CN208977827U - A kind of clamping device of industrial robot - Google Patents
A kind of clamping device of industrial robot Download PDFInfo
- Publication number
- CN208977827U CN208977827U CN201820815498.0U CN201820815498U CN208977827U CN 208977827 U CN208977827 U CN 208977827U CN 201820815498 U CN201820815498 U CN 201820815498U CN 208977827 U CN208977827 U CN 208977827U
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- China
- Prior art keywords
- clamping
- fixture block
- cable wire
- fixedly connected
- block
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Abstract
The utility model discloses a kind of clamping devices of industrial robot, its structure includes machine arm, it further include stretching cable wire and cable wire fixed block on the machine arm, the stretching cable wire is arranged at the downside of sensor, and it is fixedly connected with sensor by cable wire fixed block, the other end of the machine arm is fixedly connected with clamping case, it is fixedly connected at the top of the other end for stretching cable wire and clamping case, the bottom of the clamping case is set there are four fixture block, the fixture block and clamping case rotation connection, the inside of the clamping case is equipped with telescopic rod, upper mounted plate is fixedly connected at the top of the telescopic rod, the bottom of the telescopic rod is fixedly connected with the second rotating block, the utility model, the clamping cable wire being equipped with enables clamping device to clip to object local farther out, clamping range is wider, the first rotating block is arranged can be according to the big of object Minor adjustment fixture block precisely can quickly clip to object equipped with pressure sensor and infrared ray distance detector, improve work efficiency.
Description
Technical field
The utility model relates to the clamping device equipment technical field of industrial robot, specially a kind of industrial robot
Clamping device.
Background technique
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, and the clamping device of industrial robot is the equipment held object and then manipulate object, it can execute certain movements
While clamp and unclamp object.Sports equipment often imitates the movement of human body, for clamper, imitation be finger fortune
It is dynamic.
But the clamping range of current clamping device is typically all fixation, it can not be according to the big minor adjustment model of object
Enclose, while existing clamping device can only clip to the thing that its wall bar can be encountered, for farther away wall bar touch less than place
It can not just clip to, clamping range is limited, for this purpose, it is proposed that a kind of clamping device of industrial robot.
Utility model content
The purpose of this utility model is to provide a kind of clamping devices of industrial robot, solve in background technique and are mentioned
Out the problem of.
To achieve the above object, the utility model provides the following technical solutions: a kind of clamping device of industrial robot,
Structure includes machine arm, further includes stretching cable wire and cable wire fixed block on the machine arm, and the stretching cable wire setting exists
It at the downside of machine arm, and is fixedly connected with machine arm by cable wire fixed block, the other end of the machine arm is fixed
It is connected with clamping case, is fixedly connected at the top of the other end for stretching cable wire and clamping case, the bottom of the clamping case is equipped with
Four fixture blocks, the fixture block and clamping case rotation connection, the inside of the clamping case are equipped with telescopic rod, the top of the telescopic rod
It is fixedly connected with upper mounted plate, the bottom of the telescopic rod is fixedly connected with the second rotating block.
As a kind of preferred embodiment of the utility model, the front middle part of four telescopic rods is equipped with clamping steel
Upper mounted plate is run through on rope, the top of the clamping cable wire, and the inside of fixed plate is equipped with shaft, the clamping cable wire socket
On the surface of shaft, the side of the shaft is equipped with motor, and the inside of the clamping case is equipped with cavity, and the motor is located at cavity
Inside, and with clamping case be fixedly connected.
As a kind of preferred embodiment of the utility model, the bottom of second rotating block is fixedly connected with fixture block,
The fixture block includes upper fixture block and lower fixture block, and the central rotational of the upper fixture block and lower fixture block is connected with the first rotating block, described
Cushion is equipped on the inside of four fixture blocks, the cushion is fixedly connected with fixture block.
As a kind of preferred embodiment of the utility model, each telescopic rod is by two individual body of rod groups
At, and the place of each body of rod intersection is equipped with connector, two bodies of rod are rotatablely connected by the connector, and the telescopic rod can be done
It moves up and down.
As a kind of preferred embodiment of the utility model, infrared ray distance inspection is equipped among the bottom of the clamping case
Device is surveyed, the infrared ray distance detector is fixedly connected with clamping case, and the inside of lower fixture block is equipped with pressure sensor, the pressure
One end of sensor is connect with cushion contact, the infrared ray distance detector and pressure sensor with the control of robot
System electrical connection.
Compared with prior art, the beneficial effects of the utility model are as follows:
A kind of clamping device of industrial robot is adjustable the length of fixture block by the clamping cable wire being equipped with, makes to clamp
Device can clip to object local farther out, and clamping range is wider, industrial machine task efficiency is improved, by fixture block
Centre the first rotating block of setting can make fixture block more flexible, can be adjusted according to the size of object, more convenient object picks up.
