CN209615550U - A kind of cooperation robot Acetabula device - Google Patents
A kind of cooperation robot Acetabula device Download PDFInfo
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- CN209615550U CN209615550U CN201822175138.1U CN201822175138U CN209615550U CN 209615550 U CN209615550 U CN 209615550U CN 201822175138 U CN201822175138 U CN 201822175138U CN 209615550 U CN209615550 U CN 209615550U
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- robot
- cooperation robot
- fixing seat
- sucking disc
- cooperation
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Abstract
The utility model relates to a kind of cooperation robot Acetabula devices, including cooperation robot and the elastic buffering mechanism for being set to the cooperation robot end, the end of the elastic buffering mechanism is additionally provided with assisted sucking disc structure by robot flange, the end of the assisted sucking disc structure is connect by vacuum generator with sucker, the assisted sucking disc structure includes guiding fixing seat, guide-localization key, stop collar, guide rod and spring, the assisted sucking disc structure is connected by the guiding fixing seat with the robot flange, it passes through the guide rod and the vacuum generator plug connection.Compared with prior art, the utility model has many advantages, such as that crawl absorption is stablized, and compactness is high.
Description
Technical field
The utility model relates to robotic technology fields, more particularly, to a kind of cooperation robot Acetabula device.
Background technique
Currently, the extensive use with cooperation robot in 3C industry and some other industries, crawl, stacking in part
Form also have this more and more application case；Wherein the application case of crawl stacking is removed in the combination of cooperation robot and sucker
Also have very much；And traditional there are some parts, when according to traditional design scheme, needing to design many machines at crawl position
Tool part causes the disadvantages of cost is excessively high, and mechanism is complicated；And common mechanical detail rigidity is generally relatively high, in crawl
Process is easy to damage part；So the utility model proposes: replace traditional handgrip that can substantially reduce cost with Acetabula device
With the complicated degree of mechanism, the surface of part can also be protected simultaneously；
And sucker only many times is added in the end of cooperation robot in the application of cooperation robot sucker
Device, however unstable phenomenon is grabbed as such case will appear；Such as: it is filled in the end of cooperation robot added with sucker
Set, what cooperation robot cannot be excessive when drawing part is close, there are certain gaps, if there are gaps, inhale
Disk can cause the failure of equipment according to the damage at Acetabula device with the excessive extruding of part.
Utility model content
The purpose of this utility model is exactly to provide one kind in cooperation machine to overcome the problems of the above-mentioned prior art
Assisted sucking disc structure is set between the end and sucker of device people, to guarantee in the case where sucker and part are sufficiently bonded, both
Guarantee the stability of the crawl of part, while guaranteeing the intact cooperation robot Acetabula device of Acetabula device.
The purpose of this utility model can be achieved through the following technical solutions:
A kind of cooperation robot Acetabula device, including cooperation robot and the elasticity for being set to the cooperation robot end
The end of buffer unit, the elastic buffering mechanism is additionally provided with assisted sucking disc structure, the assisted sucking disc by robot flange
The end of structure is connect by vacuum generator with sucker.
Further, the assisted sucking disc structure include guiding fixing seat, guide-localization key, stop collar, guide rod and
Spring, the assisted sucking disc structure are connected by the guiding fixing seat with the robot flange, and the guiding is passed through
Bar and the vacuum generator plug connection.
Further, hollow slotting grain is equipped in the guiding fixing seat, the hollow slotting grain is sequentially inserted into institute from top to bottom
Spring and the guide rod are stated, groove is additionally provided on the lateral wall of the guide rod, the guide-localization key is fixedly installed in institute
It states in groove and from the aperture protrusion being set on the guiding fixing seat side wall, the stop collar socket is installed on the guiding
It is fixed on the outside of one end of fixing seat and with the guide-localization key detent.
Further, the freedom degree number of the cooperation robot is 6DOF or 7 freedom degrees, the cooperation robot
It is made of multiple bearing rotary joints, mounting seat and outer containment.
Further, the elastic buffering mechanism include plastic sleeve and grafting be installed on it is hydraulic in the plastic sleeve
Damper, the elastic buffering mechanism by the plastic sleeve respectively with robot end and the robot method of cooperating
Orchid is connected.
Further, the Adsorption responding time of the vacuum generator is 0.5s~0.8s.
