CN208880698U - A gripping device for an industrial robot - Google Patents
A gripping device for an industrial robot Download PDFInfo
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- CN208880698U CN208880698U CN201821819336.0U CN201821819336U CN208880698U CN 208880698 U CN208880698 U CN 208880698U CN 201821819336 U CN201821819336 U CN 201821819336U CN 208880698 U CN208880698 U CN 208880698U
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- fixed
- grabbing device
- mechanical arm
- industrial robot
- servo motor
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- 244000309464 bull Species 0.000 claims description 9
- 239000000463 material Substances 0.000 claims description 4
- 230000005611 electricity Effects 0.000 claims description 3
- 229910000838 Al alloy Inorganic materials 0.000 claims description 2
- 239000000956 alloy Substances 0.000 claims description 2
- 238000009434 installation Methods 0.000 abstract 1
- 238000000034 method Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 230000001225 therapeutic effect Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
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Abstract
本实用新型涉及工业机器人技术领域，尤其为一种工业机器人用抓取装置，包括承载底座，所述承载底座的端面上固定设有旋转涡轮，所述旋转涡轮上固定设有吊环，所述吊环的左侧并且位于旋转涡轮的端面上固定设有第一机械手臂，所述第一机械手臂与旋转涡轮的连接处固定设有第一伺服电机，所述第一伺服电机远离旋转涡轮的端部固定第二机械臂，所述第二机械臂与第一机械手臂连接处固定设有第二伺服电机，所述第二机械臂的右端部固定设有第三伺服电机，所述第二机械臂的左端部处固定设有导线安装盒，所述第二机械臂的左端部转动连接有转盘。本实用新型通过设置能够避免在抓取物件时对物件造成损伤，并且保证了工作效率和工作质量。
The utility model relates to the technical field of industrial robots, in particular to a grabbing device for an industrial robot, comprising a bearing base, a rotating turbine is fixed on the end surface of the bearing base, and a lifting ring is fixed on the rotating turbine, and the lifting ring On the left side of the rotating turbine and on the end face of the rotating turbine, a first robotic arm is fixed, and a first servo motor is fixed at the connection between the first robotic arm and the rotating turbine, and the first servo motor is far away from the end of the rotating turbine. A second robotic arm is fixed, a second servo motor is fixed at the connection between the second robotic arm and the first robotic arm, a third servo motor is fixed at the right end of the second robotic arm, and the second robotic arm is fixed with a third servo motor. A wire installation box is fixed at the left end of the second mechanical arm, and a turntable is rotatably connected to the left end of the second mechanical arm. The utility model can avoid damage to the object when grabbing the object through the setting, and ensure the work efficiency and work quality.
Description
Technical field
The utility model relates to Industrial Robot Technology field, specially a kind of industrial robot grabbing device.
Background technique
Mechanical arm is the automated machine device that most broad practice is obtained in robot technical field, is made in industry
It makes, therapeutic treatment, entertainment service, military affairs, the fields such as semiconductors manufacture and space probation can see its figure.Although it
Form have nothing in common with each other, but they have the characteristics that one it is common, be to receive instruction, be precisely positioned to three-dimensional
The certain point of (or two dimension) spatially carries out operation, and the application of miniature workpiece is also more and more extensive with the development of science and technology, micro-
Needing to use grabbing device when carrying or loading and unloading when type work pieces process, grabbing device in the prior art, structure is complicated,
Stability is poor, is difficult to control when manual operation, affects entire job schedule, causes production efficiency low and in the mistake of crawl
It is easy to cause the damage of object to cause the reduction of work quality in journey, while will also result in waste.
In conclusion the utility model proposes a kind of industrial robot improved with grabbing device presently, there are the problem of.
Utility model content
The purpose of this utility model is to provide a kind of industrial robot grabbing devices, to solve in above-mentioned background technique
The problem of proposition.
