CN208977809U - A kind of mechanical grabbing device of industrial robot - Google Patents
A kind of mechanical grabbing device of industrial robot Download PDFInfo
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- CN208977809U CN208977809U CN201821188566.1U CN201821188566U CN208977809U CN 208977809 U CN208977809 U CN 208977809U CN 201821188566 U CN201821188566 U CN 201821188566U CN 208977809 U CN208977809 U CN 208977809U
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- China
- Prior art keywords
- mechanical arm
- industrial robot
- gripping dogs
- support frame
- grabbing device
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- 241000282472 Canis lupus familiaris Species 0.000 claims abstract description 41
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- 238000005516 engineering process Methods 0.000 description 5
- 238000012423 maintenance Methods 0.000 description 4
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- 239000002184 metal Substances 0.000 description 2
- 229910052751 metal Inorganic materials 0.000 description 2
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- 229910001018 Cast iron Inorganic materials 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
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- 238000003825 pressing Methods 0.000 description 1
- 229910001220 stainless steel Inorganic materials 0.000 description 1
- 239000010935 stainless steel Substances 0.000 description 1
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Abstract
The utility model discloses a kind of mechanical grabbing devices of industrial robot, including support base, support frame, rotating electric machine and control box, support frame as described above and the control box are provided in the support base, rotating electric machine is provided with below support frame as described above, rotating seat is provided with above support frame as described above, first mechanical arm is provided on the rotating seat, the rotating seat and the link position of the first mechanical arm are provided with the first motor, one end of the first mechanical arm is provided with the second motor and second mechanical arm, one end of the second mechanical arm is provided with gripping dogs one and gripping dogs two.Beneficial effect is: the utility model is provided with pressure sensor in gripping dogs, for detecting clamping force, avoid stress during control article crawl excessive or too small, article is caused to damage, the grabbing device is provided with two-stage mechanical arm and three motor, multi-faceted crawl and transhipment may be implemented, use scope is extensive.
Description
Technical field
The utility model relates to industrial robot correlative technology fields, and in particular to a kind of mechanical crawl of industrial robot
Device.
Background technique
With the continuous development of science and technology, the quantity of the robot of industrial application is also come also more, and application range is also increasingly wider
General, industrial robot is multi-joint manipulator or multivariant installations towards industrial circle, it can execute work automatically
Make, is a kind of machine for realizing various functions by self power and control ability.It can receive mankind commander, can also be by
According to the program operation of preparatory layout, the principle program row that modern industrial robot can also be formulated according to artificial intelligence technology
It is dynamic.For relatively artificial, work efficiency is high for industrial robot, has a safety feature, and can effectively reduce production cost, improves
Product quality, industrial robot is in order to cooperate the normal use of each functional module to be typically provided with mechanical grabbing device, generally
Grabbing device can only realize the rotation in a face, have certain limitation when grabbing article, during grabbing article, power
Degree is not easily controlled, and dynamics greatly may damage the article being crawled very much, and the smaller article that may also lead to of dynamics falls off
The case where, using more grabbing device, structure is complicated at present, and dismounting, maintenance difficulty are larger.
Utility model content
(1) technical problems to be solved
In order to overcome the shortage of prior art, it is proposed that a kind of mechanical grabbing device of industrial robot solves existing grab
Take apparatus structure complicated, maintenance difficulty the problem of dynamics is not easily controlled greatly and during crawl.
(2) technical solution
The utility model is achieved through the following technical solutions: the utility model proposes a kind of industrial robot mechanical grippings
Take device, including support base, support frame, rotating electric machine and control box, be provided in the support base support frame as described above and
The control box is provided with rotating electric machine below support frame as described above, rotating seat, the rotation is provided with above support frame as described above
First mechanical arm is provided on swivel base, the rotating seat and the link position of the first mechanical arm are provided with the first motor,
One end of the first mechanical arm is provided with the second motor and second mechanical arm, and one end of the second mechanical arm is provided with folder
Tight claw one and gripping dogs two are provided with hydraulic cylinder on the gripping dogs two, and the gripping dogs one and clampings block
The outside of pawl two is provided with stay hook, and fixing buckle is provided on the stay hook, and electromagnetism suction is provided with below the fixing buckle
The inside of disk, the gripping dogs one and the gripping dogs two is provided with mounting groove, and it is solid that spring is provided in the mounting groove
Reservation and pressure sensor are provided with buffer spring on the spring fixed seat, and one end of the buffer spring is provided with clamping
Block is provided with non-slip mat in the gripping block, signal receiver, processor and controller is provided in the control box.
Further, support frame as described above is bolted in the support base, and the control box is solid by screw
It is scheduled in the support base,
Further, the rotating electric machine is bolted on the lower section of support frame as described above, the rotating electric machine and institute
It states and is connected between rotating seat by shaft coupling.
Further, the stay hook is fixed by welding on the gripping dogs one and the gripping dogs two, institute
It states fixing buckle and there are two the stay hook is respectively provided with, the hydraulic cylinder is bolted on the gripping dogs two.
Further, the model PT124G-111 of the pressure sensor, the pressure sensor are fixed by screw
In the mounting groove, there are two the pressure sensor settings.
