CN209380770U - A kind of robot flexible grips device - Google Patents
A kind of robot flexible grips device Download PDFInfo
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- CN209380770U CN209380770U CN201821930066.0U CN201821930066U CN209380770U CN 209380770 U CN209380770 U CN 209380770U CN 201821930066 U CN201821930066 U CN 201821930066U CN 209380770 U CN209380770 U CN 209380770U
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- plate
- electric permanent
- horizontal direction
- permanent magnet
- cylinder
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Abstract
A kind of robot flexible grips device, it is characterized by comprising robot connecting plate, U-shaped mounting blocks, mechanical gripper mechanism and electric permanent magnet handgrip mechanisms, U-shaped mounting blocks are arranged along left and right horizontal direction, robot connecting plate is vertically fixed on the leading flank of U-shaped mounting blocks, mechanical gripper mechanism is fastened on U-shaped mounting blocks, and the upper end of electric permanent magnet handgrip mechanism is connect with the downside of U-shaped mounting blocks；In conclusion the utility model structure is simple, easy to use, the reliability of grabbing workpiece is higher.
Description
Technical field
The utility model belongs to robot device's technical field more particularly to a kind of robot flexible grips device.
Background technique
In the use process of existing transfer robot, transfer robot is all that the dedicated handgrip of cooperation is used to ensure that carrying
The reliability grabbed in the process, the applicable product of this dedicated handgrip is single and use process in if the positioning tool of workpiece is fixed
Occurs the problem of error is just collided it is easy to appear product when position, therefore, we are badly in need of one kind can be with precise positioning workpiece and energy
The reliable robot gripper device for carrying workpiece.
Summary of the invention
A kind of robot proposed the purpose of the utility model is to overcome the deficiencies in the prior art is filled with flexible grips
It sets.
The utility model is realized in this way: a kind of robot flexible grips device, including it is robot connecting plate, U-shaped
Mounting blocks, mechanical gripper mechanism and electric permanent magnet handgrip mechanism, U-shaped mounting blocks are arranged along left and right horizontal direction, robot connection
Plate is vertically fixed on the leading flank of U-shaped mounting blocks, and mechanical gripper mechanism is fastened on U-shaped mounting blocks, electric permanent magnet handgrip machine
The upper end of structure is connect with the downside of U-shaped mounting blocks；
Mechanical gripper mechanism includes installation base body, and installation base body is fastened in U-shaped mounting blocks along left and right horizontal direction, installation
Matrix is fixed together by bolt and U-shaped mounting blocks, and the right end of installation base body is connected with three axis cylinders, the left end of installation base body
It is fixed with contact plate along the direction perpendicular to ground, positioning pin is provided in the middle part of contact plate right side, three axis cylinders are along left and right
Horizontally arranged, the telescopic rod of three axis cylinders is arranged horizontally to the right, and claw peace is fixedly connected on the telescopic rod of three axis cylinders
Loading board is provided with several claws along left and right horizontal direction on claw mounting plate.
Electric permanent magnet handgrip mechanism includes electric permanent magnet connecting plate, compression cylinder, cylinder mounting plate, limit plate and two blocks of electricity
Permanent magnet, two blocks of electric permanent magnets are each perpendicular to ground setting, the left and right ends of electric permanent magnet connecting plate respectively with two blocks of electric permanent magnetism
The upper end of iron is fixedly connected, and the upper end of electric permanent magnet connecting plate is connected with the lifter plate along the setting of left and right horizontal direction, lifter plate
Left and right ends be respectively connected with vertically disposed guiding axis, the lower end of guiding axis is fixedly connected with lifter plate, cylinder mounting plate edge
The surface of lifter plate is arranged in left and right horizontal direction, and vertically horizontal direction offers for the left and right ends of cylinder mounting plate
One mounting hole, linear bearing is vertically installed on the first mounting hole, and the upper end of guiding axis passes through linear bearing and is arranged in cylinder
Limit plate right above mounting plate is fixedly connected, and vertically horizontal direction offers the in the middle part of the rear side of cylinder mounting plate upper surface
Two mounting holes, compression cylinder are vertically set on the second mounting hole, and the telescopic rod of compression cylinder passes through the second mounting hole and is arranged
Below cylinder mounting plate, cylinder briquetting is connected on the telescopic rod of compression cylinder.
