groups, and the two is along central shaft backwards to symmetrical；Riser 36 is uniformly distributed in groups, is equidistantly fixed on connection
On beam 34 and lower tie-beam 35, riser grasping teeth 37 is uniformly distributed in groups, is equidistantly fixed on grasping teeth transmission shaft 38, centre position is connecting rod
Grasping teeth 33, connecting rod grasping teeth 33 and riser grasping teeth 37 are connected to by grasping teeth transmission shaft 38 in the link slot of riser 36, grasping teeth transmission
Axis 38 is gathered around there are one the degree of freedom rotated around riser 36, and swing rod 34 is fixedly connected with upper tie-beam 37 and lower tie-beam 38.
The operation principle and the course of work of the utility model are as follows：
As shown in Figures 1 to 6, material grasping process：End effector of robot is placed in above bagged material, original state electromagnetism from
203 locking of clutch, grabbing assembly 3 formed an integrated model, connecting rod 32, clutch gear 202, electromagnetic clutch 203 and around
Arm axle 201 is relatively fixed, and forms a rigid body, and riser 36 and connecting rod grasping teeth 33, riser grasping teeth 37 put tooth in 90 ° of rigid connections
Cylinder 26 freely scales, and is driven and is rotated integrally by grasping teeth cylinder 22, and grabbing assembly 3 is driven to capture material.
De- material process：As shown in Figure 5,6, when launching material, electromagnetic clutch 203 is opened, and grabbing assembly 3 forms two
There are rotational freedom, grasping teeth cylinders 22 to keep stretching state, riser 36 quiet for flexible autonomous system, riser 36 and connecting rod grasping teeth 33
Only motionless, pendulum tooth cylinder 26 is operated alone rack 27 and clutch gear 202 is driven to rotate, and connecting rod 32 is gradually opened, and drives connecting rod
Grasping teeth 33 rotates, and until being in 180 ° with riser 36, realization connecting rod grasping teeth 33 and riser grasping teeth 37 individually swing and launch material, then into
Row next round acts, and realizes that material is quickly launched, saves drop spaces.
The above descriptions are merely preferred embodiments of the present invention, is not to make other forms to the utility model
Limitation, any person skilled in the art is changed or is modified as possibly also with the technology contents of the disclosure above equivalent
The equivalent embodiment of variation.But it is every without departing from the content of the technical scheme of the utility model, the technology according to the utility model is real
Any simple modification, equivalent variations and remodeling, still fall within the guarantor of technical solutions of the utility model made by confrontation above example
Protect range.
Claims (8)
1. a kind of end effector of robot for adapting to tight space bagged material and carrying, it is characterised in that：Including frame portions,
Wobble component, grabbing assembly and servopackage, the frame portions are used to support the wobble component, the grabbing assembly, institute
Servopackage is stated, the servopackage, the wobble component drive the grabbing assembly to be captured, dispensing acts；
The frame portions include upper mounted plate, proximate matter, fixed block, range sensor；The proximate matter is fixedly mounted on described
In fixed plate, reinforce the rigidity and intensity of fixed plate；The range sensor is mounted on the proximate matter；
The servopackage includes servo motor, retarder, flange connector, connecting shaft, deep groove ball bearing, thrust ball bearing；
Servo motor is fixed together with retarder, and passes through the connecting shaft and the deep-groove ball axis, the thrust ball axis connection；Institute
State deep-groove ball axis, the thrust ball axis is installed on the inside of the flange connector, the lower part fixation peace of the flange connector
Mounted in fixed plate centre；The servo motor by the retarder drive by the proximate matter with it is fixed
Board group at rotary unit, be suitable for different actual job operating modes, realize that ± 360 ° of directions pick and place material, quickly put into production；
The wobble component include supporting plate, grasping teeth cylinder, cylinder flange, Y-shaped connector, around arm link, pendulum tooth cylinder, rack, tooth
Guide plate, fixed plate, around arm axle, clutch gear, electromagnetic clutch；
The fixed plate is vertically fixedly mounted in four corners on the supporting plate, and the upper surface of the fixed plate connects the frame
Fixed plate in body component；The middle part of the supporting plate, backwards to the grasping teeth cylinder arranged symmetrically, the two grasping teeth cylinders
Between the pendulum tooth cylinder is set；
The grasping teeth cylinder is connected to by the cylinder flange on the supporting plate, and the grasping teeth cylinder gathers around that there are one can be around
The degree of freedom of cylinder flange rotation；It is worn in two symmetrical fixed plates described around arm axle, the piston of the grasping teeth cylinder
Bar is described around arm link by Y-shaped connector connection, described described around arm axle around arm link connection；Pass through the opening of grasping teeth cylinder
And closure, the gearing around arm axle is controlled, to drive the grasping movement of grabbing assembly；
The piston rod at the both ends of the pendulum tooth cylinder is separately connected the rack, and the guide plate of gear rack is buckled in the rack
On, the upper surface of the guide plate of gear rack connects fixed plate；One end of the rack by the guide plate of gear rack into
Row positioning, ensures direction of advance degree of freedom, limits remaining degree of freedom, guide groove is being arranged in the supporting plate below arm axle, described
The other end of rack ensures direction of advance degree of freedom, limits remaining degree of freedom by the guide groove of the supporting plate；
The clutch gear is sheathed on described on arm axle, and gathers around that there are one can be around the degree of freedom rotated around arm axle, institute
Clutch gear is stated to connect with grabbing assembly by pin hole；The pendulum tooth cylinder is nibbled by the rack and the clutch gear
It closes, the clutch gear connects the electromagnetic clutch；The electromagnetic clutch on arm axle, passes through mounted on described and puts tooth
The opening and closing of cylinder control the gearing of the rack and the clutch gear, to drive the throwing of grabbing assembly
Put action；
The grabbing assembly includes swing rod, connecting rod, connecting rod grasping teeth, upper tie-beam, lower tie-beam, riser, riser grasping teeth and grabs
Tooth transmission shaft；One end of the swing rod is fixed on described around the end of arm axle, the other end and the upper tie-beam, the lower connection
Beam is fixedly connected；The clutch gear is connect by pin hole with one end of the connecting rod, and the other end of the connecting rod connects institute
State connecting rod grasping teeth；
The connecting rod grasping teeth, the riser grasping teeth are connected to by the grasping teeth transmission shaft in the link slot of the riser, described
Grasping teeth transmission shaft gathers around that there are one the degree of freedom that are rotated around the riser；The riser is uniformly distributed in groups, is equidistantly fixed on the upper company
Beam is connect on the lower tie-beam, the riser grasping teeth is uniformly distributed in groups, is equidistantly fixed on the grasping teeth transmission shaft, centre position
For connecting rod grasping teeth；
The front end sharpening forward directing material of the riser grasping teeth, the connecting rod grasping teeth；Grabbing assembly is by being fixed on arm axle
Around arm link, clutch gear, electromagnetic clutch synergy, realize that connecting rod grasping teeth, riser grasping teeth go out hook or receive to hook up and put
Material.