Further, the model FAST 150M of the signal receiver, the model KY02S of the controller, it is described
The model Celeron 440 of processor.
Further, the signal receiver, the controller and the processor are fixed by screws in the behaviour
Make in case, by being adhesively fixed between the gripping block and the non-slip mat.
(3) beneficial effect
The utility model compared with the existing technology, has the advantages that
1, to solve existing grabbing device, structure is complicated, the big problem of maintenance maintenance difficulty, and the grabbing device is using simply
Hydraulic cylinder, mechanical arm and motor cooperating, realize the crawl of article, structure is simple, easy to operate；
2, it is that dynamics is not easily controlled during solving the problems, such as existing grabbing device crawl, is provided in gripping dogs
Pressure sensor avoids stress during control article crawl excessive or too small, causes to damage to article for detecting clamping force
Wound can use magnechuck instead of gripping dogs, security performance is higher for metal class article；
3, to solve existing grabbing device single side rotation, the small problem of use scope, the grabbing device is provided with two-stage machine
Tool arm and three motor, may be implemented multi-faceted crawl and transhipment, and use scope is extensive.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of the mechanical grabbing device of industrial robot described in the utility model；
Fig. 2 is a kind of scheme of installation of the mechanical grabbing device gripping block of industrial robot described in the utility model；
Fig. 3 is a kind of component connection block diagram of the mechanical grabbing device of industrial robot described in the utility model.
The reference numerals are as follows:
1, support base；2, support frame；3, rotating electric machine；4, control box；5, rotating seat；6, the first motor；7, first
Mechanical arm；8, the second motor；9, second mechanical arm；10, gripping dogs one；11, hydraulic cylinder；12, gripping dogs two；13, solid
Determine hook；14, fixing buckle；15, magnechuck；16, gripping block；17, spring fixed seat；18, buffer spring；19, mounting groove；20,
Pressure sensor；21, non-slip mat；22, signal receiver；23, processor；24, controller.
Specific embodiment
In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, below in conjunction with attached drawing and implementation
Example, the present invention will be further described in detail.It should be appreciated that specific embodiment described herein is only used to explain
The utility model is not used to limit the utility model.
As shown in Figure 1-Figure 3, the mechanical grabbing device of a kind of industrial robot, including support base 1, support frame 2, rotation
Motor 3 and control box 4, support frame 2 and control box 4 are provided in support base 1, and support base 1 is used to support entire crawl dress
It sets, the lower section of support frame 2 is provided with rotating electric machine 3, and for driving rotating seat 5 to rotate, the top of support frame 2 is set rotating electric machine 3
It is equipped with rotating seat 5, is provided with first mechanical arm 7 on rotating seat 5, the link position of rotating seat 5 and first mechanical arm 7 is provided with the
One motor 6, one end of first mechanical arm 7 are provided with the second motor 8 and second mechanical arm 9, and one end of second mechanical arm 9 is set
Gripping dogs 1 and gripping dogs 2 12 are equipped with, gripping dogs 1 and 2 12 mating reaction of gripping dogs carry out grabbing for article
It taking, hydraulic cylinder 11 is provided on gripping dogs 2 12, hydraulic cylinder 11 realizes pinching action for driving gripping dogs 1 to rotate,
The outside of gripping dogs 1 and gripping dogs 2 12 is provided with stay hook 13, and fixing buckle 14 is provided on stay hook 13, fixed
The lower section of button 14 is provided with magnechuck 15, and the crawl of metal, gripping dogs 1 and folder may be implemented in magnechuck 15
The inside of tight claw 2 12 is provided with mounting groove 19, and spring fixed seat 17 and pressure sensor 20 are provided in mounting groove 19, presses
Force snesor 20 is provided with buffer spring 18, one end setting of buffer spring 18 for detecting pressing force on spring fixed seat 17
There is gripping block 16, non-slip mat 21 is provided in gripping block 16, signal receiver 22, processor 23 and control are provided in control box 4
Device 24 processed, control box 4 are used to control the operating process of grabbing device.
Wherein, support frame 2 is bolted in support base 1, and control box 4 is fixed by screws in support base 1
On, rotating electric machine 3 is bolted on the lower section of support frame 2, it is connected between rotating electric machine 3 and rotating seat 5 by shaft coupling,
Stay hook 13 is fixed by welding on gripping dogs 1 and gripping dogs 2 12, and fixing buckle 14 and stay hook 13 are provided with
Two, hydraulic cylinder 11 is bolted on gripping dogs 2 12, the model PT124G-111 of pressure sensor 20, pressure
Sensor 20 is fixed by screws in mounting groove 19, and there are two the settings of pressure sensor 20, the model of signal receiver 22
FAST 150M, the model KY02S of controller 24, the model Celeron 440 of processor 23, signal receiver 22, control
Device 24 and processor 23 are fixed by screws in control box 4, by being adhesively fixed between gripping block 16 and non-slip mat 21.
