CN210525138U - Object taking and grabbing structure of robot - Google Patents
Object taking and grabbing structure of robot Download PDFInfo
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- CN210525138U CN210525138U CN201921586213.1U CN201921586213U CN210525138U CN 210525138 U CN210525138 U CN 210525138U CN 201921586213 U CN201921586213 U CN 201921586213U CN 210525138 U CN210525138 U CN 210525138U
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- robot
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- hydraulic
- hydraulic telescopic
- telescopic rods
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Abstract
The utility model discloses a structure is grabbed to thing hand of robot, include: the hydraulic cylinder, gripper base, hydraulic telescoping rod, gripper base's bottom is the annular angle welding such as has three steering connection frame. The utility model discloses in, carry out drive control to three mechanical grapple through being equipped with three independent hydraulic telescoping rod, compare with traditional carry out drive control to a plurality of mechanical grapple simultaneously through single hydraulic telescoping rod, when snatching article, when a certain hydraulic telescoping rod breaks down, two other hydraulic telescoping rods can also cooperate its driven mechanical grapple to snatch article, make article be unlikely to directly drop, the security of using improves, the embedding is equipped with electromagnet in the gripper base simultaneously, when snatching metal object, can assist through electromagnet and adsorb fixedly, further improve the stability of snatching, the practicality of this robot gets the thing and grabs the structure is got to the thing.
Description
Technical Field
The utility model relates to the technical field of robot, especially, relate to a structure is grabbed to thing hand is got to robot.
Background
The robot fetching hand grasping structure is a mechanical claw which is used for being installed at the top end of a mechanical hand to be matched with a mechanism for grasping an object, the mechanical hand is an automatic operation device which can imitate certain action functions of a human hand and an arm and is used for grasping, carrying the object or operating a tool according to a fixed program, the mechanical hand is characterized in that various expected operations can be completed through programming, the mechanical hand is an earliest appearing industrial robot and an earliest appearing modern robot, the mechanical hand can replace heavy labor of people to realize mechanization and automation of production, can be operated under a harmful environment to protect personal safety, and is widely applied to mechanical manufacturing, metallurgy, electronics, light industry, atomic energy and other departments.
The gripper that uses in the industry at present mostly realizes snatching article through opening and closing of a plurality of mechanical grapple, and the commentaries on classics of drive mechanical grapple is opened and is closed mostly realize through hydraulic telescoping rod, but current gripper mostly is equipped with a public hydraulic telescoping rod in the embedding of gripper base central point department, then open closed snatching article through a public hydraulic telescoping rod cooperation drive connecting rod a plurality of mechanical grapples of simultaneous control, drive through single hydraulic telescoping rod, when hydraulic telescoping rod breaks down, can lead to article directly to drop, the security of use is relatively poor, easily lead to article to damage.
SUMMERY OF THE UTILITY MODEL
The utility model aims at solving the defects existing in the prior art, and providing a robot fetching and grabbing structure.
In order to achieve the above purpose, the utility model adopts the following technical scheme: a robot fetching gripper structure comprises: the hydraulic cylinder, the mechanical claw base and the hydraulic telescopic rod are arranged on the hydraulic cylinder;
the bottom of the mechanical claw base is welded with three steering connecting frames in an annular equal-angle mode, the three steering connecting frames are connected with a mechanical grapple in a rotating mode through a rotating shaft, and pin sleeves are welded at the top of the outer side of the mechanical grapple;
the hydraulic claw is characterized in that the number of the hydraulic telescopic rods is three, the three hydraulic telescopic rods are fixed on the outer side of the mechanical claw base in an equiangular spiral mode through a triangular fixing frame, the movable ends of the three hydraulic telescopic rods are connected with a driving connecting rod in a rotating mode through rotating connectors, and the bottom end of the driving connecting rod is connected into a pin sleeve on a mechanical grab hook in a rotating mode through a pin shaft;
the hydraulic cylinder is arranged in the mechanical claw base, and is connected with the three hydraulic telescopic rods through connecting pipes.
