CN209207553U - A kind of heavy-duty industrial robot handgrip - Google Patents
A kind of heavy-duty industrial robot handgrip Download PDFInfo
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- CN209207553U CN209207553U CN201822039836.9U CN201822039836U CN209207553U CN 209207553 U CN209207553 U CN 209207553U CN 201822039836 U CN201822039836 U CN 201822039836U CN 209207553 U CN209207553 U CN 209207553U
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Abstract
本实用新型公开了一种重载工业机器人抓手,包括支撑板,所述支撑板上端中部设有固定块,所述支撑板上且位于固定块左右两组均开设有长方形通槽,所述长方形通槽内设有滑杆,所述滑杆上滑接有滑块,所述固定块左右两侧均设有第一气缸,所述第一气缸的输出端固定连接于滑块的一侧。本实用新型通过固定块上端面设有凸台,凸台上均匀开设有安装孔,方便将抓手安装,通过第一气缸输出端的收缩带动滑块在滑杆上向靠近固定块的方向运动,从而带动两组连杆以及抓手相互靠近,通过第二气缸输出端的伸长使得两组抓手相互靠近,通过抓手的卡爪相互卡接,对工件进行抓取夹持,使得抓取更稳固,通过双重夹持,使得抓取效果更好,不容易掉落。
The utility model discloses a gripper for a heavy-duty industrial robot, which comprises a support plate, a fixed block is arranged in the middle of the upper end of the support plate, and rectangular through slots are provided on the support plate and located on the left and right sides of the fixed block. A slide bar is arranged in the rectangular slot, and a slide block is slidably connected to the slide bar. A first air cylinder is provided on the left and right sides of the fixed block, and the output end of the first air cylinder is fixedly connected to one side of the slide block. . In the utility model, a boss is provided on the upper surface of the fixed block, and installation holes are evenly opened on the boss, which facilitates the installation of the gripper, and the shrinkage of the output end of the first cylinder drives the slider to move on the slide rod in a direction close to the fixed block. As a result, the two groups of connecting rods and the grippers are driven close to each other. The extension of the output end of the second cylinder makes the two groups of grippers approach each other. Stable, through double clamping, it makes the grabbing effect better and it is not easy to fall.
Description
技术领域technical field
本实用新型涉及机器人技术领域,具体为一种重载工业机器人抓手。The utility model relates to the technical field of robots, in particular to a heavy-duty industrial robot gripper.
背景技术Background technique
机器人抓手是一种能模仿人体手、臂动作,以实现抓取、搬运物件或操作工具的装置,其能够有效降低人员劳动负荷,提高工作效率,现已广泛应用于机械制造、冶金、电子等各领域。现有的机器人抓手结构不稳定,操作不灵活。为此,我们推出一种重载工业机器人抓手。The robot gripper is a device that can imitate the movement of the human hand and arm to grasp, carry objects or operate tools. It can effectively reduce the labor load of personnel and improve work efficiency. It has been widely used in machinery manufacturing, metallurgy, electronics, etc. and other fields. The existing robot gripper is unstable in structure and inflexible in operation. To this end, we introduce a heavy-duty industrial robot gripper.
实用新型内容Utility model content
本实用新型的目的在于提供一种重载工业机器人抓手,以解决上述背景技术中提出的问题。The purpose of this utility model is to provide a heavy-duty industrial robot gripper to solve the problems raised in the above-mentioned background technology.