Compared with prior art, the utility model has the advantage that
(1) part can be drawn with arbitrary distance of run range, pass through the manipulator end for cooperation robot in the utility model
The end of elastic buffering mechanism at position is additionally provided with assisted sucking disc structure, the end of assisted sucking disc structure by robot flange
It is connect by vacuum generator with sucker, and refinement is carried out for assisted sucking disc structure, so that sucker does not press to part
When guide-localization key and stop collar due to precompressed spring force, to abut；It, can be with when sucker goes to draw part
It allows sucker to press to part, is greater than after the spring force of precompressed at this time, so that it may which, spring-compressed, guide rod moves up, in this way
It is more convenient for the operation for drawing part, and maintain part stability.
(2) structure is simple, low in cost, the design of the assisted sucking disc structure in the utility model are as follows: in fixed guide reservation 6
Equipped with hollow slotting grain, hollow slotting grain is sequentially inserted into spring 10 and guide rod 9 from top to bottom, is additionally provided on the lateral wall of guide rod 9
Groove, guide-localization key 7 are fixedly installed in groove and protrude from the aperture being set on guiding 6 side wall of fixing seat, stop collar 8
Socket is installed on the outside of one end of guiding fixing seat 6 and fixes with 7 detent of guide-localization key, which can guarantee to be directed to part
Absorption can there are more buffer gaps, do not easily cause the damage of part and sucker, overall structure is simple and at low cost
Honest and clean, die sinking manufacture is also very easy.
Detailed description of the invention
In order to further elucidate the utility model each embodiment the above and other advantages and features, will with reference to attached drawing come
The more specific description of each embodiment of the utility model is presented.It is appreciated that these attached drawings only describe the allusion quotation of the utility model
Type embodiment, therefore be not to be regarded as being restriction on its scope.Also, the relative position of various pieces shown in the accompanying drawings and
Size is exemplary, and is not to be construed as the position uniquely determined between various pieces or size relationship.
Fig. 1 is the overall structure diagram of the utility model；
Fig. 2 is the sucker position partial enlargement structural representation of cooperation robot in the utility model；
Fig. 3 is the structural schematic diagram of the assisted sucking disc structure in the utility model；
Drawing reference numeral explanation:
1 is cooperation robot；2 be elastic buffering mechanism；3 be vacuum generator；4 be sucker；5 be robot flange；6 are
It is oriented to fixing seat；7 be guide-localization key；8 be stop collar；9 be guide rod；10 be spring.
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
It clearly and completely describes, it is clear that described embodiment is a part of the embodiment of the utility model, rather than is all implemented
Example.Based on the embodiments of the present invention, those of ordinary skill in the art institute without making creative work
The every other embodiment obtained all should belong to the range of the utility model protection.
Embodiment
It is as depicted in figs. 1 and 2 the utility model overall structure and its sucker position partial enlargement structural representation, including
Cooperation robot 1 and be set to cooperation 1 end of robot elastic buffering mechanism 2, elastic buffering mechanism 2 include plastic sleeve and
Grafting is installed on the hydraulic damper in plastic sleeve, and elastic buffering mechanism 2 is last with the robot 1 that cooperates respectively by plastic sleeve
End and robot flange 5 are connected, and the end of elastic buffering mechanism 2 passes through robot flange 5 and is additionally provided with assisted sucking disc structure, auxiliary
Help the end of sucker structure to connect by vacuum generator 3 with sucker 4, the mechanism of specific implementation mainly by: the robot 1 that cooperates,
Elastic buffering mechanism 2, vacuum generator 3, assisted sucking disc structure and sucker 4 form, cooperation robot 1 be 6DOF or 7 from
By degree cooperation robot, be made of multiple bearing rotary joints, mounting seat and outer containment, worked together with the mankind
There is the robot closely interacted in space, elastic buffering mechanism 2 has pooling feature, for protecting sucker 4, vacuum generator
3 Adsorption responding time is 0.5s~0.8s, is used to provide negative pressure to sucker 4, provides adsorption capacity to a certain extent,
It is illustrated in figure 3 the structural schematic diagram of assisted sucking disc structure in the utility model, assisted sucking disc structure includes guiding
Fixing seat 6, guide-localization key 7, stop collar 8, guide rod 9 and spring 10, assisted sucking disc structure pass through guiding fixing seat 6 and machine
People's flange 5 is connected, and by guide rod 9 and 3 plug connection of vacuum generator, tracheae and guiding are connected on vacuum generator 3
The hollow groove of bar 9 plugs, and logical certain air pressure guarantees work, and air pressure on-off is oriented to fixing seat 6 by solenoid valve control
Interior to be equipped with hollow slotting grain, hollow slotting grain is sequentially inserted into spring 10 and guide rod 9 from top to bottom, also sets on the lateral wall of guide rod 9
Fluted, guide-localization key 7 is fixedly installed in groove and from the aperture protrusion being set on guiding 6 side wall of fixing seat, is limited
Ring 8 is socketed on the outside of the one end for being installed on guiding fixing seat 6 and fixes with 7 detent of guide-localization key, to guarantee guide-localization key 7
It will not deviate from from guiding fixing seat 6.