As a further description of the above technical solution:
the bottom center position of the gripper base is fixedly embedded with an electromagnetic chuck through a fixing seat, and a circular groove is formed in the center position of the electromagnetic chuck.
As a further description of the above technical solution:
the device also comprises an annular frame;
the annular frame is of a circular ring-shaped structure, the annular frame is fixedly sleeved on the outer side of the mechanical claw base, the outer side of the annular frame is provided with three connecting side frames in an annular equal-angle welding mode, and the positions of the three connecting side frames correspond to the positions of the hydraulic telescopic rods.
As a further description of the above technical solution:
the top ends of the three connecting side frames are all fixed at the top ends of the three hydraulic telescopic rods through fixing disc seats in a spiral mode.
As a further description of the above technical solution:
the inboard bottom embedding of circular recess is installed the location laser lamp, and still is equipped with transparent protection casing in the circular recess on locating the laser lamp.
As a further description of the above technical solution:
the transparent protective cover is arranged in the circular groove in a sunken mode.
Advantageous effects
The utility model provides a robot gets thing and holds structure in hand. The method has the following beneficial effects:
(1): this structure is held in hand to thing is got to robot carries out drive control to three mechanical grapple through being equipped with three independent hydraulic telescoping rod, compare with traditional carry out drive control to a plurality of mechanical grapple simultaneously through single hydraulic telescoping rod, when snatching article, when a certain hydraulic telescoping rod breaks down, two other hydraulic telescoping rods can also cooperate its driven mechanical grapple to snatch article, make article be unlikely to directly drop, improve the security of using, the embedding is equipped with electromagnet in the gripper base simultaneously, when snatching metal object, can assist through electromagnet and adsorb fixedly, further improve the stability of snatching, strengthen this robot and get the practicality of holding in hand the structure.
(2): this structure is held in hand to thing is got to robot is equipped with the location laser lamp through embedding in the circular recess on electromagnet, and the location laser lamp can throw out location laser, is convenient for fix a position article when snatching article, is convenient for counterpoint and snatchs article for this robot gets more convenient of thing structure is held in hand when using.
Drawings
Fig. 1 is a schematic view of an overall structure of a robot object-taking hand-grasping structure provided by the present invention;
FIG. 2 is a schematic structural view of a gripper base according to the present invention;
FIG. 3 is a schematic structural view of the middle ring frame of the present invention;
fig. 4 is the mounting structure schematic diagram of the middle positioning laser lamp of the present invention.
Illustration of the drawings:
1. a hydraulic cylinder; 2. a gripper base; 3. a bogie connecting frame; 4. a mechanical grapple; 5. an annular frame; 51. connecting the side frames; 52. a fixed disk seat; 6. a connecting pipe; 7. a hydraulic telescopic rod; 8. a triangular fixing frame; 9. a rotating joint; 10. a drive link; 11. a pin bush; 12. a fixed seat; 13. an electromagnetic chuck; 14. a circular groove; 15. a transparent protective cover; 16. and positioning the laser lamp.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments.
Referring to fig. 1 and 2, a robot fetching gripper structure includes: the hydraulic cylinder 1, the mechanical claw base 2 and the hydraulic telescopic rod 7;
the bottom of the mechanical claw base 2 is welded with three steering connecting frames 3 in an annular equal-angle mode, the three steering connecting frames 3 are connected with mechanical grabs 4 in a rotating mode through rotating shafts, and pin sleeves 11 are welded on the tops of the outer sides of the mechanical grabs 4;
the number of the hydraulic telescopic rods 7 is three, the three hydraulic telescopic rods 7 are fixed on the outer side of the mechanical claw base 2 in an equiangular spiral mode through a triangular fixing frame 8, the movable ends of the three hydraulic telescopic rods 7 are connected with a driving connecting rod 10 in a rotating mode through a rotating connector 9, and the bottom end of the driving connecting rod 10 is connected into a pin sleeve 11 on the mechanical grapple 4 in a rotating mode through a pin shaft;
the hydraulic cylinder 1 is internally installed in the mechanical claw base 2, and the hydraulic cylinder 1 is respectively connected with the three hydraulic telescopic rods 7 through connecting pipes 6.