2. adapting to the end effector of robot that tight space bagged material is carried as described in claim 1, it is characterised in that：
The wobble component further includes first bearing, and the first bearing is set in the endoporus in the fixed plate, it is described around
Arm axle is arranged in the first bearing and is rotated.
3. adapting to the end effector of robot that tight space bagged material is carried as claimed in claim 2, it is characterised in that：
The wobble component further includes cylinder connection piece, key A, key B；The pendulum tooth cylinder is fixed on institute by the cylinder connection piece
It states on supporting plate；It is described be fixed on by the key A around arm link it is described on arm axle；Electromagnetic clutch is fixed on by the key B
It is described on arm axle.
4. the end effector of robot for adapting to tight space bagged material and carrying as described in claims 1 to 3 is any, special
Sign is：The wobble component further includes spacer, Large lining and ringfeder, the swing rod by the spacer, the Large lining,
The ringfeder is fixed on described around the end of arm axle；The Large lining is connected with the swing rod, and the ringfeder is sheathed on described big
In bushing, the end sleeve around arm axle is set in the ringfeder, and the ringfeder acts on the big lining that is connected by itself tensioner
It covers, is described around arm axle；The spacer is sheathed on described around arm axle, the fixed Large lining of positioning.
5. adapting to the end effector of robot that tight space bagged material is carried as claimed in claim 4, it is characterised in that：
The frame portions further include range sensor holder, and the range sensor is mounted on the type by range sensor holder
On material.
6. adapting to the end effector of robot that tight space bagged material is carried as claimed in claim 5, it is characterised in that：
The range sensor has three groups, is separately mounted to three corners of the proximate matter, realizes that the material full inspection on three directions is surveyed.
7. adapting to the end effector of robot that tight space bagged material is carried as claimed in claim 6, it is characterised in that：
The wobble component further includes second bearing, the clutch gear by its internal described second bearing installed with it is described
It is connected around arm axle.
8. adapting to the end effector of robot that tight space bagged material is carried as claimed in claim 7, it is characterised in that：
The frame portions further include fixed block, and the fixed block is fixedly mounted on the corner of fixed plate, the proximate matter.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820168208.8U CN207957063U (en) | 2018-01-31 | 2018-01-31 | A kind of end effector of robot for adapting to tight space bagged material and carrying |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820168208.8U CN207957063U (en) | 2018-01-31 | 2018-01-31 | A kind of end effector of robot for adapting to tight space bagged material and carrying |
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| Publication Number | Publication Date |
|---|---|
| CN207957063U true CN207957063U (en) | 2018-10-12 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108100659A (en) * | 2018-01-31 | 2018-06-01 | 青岛宝佳自动化设备有限公司 | A kind of end effector of robot for adapting to tight space bagged material and carrying |
| CN110497375A (en) * | 2019-09-12 | 2019-11-26 | 杭州极木科技有限公司 | Clamping arm and clamping method |
-
2018
- 2018-01-31 CN CN201820168208.8U patent/CN207957063U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108100659A (en) * | 2018-01-31 | 2018-06-01 | 青岛宝佳自动化设备有限公司 | A kind of end effector of robot for adapting to tight space bagged material and carrying |
| CN108100659B (en) * | 2018-01-31 | 2024-04-19 | 青岛宝佳智能装备股份有限公司 | Robot end effector suitable for carrying bagged materials in compact space |
| CN110497375A (en) * | 2019-09-12 | 2019-11-26 | 杭州极木科技有限公司 | Clamping arm and clamping method |
| CN110497375B (en) * | 2019-09-12 | 2024-05-03 | 杭州极木科技有限公司 | Clamping arm and clamping method |
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Address after: 266000 north side of Xinyue road and east side of Huoju Branch Road, Qingdao hi tech Industrial Development Zone, Shandong Province Patentee after: Qingdao Baojia Intelligent Equipment Co.,Ltd. Address before: 266000 north side of Xinyue road and east side of Huoju Branch Road, Qingdao hi tech Industrial Development Zone, Shandong Province Patentee before: QINGDAO BAOJIA AUTOMATION EQUIPMENT Co.,Ltd. |