A kind of working principle of the mechanical grabbing device of industrial robot that the utility model is mentioned: when crawl article, lead to
Remote controler input action signal is crossed, manipulation case 4 controls rotating electric machine 3, the first motor 6 and the work of the second motor 8, will clamp
Claw 1 and gripping dogs 2 12 are moved to operating position, and hydraulic cylinder 11 works, gripping dogs 1 and gripping dogs 2 12
Open, start to clamp article, when hydraulic cylinder 11 is shunk, gripping dogs 1 and 2 12 closed pair article of gripping dogs into
Row clamps, 16 forced compression buffer spring 18 of gripping block in clamping process, and pressure sensor 20 detects what gripping block 16 was born
Pressure avoids clamping force too large or too small and causes to damage to the article being crawled, and non-slip mat 21 is provided in gripping block 16, is kept away
Exempt from that article surface is caused to scratch, when article is the materials such as cast iron, stainless steel, can use magnechuck 15 and realize crawl,
It is highly-safe.
Embodiment described above is only that preferred embodiments of the present invention are described, not practical to this
Novel conception and scope is defined.Without departing from the design concept of the present utility model, ordinary people in the field couple
The all variations and modifications that the technical solution of the utility model is made, should fall within the protection scope of the present utility model, this reality
With novel claimed technology contents, it is all described in the claims.
Claims (7)
1. a kind of mechanical grabbing device of industrial robot, it is characterised in that: including support base (1), support frame (2), rotation
Motor (3) and control box (4) are provided with support frame as described above (2) and the control box (4), the branch on the support base (1)
It is provided with below support (2) rotating electric machine (3), rotating seat (5), the rotating seat is provided with above support frame as described above (2)
(5) it is provided on first mechanical arm (7), the link position of the rotating seat (5) and the first mechanical arm (7) is provided with first
Motor (6), one end of the first mechanical arm (7) are provided with the second motor (8) and second mechanical arm (9), and described second
One end of mechanical arm (9) is provided with gripping dogs one (10) and gripping dogs two (12), is arranged on the gripping dogs two (12)
Have hydraulic cylinder (11), stay hook (13), institute are provided on the outside of the gripping dogs one (10) and the gripping dogs two (12)
It states and is provided on stay hook (13) fixing buckle (14), be provided with magnechuck (15), the folder below the fixing buckle (14)
It is provided with mounting groove (19) on the inside of tight claw one (10) and the gripping dogs two (12), is provided in the mounting groove (19)
Spring fixed seat (17) and pressure sensor (20) are provided with buffer spring (18) on the spring fixed seat (17), described slow
The one end for rushing spring (18) is provided with gripping block (16), is provided with non-slip mat (21), the control box on the gripping block (16)
(4) signal receiver (22), processor (23) and controller (24) are provided in.
2. a kind of mechanical grabbing device of industrial robot according to claim 1, it is characterised in that: support frame as described above
(2) it is bolted on the support base (1), the control box (4) is fixed by screws in the support base (1)
On.
3. a kind of mechanical grabbing device of industrial robot according to claim 1, it is characterised in that: the rotating electric machine
(3) it is bolted on the lower section of support frame as described above (2), passes through connection between the rotating electric machine (3) and the rotating seat (5)
The connection of axis device.
4. a kind of mechanical grabbing device of industrial robot according to claim 1, it is characterised in that: the stay hook
(13) it is fixed by welding on the gripping dogs one (10) and the gripping dogs two (12), the fixing buckle (14) and institute
It states there are two stay hook (13) is respectively provided with, the hydraulic cylinder (11) is bolted on the gripping dogs two (12).
5. a kind of mechanical grabbing device of industrial robot according to claim 1, it is characterised in that: the pressure sensing
The model PT124G-111 of device (20), the pressure sensor (20) are fixed by screws in the mounting groove (19), institute
It states there are two pressure sensor (20) settings.
6. a kind of mechanical grabbing device of industrial robot according to claim 1, it is characterised in that: the signal receives
The model FAST 150M of device (22), the model KY02S of the controller (24), the model of the processor (23)
Celeron 440。
7. a kind of mechanical grabbing device of industrial robot according to claim 1, it is characterised in that: the signal receives
Device (22), the controller (24) and the processor (23) are fixed by screws in the control box (4), the clamping
By being adhesively fixed between block (16) and the non-slip mat (21).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821188566.1U CN208977809U (en) | 2018-07-26 | 2018-07-26 | A kind of mechanical grabbing device of industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821188566.1U CN208977809U (en) | 2018-07-26 | 2018-07-26 | A kind of mechanical grabbing device of industrial robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208977809U true CN208977809U (en) | 2019-06-14 |
Family
ID=66780521
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821188566.1U Active CN208977809U (en) | 2018-07-26 | 2018-07-26 | A kind of mechanical grabbing device of industrial robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208977809U (en) |
-
2018
- 2018-07-26 CN CN201821188566.1U patent/CN208977809U/en active Active
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20201016 Address after: Room 20, room 101, 1st floor, No.1, Beijing Road, Limin Development Zone, Harbin, Heilongjiang Province Patentee after: Harbin zhunhua Robot Technology Co., Ltd Address before: Cheung Road, hailing Jiulong 225300 Jiangsu city of Taizhou province No. 7 Patentee before: Zhu Hongjie |