The pressure sensor being equipped with can detect fixture block to the pressure of object, prevent fixture block pressure is excessive from causing to damage to object
Wound or grip force is too small is difficult to pick up object, the infrared ray distance detector being equipped with can detect object at a distance from fixture block, from
And object precisely can be quickly clipped to, the clamping time is reduced, working efficiency is improved.
Detailed description of the invention
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other spies of the utility model
Sign, objects and advantages will become more apparent upon:
Fig. 1 is a kind of schematic view of the front view of the clamping device of industrial robot of the utility model；
Fig. 2 is a kind of broken section structural schematic diagram of the clamping device of industrial robot of the utility model；
Fig. 3 is a kind of fragmentary bottom structural schematic diagram of the clamping device of industrial robot of the utility model.
In figure: 1- machine arm, 2- stretching cable wire, 21- cable wire fixed block, 3- clamping case, 4- fixture block, 41- upper fixture block,
42- lower fixture block, the first rotating block of 5-, 6- upper mounted plate, 7- cavity, 8- telescopic rod, 81- connector, the second rotating block of 9-, 10-
Clamp cable wire, 11- shaft, 12- motor, 13- cushion, 14- pressure sensor, 15- infrared ray distance detector.
Specific embodiment
To be easy to understand the technical means, creative features, achievement of purpose, and effectiveness of the utility model, below
In conjunction with specific embodiment, the utility model is further described.
Fig. 1-3 is please referred to, the utility model provides a kind of technical solution: a kind of clamping device of industrial robot, knot
Structure includes machine arm 1, further includes that stretching cable wire 2 and cable wire fixed block 21, the stretching cable wire 2 are set on the machine arm 1
Set at the downside of machine arm 1, and be fixedly connected with machine arm 1 by cable wire fixed block 21, the machine arm 1 it is another
One end is fixedly connected with clamping case 3, and the other end for stretching cable wire 2 is fixedly connected with the top of clamping case 3, the clamping case
3 bottom is set there are four fixture block 4, and the fixture block 4 is rotatablely connected with clamping case 3, and the inside of the clamping case 3 is equipped with telescopic rod 8,
The top of the telescopic rod 8 is fixedly connected with upper mounted plate 6, and the bottom of the telescopic rod 8 is fixedly connected with the second rotating block 9.
Referring to Fig. 2, the front middle part of four telescopic rods 8 is equipped with clamping cable wire 10, the clamping cable wire 10
Upper mounted plate 6 is run through on top, and the inside of fixed plate 6 is equipped with shaft 11, and the clamping cable wire 10 is socketed in shaft 11
Surface, the side of the shaft 11 are equipped with motor 12, and the inside of the clamping case 3 is equipped with cavity 7, and the motor 12 is located at cavity
7 inside, and be fixedly connected with clamping case 3.The clamping cable wire 10 being equipped with plays the work for driving about 8 telescopic rod to be stretched
With the shaft 11 and motor 12 being equipped with play the role of that clamping cable wire 10 is driven to rotate.
Referring to Fig. 2, the bottom of second rotating block 9 is fixedly connected with fixture block 4, the fixture block 4 includes upper fixture block 41
With lower fixture block 42, the central rotational of the upper fixture block 41 and lower fixture block 42 is connected with the first rotating block 5, four fixture blocks 4
Inside is equipped with cushion 13, and the cushion 13 is fixedly connected with fixture block 4.The first rotating block 5 being equipped with, which plays, allows lower fixture block
The effect of 42 rotations, the cushion 13 being equipped with play the role of buffering.
Referring to Fig. 2, each telescopic rod 8 is made of two individual bodies of rod, and the place of each body of rod intersection
Equipped with connector 81, two bodies of rod are rotatablely connected by the connector 81, and the telescopic rod 8 can move up and down.The company being equipped with
Fitting 81 plays fixed effect.
Referring to Fig. 3, being equipped with infrared ray distance detector 15, the infrared ray distance among the bottom of the clamping case 3
Detector 15 is fixedly connected with clamping case 3, and the inside of lower fixture block 42 is equipped with pressure sensor 14, and the one of the pressure sensor 14
End is connected with cushion 13, the infrared ray distance detector 15 and pressure sensor 14 with the control system of robot
Electrical connection.The infrared ray distance detector 15 being equipped with plays the role of detecting distance between fixture block 4 and caught object, the pressure being equipped with
Force snesor 14 plays the role of detecting fixture block 4 to caught object pressure applied.
The 1- machine arm of the utility model, 2- stretch cable wire, 21- cable wire fixed block, and 3- clamps case, 4- fixture block, 41-
Upper fixture block, 42- lower fixture block, the first rotating block of 5-, 6- upper mounted plate, 7- cavity, 8- telescopic rod, 81- connector, 9- second are rotated
Block, 10- clamp cable wire, 11- shaft, 12- motor, 13- cushion, 14- pressure sensor, 15- infrared ray distance detector, portion
Part is universal standard part or component as known to those skilled in the art, and structure and principle are all that this technology personnel can pass through
Technical manual is learnt or is known by routine experiment method.