Middle part on rear side of the upper surface of lifter plate is fixed with buffer stopper.
Third mounting hole is offered in the middle part of limit plate, and oil buffer, oil buffer are installed on third mounting hole
Lower end is in contact with cylinder mounting plate.
The utility model has the advantages that the present apparatus using mechanical gripper mechanism and electricity by adopting the above technical scheme
Permanent magnet handgrip mechanism is used cooperatively, this makes the mechanical gripper mechanism of the present apparatus can adapt to the crawl work of various workpieces, and
Guarantee the reliability of crawl process, present apparatus entirety can be connect cooperation with robot by the robot connecting plate of the present apparatus to be made
With U-shaped mounting blocks link together the machine handgrip mechanism of the present apparatus and electric permanent magnet handgrip mechanism, the installation base of the present apparatus
Body links together mechanical gripper mechanism and U-shaped mounting blocks, is connected with claw, claw and contact plate on three axis Telescopic-cylinder bars
And detent fit uses, and workpiece can be secured firmly on mechanical gripper, also be can guarantee on the basis of accurate positioning
The reliability of workpiece is carried, required carrying workpiece, which only needs to reserve one, can meet this dress with the mutually matched hole of positioning pin
The carrying demand set, this design increase the adaptability of the present apparatus greatly, and the present apparatus electric permanent magnet arranged side by side can be with
Meet and carry iron class workpiece, is provided with oil buffer on limit plate, and oil buffer obtains lower end and connects with cylinder mounting plate
Touching, the floatability of oil buffer come into full contact with electric permanent magnet with workpiece surface, present apparatus compression cylinder after carrying workpiece
Original position is pushed up back after electric permanent magnet, electric permanent magnet connecting plate and lifter plate move up, linear bearing, which is set in, leads
To on axis, go up and down electric permanent magnet, electric permanent magnet connecting plate and lifter plate on guiding axis, behind the upper surface of lifter plate
Buffer stopper is fixed in the middle part of side, buffer stopper can make to play the role of buffering between cylinder and lifter plate, increase the present apparatus
Service life.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the present apparatus；
Fig. 2 is the structural schematic diagram of present apparatus mechanical gripper mechanism；
Fig. 3 is the structural schematic diagram of present apparatus electricity permanent magnet handgrip mechanism；
Fig. 4 is the structural schematic diagram at A；
Fig. 5 is the structural schematic diagram at B.
Specific embodiment
As shown in Fig. 1-Fig. 5 structure, a kind of robot flexible grips device, including robot connecting plate 1, U-shaped installation
Block 2, mechanical gripper mechanism and electric permanent magnet handgrip mechanism, U-shaped mounting blocks 2 are arranged along left and right horizontal direction, robot connecting plate 1
It is vertically fixed on the leading flank of U-shaped mounting blocks 2, mechanical gripper mechanism is fastened on U-shaped mounting blocks 2, electric permanent magnet handgrip machine
The upper end of structure is connect with the downside of U-shaped mounting blocks 2；
Mechanical gripper mechanism includes installation base body 5, and installation base body 5 is fastened in U-shaped mounting blocks 2 along left and right horizontal direction,
Installation base body 5 is fixed together by bolt with U-shaped mounting blocks 2, and the right end of installation base body 5 is connected with three axis cylinders 4, installs base
The left end of body 5 is fixed with contact plate 8 along the direction perpendicular to ground, is provided with positioning pin 7 in the middle part of 8 right side of contact plate, and three
Axis cylinder 4 is arranged along left and right horizontal direction, and the telescopic rod of three axis cylinders 4 is arranged horizontally to the right, solid on the telescopic rod of three axis cylinders 4
Surely it is connected with claw mounting plate 3, left and right horizontal direction is provided with several claws 6 on claw mounting plate 3.