An electromagnetic chuck 13 is fixedly embedded in the center of the bottom of the gripper base 2 through a fixing seat 12, and a circular groove 14 is formed in the center of the electromagnetic chuck 13.
The working principle is as follows: when this robot gets thing and grabs structure and uses, act on three hydraulic telescoping rod 7 simultaneously through hydraulic cylinder 1, three hydraulic telescoping rod 7 drives three mechanical grapple 4 through drive connecting rod 10 synchronization and carries out the closure, thereby snatch article through three mechanical grapple 4, when putting down article, act on three hydraulic telescoping rod 7 through hydraulic cylinder 1 equally, then drive three mechanical grapple 4 through three hydraulic telescoping rod 7 cooperation drive connecting rod 10 and turn over, put down article, carry out independent control to three mechanical grapple 4 through three independent hydraulic telescoping rod 7, when a certain hydraulic telescoping rod 7 breaks down, can snatch article through two other hydraulic telescoping rod 7 effects and two other mechanical grapple 4, make article can not directly drop, improve the security of snatching article.
Referring to fig. 3, further includes an annular frame 5;
the annular frame 5 is of a circular structure, the annular frame 5 is fixedly sleeved on the outer side of the mechanical claw base 2, three connecting side frames 51 are welded on the outer side of the annular frame 5 in an annular equal-angle mode, and the positions of the three connecting side frames 51 correspond to the positions of the three hydraulic telescopic rods 7.
The top ends of the three connecting side frames 51 are all fixed at the top ends of the three hydraulic telescopic rods 7 through the fixed disc seats 52 in a spiral mode.
The annular frame 5 can assist and fix the top ends of the three hydraulic telescopic rods 7 by matching the three connecting side frames 51 with the three fixed disk seats 52, so that the fixing stability of the hydraulic telescopic rods 7 is improved.
Referring to fig. 4, location laser lamp 16 is installed in the inboard bottom embedding of circular recess 14, and still is equipped with transparent protection casing 15 in the circular recess 14 on locating laser lamp 16, and location laser lamp 16 can throw laser and fix a position grabbing article to be convenient for counterpoint when grabbing article, make this robot get the thing and hold the structure more convenient when using.
In the description herein, references to the description of "one embodiment," "an example," "a specific example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above, only be the concrete implementation of the preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art is in the technical scope of the present invention, according to the technical solution of the present invention and the utility model, the concept of which is equivalent to replace or change, should be covered within the protection scope of the present invention.
Claims (6)
1. The utility model provides a structure is grabbed to thing hand of robot, its characterized in that includes: the hydraulic cylinder (1), the mechanical claw base (2) and the hydraulic telescopic rod (7);
the bottom of the mechanical claw base (2) is welded with three steering connecting frames (3) in an annular equal-angle mode, the three steering connecting frames (3) are connected with a mechanical grapple (4) in a rotating mode through a rotating shaft, and pin sleeves (11) are welded at the top of the outer side of the mechanical grapple (4);
the three hydraulic telescopic rods (7) are arranged, the three hydraulic telescopic rods (7) are fixed on the outer side of the mechanical claw base (2) in an equiangular spiral mode through a triangular fixing frame (8), the movable ends of the three hydraulic telescopic rods (7) are connected with a driving connecting rod (10) in a rotating mode through a rotating joint (9), and the bottom end of the driving connecting rod (10) is connected into a pin sleeve (11) on the mechanical grapple (4) in a rotating mode through a pin shaft;
the hydraulic cylinder (1) is arranged in the mechanical claw base (2) in a built-in mode, and the hydraulic cylinder (1) is connected with the three hydraulic telescopic rods (7) through connecting pipes (6) respectively.