To achieve the above object, the utility model provides the following technical solutions:
A kind of industrial robot grabbing device, including bearing base are fixed with rotation on the end face of the bearing base
Rotating turbine, is fixed with hanging ring on the revolving wormgear, the left side of the hanging ring and is located at fixed on the end face of revolving wormgear
Equipped with the first mechanical arm, the junction of first mechanical arm and revolving wormgear is fixed with first servo motor, described
The fixed second mechanical arm in end of the first servo motor far from revolving wormgear, the second mechanical arm are connect with the first mechanical arm
Place is fixed with the second servo motor, and the right part of the second mechanical arm is fixed with third servo motor, second machine
It is fixed with conducting wire mounting box at the left part of tool arm, the left part of the second mechanical arm is rotatably connected to turntable, and described turn
The bottom of disk is fixedly connected with terminal pad, and the terminal pad is connected with grabbing device, and the grabbing device includes link block, described
The bottom symmetrical of link block is fixed with two the first guide rails, and the two sidewalls that two first guide rails are away from each other are fixed with two
A first L block is fixed with two support frames on two the first L blocks, two gas is fixed on two support frames as described above
The bottom of cylinder, two first guide rail both ends is connected with two the second guide rails, two second guide rails by the 2nd L block
The bottom at both ends is fixed with fixed block respectively, and bull stick is rotatably connected on the fixed block, is fixed on the bull stick
Drive rod, the right side of the drive rod and is located on bull stick and is fixedly connected with connecting rod, and one end of the drive rod is fixed to be connected
It connects at the driving end of cylinder, the other end of the drive rod is fixedly connected on connecting plate, and the inside fixation of the connecting plate is set
There is positioning plate, the bottom of the connecting plate is fixed with several clamping jaws, the center of two second guide rails bottom
It is fixed with baffle.
Preferably, two cylinders are symmetrical arranged based on link block and driving direction is reversed, two gas
The driving end of cylinder passes through the 2nd L block respectively and is connected on two opposite side walls of the first guide rail, and the model of the cylinder is identical
For QGBJ320X500-75 SHLZPC and it is respectively connected with tracheae.
Preferably, two second guide rails and the first rail attachment point are equipped with two the 2nd L blocks.
Preferably, the fixed block is arranged four, and the positioning plate and connecting plate are respectively provided with two and based on baffles pair
Claim setting.
Preferably, rubber material is equipped on the positioning plate, baffle and clamping jaw.
Preferably, it is that axis is staggeredly symmetrical arranged that two and baffle, which are arranged, in the connecting plate and drive rod.
Preferably, first guide rail and the second guide rail are aluminum alloy materials.
Preferably, the terminal pad is to be clamped and can dismount with grabbing device connection type.
Preferably, the model SGMGV- of the first servo motor, the second servo motor and third servo motor
13ADC61,1.5KW ECMA-E31315PS and 110ST-M06030 and it is electrically connected control cabinet.
Compared with prior art, the utility model has the beneficial effects that
1, in the utility model, its stability of rectangle height is constituted by four guide rails of setting, is being grabbed to ensure that
Precision and stability, and performance simple and practical in structure is strong, ensure that working efficiency.
2, it in the utility model, can be avoided by being equipped with rubber material on positioning plate, baffle and clamping jaw in crawl
So that object is carried out damage reduction in the process, ensure that the quality of work and saves cost.
3, in the utility model, the effect that can be fixed during grip by positioning plate, baffle, to protect
The precision and stability of its grip has been demonstrate,proved, can be simple according to whole device structure, easy to operate, using flexible, convenient for object
The clamping of product is transported, and is improved work efficiency, practical.
Detailed description of the invention
Fig. 1 is the utility model overall structure diagram；
Fig. 2 is the utility model part isometric structural schematic diagram；
Fig. 3 is the utility model grabbing device schematic perspective view.
In figure: 1- bearing base, 2- revolving wormgear, 3- hanging ring, 4- first servo motor, the first mechanical arm of 5-, 6-
Two servo motors, 7- third servo motor, 8- second mechanical arm, 9- conducting wire mounting box, 10- turntable, 11- terminal pad, 12- crawl
Device, 13- link block, the first guide rail of 14-, 15- cylinder, the first L block of 16-, the 2nd L block of 17-, 18- support frame, 19- connecting rod,
20- drive rod, 21- bull stick, 22- positioning plate, 23- connecting plate, 24- clamping jaw, 25- baffle, 26- fixed block, the second guide rail of 27-.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment, based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work
Every other embodiment obtained, fall within the protection scope of the utility model.
