CN208246843U - A kind of compound clamp device of industrial robot - Google Patents
A kind of compound clamp device of industrial robot Download PDFInfo
- Publication number
- CN208246843U CN208246843U CN201820546560.0U CN201820546560U CN208246843U CN 208246843 U CN208246843 U CN 208246843U CN 201820546560 U CN201820546560 U CN 201820546560U CN 208246843 U CN208246843 U CN 208246843U
- Authority
- CN
- China
- Prior art keywords
- clamp device
- gripper
- industrial robot
- screwed
- compound
- 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
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Abstract
The utility model belongs to Industrial Robot Technology field, discloses a kind of compound clamp device of industrial robot, is provided with pedestal；Steering wheel is connected by shaft above pedestal, the upper end middle of steering wheel is welded with cloud disk bracket.The compound clamp device of the industrial robot has 3DOF, and movement flexibly can any position movement in space.The utility model is equipped with two kinds of clamping modes of electric sucker and gripper, the article of metal character can be effectively clamped by this compound clamp device, make clamp device uniform stressed, grasping ability becomes more stable, preferably plays a role in industrial production line；The service condition that mechanical clamp device can be monitored in real time by the camera of setting simultaneously prevents from wearing or damaging and cannot find in time, causes safety accident；Clamping force can be monitored in real time by the pressure sensor of setting, ensure clamping appropriateness.
Description
Technical field
The utility model belongs to Industrial Robot Technology field more particularly to a kind of compound clamp device of industrial robot.
Background technique
Currently, the prior art commonly used in the trade is such that
Industrial robot is multi-joint manipulator or multivariant installations towards industrial circle, it can hold automatically
Row work is a kind of machine that various functions are realized by self power and control ability.It can receive mankind commander, can also
To run according to the program of preparatory layout, modern industrial robot can also be according to the principle program of artificial intelligence technology formulation
Action.
Currently, the clamp device of traditional industrial robot is all single mechanism, in the object of clamping metal specific trait
When product, since clamp device is single, the clamp device discontinuity of industrial robot is caused, grasping ability is unstable etc. asks
Topic.
In conclusion problem of the existing technology is:
The clamp device of traditional industrial robot is more single, so that grasping ability is unstable；It cannot send out in time simultaneously
The abrasion condition of existing clamping device, unfavorable to be safeguarded in time, safety is low；And the dynamics data of clamping unable to monitor, such as
Fruit clamped pine and was easy to fall off, and tension is easily damaged object.
Utility model content
In view of the problems of the existing technology, the utility model provides a kind of compound clamp device of industrial robot.
The utility model is realized in this way a kind of compound clamp device of industrial robot, the compound folder of the industrial robot
Device is taken to be provided with
Pedestal；
Steering wheel is connected by shaft above pedestal, the upper end middle of steering wheel is welded with cloud disk bracket, cloud disk bracket top
Connect first mechanical arm by shaft, be screwed first servo motor on the right side of cloud disk bracket, first mechanical arm it is upper
End connects second mechanical arm by shaft, and the second servo motor has been screwed on the right side of first mechanical arm, and second is mechanical
The upper end of arm has been screwed mechanical clamping dress by being welded with third servo motor, the right end of third servo motor
It sets；
Mechanical clamp device is provided with gripper bracket, and gripper bracket is up and down respectively by being welded with upper gripper
Gripper has been screwed on sliding rail and lower gripper sliding rail, upper gripper sliding rail and lower gripper sliding rail respectively under
Gripper；
Upper gripper top has been screwed camera；Left end has been screwed wireless hair inside upper gripper
Emitter；Upper gripper bottom has been screwed pressure sensor；Wireless transmitter connects computer by wireless signal.
Further, the centre of the gripper bracket is welded with electric sucker.
Further, it has been screwed the first stepper motor and second respectively beside the upper gripper and lower gripper
Stepper motor.
Further, the wireless transmitter is separately connected camera, pressure sensor by circuit line.
The advantages of the utility model and good effect are as follows:
The compound clamp device of the industrial robot has 3DOF, and movement flexibly can any position movement in space.