2. The robot fetching grab structure according to claim 1, wherein an electromagnetic chuck (13) is fixed at the bottom center of the gripper base (2) through a fixing seat (12) in an embedded manner, and a circular groove (14) is formed at the center of the electromagnetic chuck (13).
3. The robot fetching gripper structure according to claim 1, further comprising an annular frame (5);
annular frame (5) are the ring structure, and the fixed cover of annular frame (5) connects in the outside of gripper base (2), the outside of annular frame (5) is the angle welding such as annular and has three connection side bearer (51), and the position and the three of three connection side bearer (51) the position of hydraulic telescoping rod (7) corresponds each other.
4. The robot fetching grab structure according to claim 3, wherein the top ends of the three connecting side frames (51) are all screwed on the top ends of the three hydraulic telescopic rods (7) through fixed disk seats (52).
5. The robot fetching grab structure according to claim 2, wherein a positioning laser lamp (16) is embedded in the bottom of the inner side of the circular groove (14), and a transparent protective cover (15) is further arranged on the positioning laser lamp (16) in the circular groove (14).
6. The robot fetching gripper structure according to claim 5, wherein the transparent protective cover (15) is invaginably mounted in a circular groove (14).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921586213.1U CN210525138U (en) | 2019-09-23 | 2019-09-23 | Object taking and grabbing structure of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921586213.1U CN210525138U (en) | 2019-09-23 | 2019-09-23 | Object taking and grabbing structure of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210525138U true CN210525138U (en) | 2020-05-15 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921586213.1U Expired - Fee Related CN210525138U (en) | 2019-09-23 | 2019-09-23 | Object taking and grabbing structure of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210525138U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112338901A (en) * | 2020-11-10 | 2021-02-09 | 南京栖木智能技术研究院有限公司 | General type robot grabbing device based on electromagnetic adsorption |
| CN112573338A (en) * | 2020-12-03 | 2021-03-30 | 东莞市中汉磁材科技有限公司 | Strong magnetic device convenient to disassemble and assemble and use method thereof |
| CN112963390A (en) * | 2021-02-04 | 2021-06-15 | 薛东林 | Hydraulic unit for integrated robot |
| CN114227103A (en) * | 2021-12-14 | 2022-03-25 | 山东中车同力达智能装备有限公司 | Flexible welding production line for small parts in railway wagon |
| CN116101558A (en) * | 2023-04-11 | 2023-05-12 | 沈阳爱尔泰医疗科技有限公司 | Transfer manipulator for abdomen-expanding portable oxygenerator |
| CN116175631A (en) * | 2023-04-21 | 2023-05-30 | 沈阳爱尔泰医疗科技有限公司 | Grabbing manipulator for box-type oxygenerator |
-
2019
- 2019-09-23 CN CN201921586213.1U patent/CN210525138U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112338901A (en) * | 2020-11-10 | 2021-02-09 | 南京栖木智能技术研究院有限公司 | General type robot grabbing device based on electromagnetic adsorption |
| CN112573338A (en) * | 2020-12-03 | 2021-03-30 | 东莞市中汉磁材科技有限公司 | Strong magnetic device convenient to disassemble and assemble and use method thereof |
| CN112963390A (en) * | 2021-02-04 | 2021-06-15 | 薛东林 | Hydraulic unit for integrated robot |
| CN114227103A (en) * | 2021-12-14 | 2022-03-25 | 山东中车同力达智能装备有限公司 | Flexible welding production line for small parts in railway wagon |
| CN116101558A (en) * | 2023-04-11 | 2023-05-12 | 沈阳爱尔泰医疗科技有限公司 | Transfer manipulator for abdomen-expanding portable oxygenerator |
| CN116175631A (en) * | 2023-04-21 | 2023-05-30 | 沈阳爱尔泰医疗科技有限公司 | Grabbing manipulator for box-type oxygenerator |
| CN116175631B (en) * | 2023-04-21 | 2023-08-08 | 沈阳爱尔泰医疗科技有限公司 | Grabbing manipulator for box-type oxygenerator |
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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: 20200515 Termination date: 20200923 |