Fig. 1-3 is please referred to, the utility model provides a kind of technical solution:
A kind of industrial robot grabbing device, including bearing base 1 are fixed with rotation on the end face of bearing base 1
Turbine 2, is fixed with hanging ring 3 on revolving wormgear 2, and the left side of hanging ring 3 and being located on the end face of revolving wormgear 2 is fixed with the
The junction of one mechanical arm 5, the first mechanical arm 5 and revolving wormgear 2 is fixed with first servo motor 4, the first servo electricity
The fixed second mechanical arm 8 in end of the machine 4 far from revolving wormgear 2, second mechanical arm 8 are set with the fixation of 5 junction of the first mechanical arm
There is the second servo motor 6, the right part of second mechanical arm 8 is fixed with third servo motor 7, the left part of second mechanical arm 8
Place is fixed with conducting wire mounting box 9, and the left part of second mechanical arm 8 is rotatably connected to turntable 10, and the bottom of turntable 10 is fixed to be connected
It is connected to terminal pad 11, terminal pad 11 is connected with grabbing device 12, and grabbing device 12 includes link block 13, the bottom pair of link block 13
Title is fixed with two the first guide rails 14, and the two sidewalls that two the first guide rails 14 are away from each other are fixed with two the first L blocks 16, and two
It is fixed with two support frames 18 on a first L block 16, two cylinders 15 are fixed on two support frames 18, two first are led
The bottom at 14 both ends of rail is connected with two the second guide rails 27, the bottom at two 27 both ends of the second guide rail by the 2nd L block 17
It is fixed with fixed block 26 respectively, bull stick 21 is rotatably connected on fixed block 26, drive rod 20 is fixed on bull stick 21, drives
The right side of bar 20 and be located at bull stick 21 on be fixedly connected with connecting rod 19, one end of drive rod 20 is fixedly connected on cylinder 15
End is driven, the other end of drive rod 20 is fixedly connected on connecting plate 23, and the inside of connecting plate 23 is fixed with positioning plate 22, even
The bottom of fishplate bar 23 is fixed with several clamping jaws 24, and the center of two 27 bottoms of the second guide rail is fixed with baffle 25.
Utility model works process: when grip, grabbing device 12 is connected to the gas in terminal pad 11 and cylinder 15
Pipe is connected on the gas main inside control cabinet, and equipment is powered at this time, to be watched by control control cabinet control first
It takes motor 4, the second servo motor 6 and third servo motor 7 and is watched in first servo motor 4, the second servo motor 6 and third
Taking motor 7 and providing promotes the movement mechanism inside the first mechanical arm 5 and second mechanical arm 8 to be moved under kinetic energy, to promote
Dynamic first mechanical arm 5 and second mechanical arm 8 arrive the position of work, control control cabinet control control cylinder 15 at this time and are stretched
Contracting, so that grabbing device 12 be made to carry out grip and put part, this passes through four guide rails of setting in the process and constitutes its stability of rectangle
Height, to ensure that the precision and stability in crawl, and performance simple and practical in structure is strong, ensure that working efficiency, passes through
Be equipped with rubber material on positioning plate 22, baffle 25 and clamping jaw 24 and can be avoided makes object carry out damage drop during crawl
It is low, it ensure that the quality of work and saved cost, can be fixed during grip by positioning plate 22, baffle 25
Effect can be simple according to whole device structure to ensure that the precision and stability of its grip, it is easy to operate, use
Flexibly, it convenient for the clamping transhipment to article, improves work efficiency, it is practical.
While there has been shown and described that the embodiments of the present invention, for the ordinary skill in the art,
It is understood that these embodiments can be carried out with a variety of variations in the case where not departing from the principles of the present invention and spirit, repaired
Change, replacement and variant, the scope of the utility model is defined by the appended claims and the equivalents thereof.
Claims (9)
1. a kind of industrial robot grabbing device, including bearing base (1), it is characterised in that: the end of the bearing base (1)
It is fixed on face revolving wormgear (2), is fixed with hanging ring (3) on the revolving wormgear (2), the left side of the hanging ring (3) is simultaneously
And be located on the end face of revolving wormgear (2) and be fixed with the first mechanical arm (5), first mechanical arm (5) and rotation whirlpool
The junction of wheel (2) is fixed with first servo motor (4), end of the first servo motor (4) far from revolving wormgear (2)
Fixed second mechanical arm (8), the second mechanical arm (8) and the first mechanical arm (5) junction are fixed with the second servo electricity
The right part of machine (6), the second mechanical arm (8) is fixed with third servo motor (7), a left side for the second mechanical arm (8)
End is fixed with conducting wire mounting box (9), and the left part of the second mechanical arm (8) is rotatably connected to turntable (10), described
The bottom of turntable (10) is fixedly connected with terminal pad (11), and the terminal pad (11) is connected with grabbing device (12), the crawl
Device (12) includes link block (13), and the bottom symmetrical of the link block (13) is fixed with two the first guide rails (14), and two
The two sidewalls that first guide rail (14) is away from each other are fixed with two the first L blocks (16), consolidate on two the first L blocks (16)
Surely two support frames (18) are equipped with, are fixed with two cylinders (15) on two support frames as described above (18), two described first are led
The bottom at rail (14) both ends is connected with two the second guide rails (27), two second guide rails (27) by the 2nd L block (17)
The bottom at both ends is fixed with fixed block (26) respectively, is rotatably connected to bull stick (21) on the fixed block (26), described turn
Be fixed on bar (21) drive rod (20), the right side of the drive rod (20) and be located at bull stick (21) on the company of being fixedly connected with
Extension bar (19), one end of the drive rod (20) are fixedly connected on the driving end of cylinder (15), the drive rod (20) it is another
End is fixedly connected on connecting plate (23), is fixed with positioning plate (22), the connecting plate on the inside of the connecting plate (23)
(23) bottom is fixed with several clamping jaws (24), and the center of two the second guide rail (27) bottoms is fixed with
Baffle (25).