Mechanical clamp device is equipped with two kinds of clamping modes of electric sucker and gripper, can effectively be pressed from both sides by this compound clamp device
The article for taking metal character makes clamp device uniform stressed, and grasping ability becomes more stable, preferably in industrial production line
It plays a role；Meanwhile the service condition of mechanical clamp device can be monitored in real time by the camera of setting, prevent from wearing or damaged
It is bad to find in time, cause safety accident；Clamping force can be monitored in real time by the pressure sensor of setting, ensure clamping
Appropriateness.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the compound clamp device of industrial robot provided by the embodiment of the utility model；
Fig. 2 is mechanical clamp device structural schematic diagram provided by the embodiment of the utility model；
In figure: 1, pedestal；2, steering wheel；3, cloud disk bracket；4, first servo motor；5, first mechanical arm；6, the second servo
Motor；7, second mechanical arm；8, third servo motor；9, mechanical clamp device；10, upper gripper；11, the first stepper motor；
12, upper gripper sliding rail；13, electric sucker；14, gripper bracket；15, lower gripper sliding rail；16, lower gripper；17, second step
Into motor；18, camera, 19, pressure sensor；20, wireless transmitter (LT-3050)；21, computer.
Fig. 3 is steering wheel control principle drawing provided by the embodiment of the utility model.
Specific embodiment
For the invention, features and effects that can further appreciate that the utility model, the following examples are hereby given, and cooperates
Detailed description are as follows for attached drawing.
As shown in Figure 1-Figure 3, the compound clamp device of industrial robot provided by the embodiment of the utility model, the industrial machine
The compound clamp device of people is provided with pedestal 1, connects steering wheel 2 by shaft above pedestal 1, the upper end middle of steering wheel 2 is welded with
Cloud disk bracket 3 connects first mechanical arm 5 by shaft above cloud disk bracket 3, and the has been screwed on the right side of cloud disk bracket 3
The upper end of one servo motor 4, first mechanical arm 5 connects second mechanical arm 7 by shaft, and the right side of first mechanical arm 5 passes through spiral shell
Silk is fixed with the second servo motor 6, and the upper end of second mechanical arm 7 is by being welded with third servo motor 8, third servo electricity
The right end of machine 8 has been screwed mechanical clamp device 9；
Mechanical clamp device 9 is provided with gripper bracket 14, and the centre of gripper bracket 14 is welded with electric sucker 13, mechanical
About 14 pawl bracket is respectively by being welded with upper gripper sliding rail 12 and lower gripper sliding rail 15, upper 12 He of gripper sliding rail
Gripper 10 and lower gripper 16, upper gripper 10 and lower gripper have been screwed on lower gripper sliding rail 15 respectively
16 sides have been screwed the first stepper motor 11 and second stepper motor 17 respectively；
Upper 10 top of gripper has been screwed camera 18；Upper 10 inside left end of gripper has been screwed
Wireless transmitter (LT-3050) 20；Upper 10 bottom of gripper has been screwed pressure sensor 19；Wireless transmitter (LT-
3050) 20 camera 18, pressure sensor 19 are separately connected by circuit line；Wireless transmitter (LT-3050) 20 passes through wireless
Signal connects computer 21.
The working principle of the utility model is:
The compound clamp device of the industrial robot is watched by steering wheel 2, first servo motor 4, the second servo motor 6, third
It takes motor 8 and controls the first mechanical arm 5 of industrial robot, second mechanical arm 7, mechanical clamp device 9 respectively and realized in space
The rotation of Three Degree Of Freedom, so as to reach any position in the useful space.It is mechanical when the article of clamping is metal
It after arm reaches scheduled position, is powered to electric sucker 13, article is sucked by way of physics magnetic, then pass through the first stepping
Motor 11 and second stepper motor 17 control upper gripper sliding rail 12 and upper gripper 10 and lower machine on lower gripper sliding rail 15
Machinery claw 16 moves back and forth, until clamping article reaches suitable position；Meanwhile when clamping, camera 18 can monitor machine in real time
Clamping force can be monitored in real time in the service condition of tool clamp device, pressure sensor (commercially available) 19；Camera (commercially available) 18, pressure
Force snesor 19 will test data and send computer 21 by wireless transmitter (LT-3050) 20, realize long-range control.