为实现上述目的,本实用新型提供如下技术方案:一种重载工业机器人抓手,包括支撑板,所述支撑板上端中部设有固定块,所述支撑板上且位于固定块左右两组均开设有长方形通槽,所述长方形通槽内设有滑杆,所述滑杆上滑接有滑块,所述固定块左右两侧均设有第一气缸,所述第一气缸的输出端固定连接于滑块的一侧,所述滑块下端连接有连杆,所述连杆设有两组且位于滑块下端前后两侧,两组所述连杆之间通过销轴连接有抓手,所述抓手包括连接板和卡爪,所述卡爪位于连接板下端且向中心倾斜设置,所述支撑板下端左右两侧连接有第二气缸,所述第二气缸的输出端连接于抓手的连接板外侧。In order to achieve the above purpose, the utility model provides the following technical solutions: a heavy-duty industrial robot gripper, including a support plate, a fixed block is arranged in the middle of the upper end of the support plate, and the two groups of left and right sides of the support plate are located on the fixed block. A rectangular through groove is provided, and a slide bar is arranged in the rectangular through groove, and a slider is slidably connected to the slide bar, and a first cylinder is arranged on the left and right sides of the fixed block, and the output end of the first cylinder It is fixedly connected to one side of the slider, and the lower end of the slider is connected with a connecting rod. Hand, the gripper includes a connecting plate and claws, the claws are located at the lower end of the connecting plate and are inclined to the center, the left and right sides of the lower end of the support plate are connected to a second cylinder, and the output end of the second cylinder is connected to on the outside of the connecting plate of the gripper.
优选的,所述固定块上端面设有凸台,所述凸台上均匀开设有安装孔。Preferably, a boss is provided on the upper surface of the fixing block, and installation holes are evenly opened on the boss.
优选的,所述滑块前后两侧均设有导向块,所述长方形通槽内前后两侧壁均开设有用于滑接导向块的滑槽。Preferably, the front and rear sides of the slider are provided with guide blocks, and the front and rear side walls of the rectangular through groove are provided with slide grooves for slidingly connecting the guide blocks.
优选的,所述连杆上端焊接有安装板,所述安装板通过螺栓固定于滑块的底部。Preferably, a mounting plate is welded to the upper end of the connecting rod, and the mounting plate is fixed to the bottom of the slider by bolts.
优选的,两组所述抓手的卡爪相互交错设置。Preferably, the jaws of the two groups of grippers are arranged alternately.
优选的,所述第二气缸的顶部与第二气缸输出端的底部分别铰接支撑板底部和抓手的连接板外侧。Preferably, the top of the second cylinder and the bottom of the output end of the second cylinder are respectively hinged to the bottom of the support plate and the outside of the connecting plate of the handle.
与现有技术相比,本实用新型的有益效果是:本实用新型通过固定块上端面设有凸台,凸台上均匀开设有安装孔,方便将抓手安装,通过第一气缸输出端的收缩带动滑块在滑杆上向靠近固定块的方向运动,从而带动两组连杆以及抓手相互靠近,通过第二气缸输出端的伸长使得两组抓手相互靠近,通过抓手的卡爪相互卡接,对工件进行抓取夹持,使得抓取更稳固,通过双重夹持,使得抓取效果更好,不容易掉落。Compared with the prior art, the beneficial effect of the utility model is: the utility model is provided with a boss on the upper end surface of the fixed block, and the boss is uniformly provided with installation holes, which facilitates the installation of the gripper, and the shrinkage of the output end of the first cylinder Drive the slider to move towards the fixed block on the slide rod, thereby driving the two sets of connecting rods and the grippers to approach each other. The extension of the output end of the second cylinder makes the two sets of grippers approach each other, and the claws of the grippers move closer to each other. Clamping, grasping and clamping the workpiece, making the grasping more stable, through double clamping, the grasping effect is better and it is not easy to fall.
附图说明Description of drawings
图1为本实用新型结构示意图;Fig. 1 is the structural representation of the utility model;
图2为本实用新型俯视结构示意图;Fig. 2 is a schematic view of the structure of the utility model;
图3为本实用新型局部侧剖图结构示意图;Fig. 3 is a structural schematic diagram of a partial side sectional view of the utility model;
图4为本实用新型抓手结构示意图。Fig. 4 is a structural schematic diagram of the gripper of the present utility model.