The working principle of the utility model are as follows:
When sucker 4 does not press to part guide-localization key 7 and stop collar 8 due to precompressed spring force, to abut；
When sucker 4 goes to draw part, sucker 4 can be allowed to press to part, be greater than after the spring force of precompressed at this time, so that it may
Spring 10 compresses, and guide rod 9 moves up；To guarantee that sucker draws the stability of part.
Above description is only a specific implementation of the present invention, but the protection scope of the utility model is not limited to
In this, anyone skilled in the art within the technical scope disclosed by the utility model, can be readily occurred in various
Equivalent modifications or substitutions, these modifications or substitutions should be covered within the scope of the utility model.Therefore, this is practical
Novel protection scope should be subject to the protection scope in claims.
Claims (6)
1. a kind of cooperation robot Acetabula device including cooperation robot (1) and is set to described cooperation robot (1) end
Elastic buffering mechanism (2), which is characterized in that the end of the elastic buffering mechanism (2) is additionally provided with auxiliary by robot flange (5)
Sucker structure is helped, the end of the assisted sucking disc structure is connect by vacuum generator (3) with sucker (4).
2. a kind of cooperation robot Acetabula device according to claim 1, which is characterized in that the assisted sucking disc structure
Including guiding fixing seat (6), guide-localization key (7), stop collar (8), guide rod (9) and spring (10), the assisted sucking disc knot
Structure is connected by the guiding fixing seat (6) with the robot flange (5), by the guide rod (9) and described true
Empty generator (3) plug connection.
3. a kind of cooperation robot Acetabula device according to claim 2, which is characterized in that the guiding fixing seat (6)
Interior to be equipped with hollow slotting grain, the hollow slotting grain is sequentially inserted into the spring (10) and the guide rod (9) from top to bottom, described to lead
Groove is additionally provided on the lateral wall of bar (9), the guide-localization key (7) is fixedly installed in the groove and from being set to
The aperture protrusion on guiding fixing seat (6) side wall is stated, stop collar (8) socket is installed on the one of guiding fixing seat (6)
End outside is simultaneously fixed with guide-localization key (7) detent.
4. a kind of cooperation robot Acetabula device according to claim 1, which is characterized in that the cooperation robot (1)
Freedom degree number be 6DOF or 7 freedom degrees, the cooperation robot (1) by multiple bearing rotary joints, mounting seat and
Outer containment is constituted.
5. a kind of cooperation robot Acetabula device according to claim 1, which is characterized in that the elastic buffering mechanism
(2) include plastic sleeve and grafting is installed on hydraulic damper in the plastic sleeve, the elastic buffering mechanism (2) passes through
The plastic sleeve is connected with the robot that cooperates (1) end and the robot flange (5) respectively.
6. a kind of cooperation robot Acetabula device according to claim 1, which is characterized in that the vacuum generator (3)
Adsorption responding time be 0.5s~0.8s.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822175138.1U CN209615550U (en) | 2018-12-24 | 2018-12-24 | A kind of cooperation robot Acetabula device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822175138.1U CN209615550U (en) | 2018-12-24 | 2018-12-24 | A kind of cooperation robot Acetabula device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209615550U true CN209615550U (en) | 2019-11-12 |
Family
ID=68446829
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822175138.1U Active CN209615550U (en) | 2018-12-24 | 2018-12-24 | A kind of cooperation robot Acetabula device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209615550U (en) |
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2018
- 2018-12-24 CN CN201822175138.1U patent/CN209615550U/en active Active
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