The above is only the preferred embodiment to the utility model, is not made in any form to the utility model
Limitation, it is all according to the technical essence of the utility model any simple modification made to the above embodiment, equivalent variations with
Modification, is all within the scope of the technical scheme of the utility model.
Claims (4)
1. a kind of compound clamp device of industrial robot, which is characterized in that the compound clamp device of industrial robot is provided with
Pedestal；
Steering wheel is connected by shaft above pedestal, the upper end middle of steering wheel is welded with cloud disk bracket, passes through above cloud disk bracket
Shaft connects first mechanical arm；First servo motor is screwed on the right side of cloud disk bracket, the upper end of first mechanical arm is logical
Shaft connection second mechanical arm is crossed, has been screwed the second servo motor on the right side of first mechanical arm, second mechanical arm
Upper end has been screwed mechanical clamp device by being welded with third servo motor, the right end of third servo motor；
Mechanical clamp device is provided with gripper bracket, and gripper bracket is up and down respectively by being welded with upper gripper sliding rail
With lower gripper sliding rail, it has been screwed gripper and lower machinery respectively on upper gripper sliding rail and lower gripper sliding rail
Pawl；
Upper gripper top has been screwed camera；Left end has been screwed wireless transmission inside upper gripper
Device；Upper gripper bottom has been screwed pressure sensor；Wireless transmitter connects computer by wireless signal.
2. the compound clamp device of industrial robot as described in claim 1, which is characterized in that the intermediate weldering of the gripper bracket
It is connected to electric sucker.
3. the compound clamp device of industrial robot as described in claim 1, which is characterized in that the upper gripper and lower gripper
Side has been screwed the first stepper motor and second stepper motor respectively.
4. the compound clamp device of industrial robot as described in claim 1, which is characterized in that the wireless transmitter passes through circuit
Line is separately connected camera, pressure sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820546560.0U CN208246843U (en) | 2018-04-17 | 2018-04-17 | A kind of compound clamp device of industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820546560.0U CN208246843U (en) | 2018-04-17 | 2018-04-17 | A kind of compound clamp device of industrial robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208246843U true CN208246843U (en) | 2018-12-18 |
Family
ID=64637561
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820546560.0U Expired - Fee Related CN208246843U (en) | 2018-04-17 | 2018-04-17 | A kind of compound clamp device of industrial robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208246843U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110174230A (en) * | 2019-05-05 | 2019-08-27 | 河北工业大学 | One kind falling reliability test |
| CN111702790A (en) * | 2020-06-29 | 2020-09-25 | 沈阳工业大学 | Industrial robot power control pencil anchor clamps |
| CN114368002A (en) * | 2022-03-22 | 2022-04-19 | 宜宾职业技术学院 | Structure is got to industrial robot regulation formula clamp convenient to dismantle |
| CN114619465A (en) * | 2022-03-28 | 2022-06-14 | 加西贝拉压缩机有限公司 | Grabbing control method of robot clamp |
-
2018
- 2018-04-17 CN CN201820546560.0U patent/CN208246843U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110174230A (en) * | 2019-05-05 | 2019-08-27 | 河北工业大学 | One kind falling reliability test |
| CN111702790A (en) * | 2020-06-29 | 2020-09-25 | 沈阳工业大学 | Industrial robot power control pencil anchor clamps |
| CN114368002A (en) * | 2022-03-22 | 2022-04-19 | 宜宾职业技术学院 | Structure is got to industrial robot regulation formula clamp convenient to dismantle |
| CN114619465A (en) * | 2022-03-28 | 2022-06-14 | 加西贝拉压缩机有限公司 | Grabbing control method of robot clamp |
| CN114619465B (en) * | 2022-03-28 | 2023-10-20 | 加西贝拉压缩机有限公司 | Grabbing control method of robot clamp |
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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: 20181218 Termination date: 20200417 |