Working principle: machine arm 1 is driven to be moved when the utility model is used, first passing through and stretching cable wire 2, so
It drives clamping cable wire 10 to move up and down by motor 12 afterwards, so that telescopic rod 8 be driven to move up and down, then passes through telescopic rod 8
It drives fixture block 4 to move up and down, 41 left-right rotation of upper fixture block is then driven by the second rotating block 9, then pass through the first rotation
Block 5 drives lower fixture block 42 to carry out left-right rotation, then by the distance between the test of infrared ray distance detector 15 and object, most
Fixture block 4 is tested to the pressure of object, so that adjusting fixture block 4 picks up object by pressure sensor 14 afterwards.
The basic principles and main features of the present invention and the advantages of the present invention have been shown and described above, for
For those skilled in the art, it is clear that the present invention is not limited to the details of the above exemplary embodiments, and without departing substantially from this
In the case where the spirit or essential attributes of utility model, the utility model can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the utility model is by institute
Attached claim rather than above description limit, it is intended that will fall within the meaning and scope of the equivalent elements of the claims
All changes are embraced therein.It should not treat any reference in the claims as limiting related right
It is required that.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
The other embodiments being understood that.
Claims (5)
1. a kind of clamping device of industrial robot, structure includes machine arm (1), it is characterised in that: the machine arm
It (1) further include stretching cable wire (2) and cable wire fixed block (21) on, it is described to stretch cable wire (2) setting in the downside of machine arm (1)
Place, and be fixedly connected with machine arm (1) by cable wire fixed block (21), the other end of the machine arm (1) is fixedly connected
Have clamping case (3), is fixedly connected at the top of the other end for stretching cable wire (2) and clamping case (3), clamping case (3)
Bottom is set there are four fixture block (4), the fixture block (4) and clamping case (3) rotation connection, and the inside of clamping case (3), which is equipped with, stretches
Contracting bar (8) is fixedly connected with upper mounted plate (6) at the top of the telescopic rod (8), and the bottom of the telescopic rod (8) is fixedly connected
There are the second rotating block (9).
2. a kind of clamping device of industrial robot according to claim 1, it is characterised in that: four telescopic rods
(8) front middle part be equipped with clamping cable wire (10), it is described clamping cable wire (10) top run through upper mounted plate (6), it is described on
The inside of fixed plate (6) is equipped with shaft (11), and clamping cable wire (10) is socketed in the surface of shaft (11), the shaft (11)
Side be equipped with motor (12), the inside of clamping case (3) is equipped with cavity (7), and the motor (12) is located at the interior of cavity (7)
Portion, and be fixedly connected with clamping case (3).
3. a kind of clamping device of industrial robot according to claim 1, it is characterised in that: second rotating block
(9) bottom is fixedly connected with fixture block (4), and the fixture block (4) includes upper fixture block (41) and lower fixture block (42), the upper fixture block
(41) it is connected with the first rotating block (5) with the central rotational of lower fixture block (42), is equipped with buffering on the inside of four fixture blocks (4)
It pads (13), the cushion (13) is fixedly connected with fixture block (4).
4. a kind of clamping device of industrial robot according to claim 1, it is characterised in that: each telescopic rod
(8) it is made of two individual bodies of rod, and the place of each body of rod intersection is equipped with connector (81), the connector (81) will
Two body of rod rotation connections, the telescopic rod (8) can move up and down.
5. a kind of clamping device of industrial robot according to claim 3, it is characterised in that: clamping case (3)
Infrared ray distance detector (15) are equipped among bottom, the infrared ray distance detector (15) is fixedly connected with clamping case (3),
The inside of lower fixture block (42) is equipped with pressure sensor (14), one end of the pressure sensor (14) and cushion (13) company of contact
It connects, the infrared ray distance detector (15) and pressure sensor (14) are electrically connected with the control system of robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820815498.0U CN208977827U (en) | 2018-05-29 | 2018-05-29 | A kind of clamping device of industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820815498.0U CN208977827U (en) | 2018-05-29 | 2018-05-29 | A kind of clamping device of industrial robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208977827U true CN208977827U (en) | 2019-06-14 |
Family
ID=66777456
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820815498.0U Expired - Fee Related CN208977827U (en) | 2018-05-29 | 2018-05-29 | A kind of clamping device of industrial robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208977827U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111591749A (en) * | 2020-06-02 | 2020-08-28 | 中国原子能科学研究院 | Conveying device |
-
2018
- 2018-05-29 CN CN201820815498.0U patent/CN208977827U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111591749A (en) * | 2020-06-02 | 2020-08-28 | 中国原子能科学研究院 | Conveying device |
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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: 20190614 Termination date: 20200529 |