Electric permanent magnet handgrip mechanism include electric permanent magnet connecting plate 14, compression cylinder 9, cylinder mounting plate 12, limit plate and
Two blocks of electric permanent magnets 15, two blocks of electric permanent magnets 15 are each perpendicular to ground setting, the left and right ends difference of electric permanent magnet connecting plate 14
It is fixedly connected with the upper end of two blocks of electric permanent magnets 15, the upper end of electric permanent magnet connecting plate 14 is connected with to be arranged along left and right horizontal direction
Lifter plate 19, the left and right ends of lifter plate 19 are respectively connected with vertically disposed guiding axis 13, the lower end of guiding axis 13 and lifting
Plate 19 is fixedly connected, and the surface of lifter plate 19 is arranged in along left and right horizontal direction for cylinder mounting plate 12, cylinder mounting plate 12
Vertically horizontal direction offers the first mounting hole for left and right ends, and linear bearing 11 is vertically installed on the first mounting hole, is led
It passes through linear bearing 11 to the upper end of axis 13 to be fixedly connected with the limit plate being arranged in right above cylinder mounting plate 12, cylinder installation
Vertically horizontal direction offers the second mounting hole in the middle part of the rear side of 12 upper surface of plate, and compression cylinder 9 is vertically set on the second peace
It fills on hole, the telescopic rod of compression cylinder 9 passes through the second mounting hole and is arranged below cylinder mounting plate 12, and compression cylinder 9 is stretched
Cylinder briquetting 16 is connected on bar.
Middle part on rear side of the upper surface of lifter plate 19 is fixed with buffer stopper 18.
Third mounting hole is offered in the middle part of limit plate, and oil buffer 17, oleo cushion are installed on third mounting hole
17 lower end of device is in contact with cylinder mounting plate 12.
When the utility model is used, the robot connecting plate 1 of the present apparatus is connect with robot first, with mechanical gripping
When mobile phone structure grabbing workpiece, the present apparatus is moved to first the surface of workpiece, then the present apparatus is slowly declined, works as the present apparatus
Positioning pin 7 and workpiece on location hole when being generally aligned in the same plane, the telescopic rod of three axis cylinders 4 stretches out, claw 6 and positioning pin 7
Cooperation locks workpiece, can carry to workpiece, after workpiece handling is to suitable position, the telescopic rod of three axis cylinders 4
It withdraws；
When electric permanent magnet handgrip mechanism grabbing workpiece, two blocks of the present apparatus electric permanent magnets 15 are moved to workpiece first
Surface, then the present apparatus declines, and two blocks of electric permanent magnets 15 are mutually adjacent to the mating surface on workpiece, then electric 15 wink of permanent magnet
Between magnetize by absorption of workpieces on magnet, compression cylinder 9 compresses after workpiece is moved away from tooling by transfer robot, electric permanent magnet 15,
Electric permanent magnet connecting plate 14 and lifter plate 19 return to original position, continue waiting for grabbing next workpiece.
The above is only the preferred embodiment of the present invention, is not intended to limit the utility model, for this field
Technical staff for, various modifications and changes may be made to the present invention, within the spirit and principle of the utility model,
Any modification, equivalent replacement, improvement and so on should be included within the scope of protection of this utility model.