2. a kind of industrial robot grabbing device according to claim 1, it is characterised in that: two cylinders (15)
It is symmetrical arranged based on link block (13) and driving direction is reversed, the driving end of two cylinders (15) passes through respectively
2nd L block (17) is connected on two opposite side walls of the first guide rail (14), and the model of the cylinder (15) is mutually all
QGBJ320X500-75 SHLZPC is respectively connected with tracheae.
3. a kind of industrial robot grabbing device according to claim 1, it is characterised in that: two second guide rails
(27) two the 2nd L blocks (17) are equipped with the first guide rail (14) junction.
4. a kind of industrial robot grabbing device according to claim 1, it is characterised in that: the fixed block (26) sets
Four are set, the positioning plate (22) and connecting plate (23) are respectively provided with two and are symmetrical arranged based on baffle (25).
5. a kind of industrial robot grabbing device according to claim 1, it is characterised in that: the positioning plate (22),
Rubber material is equipped on baffle (25) and clamping jaw (24).
6. a kind of industrial robot grabbing device according to claim 1, it is characterised in that: the connecting plate (23) and
It is that axis is staggeredly symmetrical arranged that two and baffle (25), which are arranged, in drive rod (20).
7. a kind of industrial robot grabbing device according to claim 1, it is characterised in that: first guide rail (14)
It is aluminum alloy materials with the second guide rail (27).
8. a kind of industrial robot grabbing device according to claim 1, it is characterised in that: the terminal pad (11) with
Grabbing device (12) connection type is to be clamped and can dismount.
9. a kind of industrial robot grabbing device according to claim 1, it is characterised in that: the first servo electricity
Model SGMGV-13ADC61, the 1.5KW ECMA- of machine (4), the second servo motor (6) and third servo motor (7)
E31315PS and 110ST-M06030 and it is electrically connected control cabinet.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821819336.0U CN208880698U (en) | 2018-11-06 | 2018-11-06 | A gripping device for an industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821819336.0U CN208880698U (en) | 2018-11-06 | 2018-11-06 | A gripping device for an industrial robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208880698U true CN208880698U (en) | 2019-05-21 |
Family
ID=66517899
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821819336.0U Expired - Fee Related CN208880698U (en) | 2018-11-06 | 2018-11-06 | A gripping device for an industrial robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208880698U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112338955A (en) * | 2020-11-16 | 2021-02-09 | 宁波奉化腾菲工艺品厂 | Multi-clamping-jaw automatic switching system for mechanical arm |
| CN112340449A (en) * | 2020-11-06 | 2021-02-09 | 长沙麦睛科技有限公司 | Carbide is high-efficient in batches to pick up transport mechanism based on electromagnetic adsorption principle |
| CN112706147A (en) * | 2019-10-24 | 2021-04-27 | 山东科曼智能科技有限公司 | High-load file robot based on flexible manipulator |
| CN116330336A (en) * | 2023-03-16 | 2023-06-27 | 清智智能装备制造(苏州)有限公司 | Multi-axis mechanical arm |
-
2018
- 2018-11-06 CN CN201821819336.0U patent/CN208880698U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112706147A (en) * | 2019-10-24 | 2021-04-27 | 山东科曼智能科技有限公司 | High-load file robot based on flexible manipulator |
| CN112340449A (en) * | 2020-11-06 | 2021-02-09 | 长沙麦睛科技有限公司 | Carbide is high-efficient in batches to pick up transport mechanism based on electromagnetic adsorption principle |
| CN112338955A (en) * | 2020-11-16 | 2021-02-09 | 宁波奉化腾菲工艺品厂 | Multi-clamping-jaw automatic switching system for mechanical arm |
| CN116330336A (en) * | 2023-03-16 | 2023-06-27 | 清智智能装备制造(苏州)有限公司 | Multi-axis mechanical arm |
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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: 20190521 |