图中:1支撑板、2固定块、3长方形通槽、4滑杆、5滑块、6第一气缸、7连杆、8抓手、801连接板、802卡爪、9第二气缸、10凸台、11安装孔、12导向块、13滑槽、14安装板。In the figure: 1 support plate, 2 fixed block, 3 rectangular through slot, 4 slide rod, 5 slide block, 6 first cylinder, 7 connecting rod, 8 gripper, 801 connecting plate, 802 claw, 9 second cylinder, 10 bosses, 11 mounting holes, 12 guide blocks, 13 slide grooves, 14 mounting plates.
具体实施方式Detailed ways
下面将结合本实用新型实施例中的附图,对本实用新型实施例中的技术方案进行清楚、完整地描述,显然,所描述的实施例仅仅是本实用新型一部分实施例,而不是全部的实施例。基于本实用新型中的实施例,本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例,都属于本实用新型保护的范围。The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. example. Based on the embodiments of the present utility model, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of the present utility model.
请参阅图1-4,本实用新型提供一种技术方案:一种重载工业机器人抓手,包括支撑板1,所述支撑板1上端中部设有固定块2,所述支撑板1上且位于固定块2左右两组均开设有长方形通槽3,所述长方形通槽3内设有滑杆4,所述滑杆4上滑接有滑块5,所述固定块2左右两侧均设有第一气缸6,所述第一气缸6的输出端固定连接于滑块5的一侧,所述滑块5下端连接有连杆7,所述连杆7设有两组且位于滑块5下端前后两侧,两组所述连杆7之间通过销轴连接有抓手8,所述抓手8包括连接板801和卡爪802,所述卡爪802位于连接板801下端且向中心倾斜设置,所述支撑板1下端左右两侧连接有第二气缸9,所述第二气缸9的输出端连接于抓手8的连接板801外侧。Please refer to Figures 1-4, the utility model provides a technical solution: a heavy-duty industrial robot gripper, including a support plate 1, a fixed block 2 is provided in the middle of the upper end of the support plate 1, and the support plate 1 and The two groups on the left and right of the fixed block 2 are all provided with a rectangular through groove 3, and a slide bar 4 is arranged in the rectangular through groove 3, and a slider 5 is slidably connected to the slide bar 4, and the left and right sides of the fixed block 2 are A first cylinder 6 is provided, the output end of the first cylinder 6 is fixedly connected to one side of the slider 5, and the lower end of the slider 5 is connected with a connecting rod 7, and the connecting rod 7 is provided with two groups and is located on the slider. On the front and rear sides of the lower end of the block 5, a gripper 8 is connected between the two groups of connecting rods 7 through pin shafts, and the gripper 8 includes a connecting plate 801 and a claw 802, and the claw 802 is located at the lower end of the connecting plate 801 and It is inclined to the center, and the left and right sides of the lower end of the support plate 1 are connected with the second air cylinder 9 , and the output end of the second air cylinder 9 is connected to the outside of the connecting plate 801 of the gripper 8 .
具体的,所述固定块2上端面设有凸台10,所述凸台10上均匀开设有安装孔11,方便安装。Specifically, the upper end surface of the fixed block 2 is provided with a boss 10, and the boss 10 is evenly opened with installation holes 11, which is convenient for installation.
具体的,所述滑块5前后两侧均设有导向块12,所述长方形通槽3内前后两侧壁均开设有用于滑接导向块12的滑槽13,对滑块5起到限位的作用,当滑块5在滑杆4上滑动时,通过导向块12在滑槽13内滑动,可防止滑块5发生倾斜,影响抓取效果。Specifically, the front and rear sides of the slider 5 are provided with guide blocks 12, and the front and rear side walls of the rectangular through groove 3 are provided with chute 13 for slidingly connecting the guide blocks 12 to limit the slider 5. When the slide block 5 slides on the slide bar 4, the guide block 12 slides in the chute 13 to prevent the slide block 5 from tilting and affect the grasping effect.