Claims (4)
1. a kind of robot flexible grips device, it is characterised in that: including robot connecting plate, U-shaped mounting blocks, mechanical gripper
Mechanism and electric permanent magnet handgrip mechanism, U-shaped mounting blocks are arranged along left and right horizontal direction, and robot connecting plate is vertically fixed on U-shaped
On the leading flank of mounting blocks, mechanical gripper mechanism is fastened on U-shaped mounting blocks, the upper end of electric permanent magnet handgrip mechanism and U-shaped peace
Fill the downside connection of block；
Mechanical gripper mechanism includes installation base body, and installation base body is fastened in U-shaped mounting blocks along left and right horizontal direction, installation base body
It is fixed together by bolt and U-shaped mounting blocks, the right end of installation base body is connected with three axis cylinders, and the left end of installation base body is along vertical
It directly is fixed with contact plate in the direction on ground, positioning pin is provided in the middle part of contact plate right side, three axis cylinders are along left and right horizontal
Direction setting, the telescopic rod of three axis cylinders are arranged horizontally to the right, are fixedly connected with claw mounting plate on the telescopic rod of three axis cylinders,
Left and right horizontal direction is provided with several claws on claw mounting plate.
2. a kind of robot flexible grips device according to claim 1, it is characterised in that: electric permanent magnet handgrip mechanism
Including the electric permanent magnet of electric permanent magnet connecting plate, compression cylinder, cylinder mounting plate, limit plate and two blocks, two blocks of electric permanent magnets hang down
Directly it is arranged in ground, the left and right ends of electric permanent magnet connecting plate are fixedly connected with the upper end of two blocks of electric permanent magnets respectively, electric permanent magnetism
The upper end of iron connecting plate is connected with the lifter plate along the setting of left and right horizontal direction, and the left and right ends of lifter plate, which are respectively connected with, vertically to be set
The lower end of the guiding axis set, guiding axis is fixedly connected with lifter plate, and cylinder mounting plate is arranged along left and right horizontal direction in lifter plate
Surface, vertically horizontal direction offers the first mounting hole for the left and right ends of cylinder mounting plate, hangs down on the first mounting hole
Linear bearing is directly installed, the upper end of guiding axis passes through linear bearing and fixes with the limit plate being arranged in right above cylinder mounting plate
Connection, vertically horizontal direction offers the second mounting hole at the rear side middle part of cylinder mounting plate upper surface, and compression cylinder is vertically set
It sets on the second mounting hole, the telescopic rod of compression cylinder passes through the second mounting hole and is arranged below cylinder mounting plate, compression cylinder
Telescopic rod on be connected with cylinder briquetting.
3. a kind of robot flexible grips device according to claim 2, it is characterised in that: behind the upper surface of lifter plate
Buffer stopper is fixed in the middle part of side.
4. a kind of robot flexible grips device according to claim 2, it is characterised in that: opened up in the middle part of limit plate
There is third mounting hole, oil buffer is installed on third mounting hole, oil buffer lower end is in contact with cylinder mounting plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821930066.0U CN209380770U (en) | 2018-11-22 | 2018-11-22 | A kind of robot flexible grips device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821930066.0U CN209380770U (en) | 2018-11-22 | 2018-11-22 | A kind of robot flexible grips device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209380770U true CN209380770U (en) | 2019-09-13 |
Family
ID=67865306
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821930066.0U Active CN209380770U (en) | 2018-11-22 | 2018-11-22 | A kind of robot flexible grips device |
Country Status (1)
| Country | Link |
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| CN (1) | CN209380770U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109465846A (en) * | 2018-11-22 | 2019-03-15 | 郑州科慧科技股份有限公司 | A kind of robot flexible grips device |
| CN112091799A (en) * | 2020-11-19 | 2020-12-18 | 天衍医疗器材有限公司 | Joint prosthesis precision machining device |
-
2018
- 2018-11-22 CN CN201821930066.0U patent/CN209380770U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109465846A (en) * | 2018-11-22 | 2019-03-15 | 郑州科慧科技股份有限公司 | A kind of robot flexible grips device |
| CN112091799A (en) * | 2020-11-19 | 2020-12-18 | 天衍医疗器材有限公司 | Joint prosthesis precision machining device |
| CN112091799B (en) * | 2020-11-19 | 2021-02-23 | 天衍医疗器材有限公司 | Joint prosthesis precision machining device |
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