具体的,所述连杆7上端焊接有安装板14,所述安装板14通过螺栓固定于滑块5的底部,方便拆卸将连杆7和抓手8从滑块5上拆卸,便于更换。Specifically, the upper end of the connecting rod 7 is welded with a mounting plate 14, and the mounting plate 14 is fixed to the bottom of the slider 5 by bolts for easy disassembly. The connecting rod 7 and the handle 8 are disassembled from the slider 5 for easy replacement.
具体的,两组所述抓手8的卡爪802相互交错设置,使得抓取更稳固。Specifically, the claws 802 of the two groups of grippers 8 are arranged alternately so as to make the grasping more stable.
具体的,所述第二气缸9的顶部与第二气缸9输出端的底部分别铰接支撑板1底部和抓手8的连接板801外侧。Specifically, the top of the second cylinder 9 and the bottom of the output end of the second cylinder 9 are respectively hinged to the bottom of the support plate 1 and the outside of the connecting plate 801 of the handle 8 .
具体的,使用时,通过固定块2上端面设有凸台10,凸台10上均匀开设有安装孔11,方便将抓手安装,通过第一气缸6输出端的收缩带动滑块5在滑杆4上向靠近固定块2的方向运动,从而带动两组连杆7以及抓手8相互靠近,通过第二气缸9输出端的伸长使得两组抓手8相互靠近,通过抓手8的卡爪802相互卡接,对工件进行抓取夹持,使得抓取更稳固,通过双重夹持,使得抓取效果更好,不容易掉落。Specifically, when in use, the upper end surface of the fixed block 2 is provided with a boss 10, and the boss 10 is evenly provided with mounting holes 11 to facilitate the installation of the gripper. 4 moves in the direction close to the fixed block 2, thereby driving the two groups of connecting rods 7 and the grippers 8 to approach each other, the extension of the output end of the second cylinder 9 makes the two groups of grippers 8 approach each other, and the claws of the grippers 8 The 802 are clamped with each other to grasp and clamp the workpiece, making the grasp more stable. Through double clamping, the grasping effect is better and it is not easy to fall.
尽管已经示出和描述了本实用新型的实施例,对于本领域的普通技术人员而言,可以理解在不脱离本实用新型的原理和精神的情况下可以对这些实施例进行多种变化、修改、替换和变型,本实用新型的范围由所附权利要求及其等同物限定。Although the embodiments of the present invention have been shown and described, those skilled in the art can understand that various changes and modifications can be made to these embodiments without departing from the principle and spirit of the present invention , replacements and modifications, the scope of the present utility model is defined by the appended claims and their equivalents.
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Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
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CN110601468A (en) * | 2019-10-18 | 2019-12-20 | 余果 | Method for processing direct current permanent magnet motor iron core |
CN111066618A (en) * | 2020-01-18 | 2020-04-28 | 浙江农林大学 | A fruit tree transplanter |
CN111945637A (en) * | 2020-08-10 | 2020-11-17 | 河海大学常州校区 | Small-size road sweeper |
CN112388663A (en) * | 2020-10-14 | 2021-02-23 | 江西玉祥智能装备制造有限公司 | Special clamp for transfer robot |
CN112455318A (en) * | 2019-09-09 | 2021-03-09 | 牧原食品股份有限公司 | Pig clamping device |
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2018
- 2018-12-06 CN CN201822039836.9U patent/CN209207553U/en not_active Expired - Fee Related
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
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CN112455318A (en) * | 2019-09-09 | 2021-03-09 | 牧原食品股份有限公司 | Pig clamping device |
CN110601468A (en) * | 2019-10-18 | 2019-12-20 | 余果 | Method for processing direct current permanent magnet motor iron core |
CN111066618A (en) * | 2020-01-18 | 2020-04-28 | 浙江农林大学 | A fruit tree transplanter |
CN111945637A (en) * | 2020-08-10 | 2020-11-17 | 河海大学常州校区 | Small-size road sweeper |
CN112388663A (en) * | 2020-10-14 | 2021-02-23 | 江西玉祥智能装备制造有限公司 | Special clamp for transfer robot |
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