CN210735532U

CN210735532U - Three-finger adsorption type automatic mechanical gripper of high-precision transfer robot

Info

Publication number: CN210735532U
Application number: CN201921627661.1U
Authority: CN
Inventors: 盛雄辉
Original assignee: Shenzhen Xinbo Precision Machinery Co Ltd
Current assignee: Shenzhen Xinbo Precision Machinery Co Ltd
Priority date: 2019-09-27
Filing date: 2019-09-27
Publication date: 2020-06-12
Anticipated expiration: 2029-09-27

Abstract

The utility model discloses a three indicate absorption formula automatic mechanical gripper of high accuracy transfer robot, which comprises a base, step motor's output is connected with the bull stick through the shaft coupling transmission, the middle part fixed mounting who accepts the column bottom has electric putter, the inside movable joint of spout has the claw to indicate, the outside fixed mounting of triangular prism has electric telescopic handle. Be equipped with electric putter and distance sensor, can drive the claw arm through electric putter and remove, change the distance between holding post and the claw arm, through the distance sensor cooperation, realize the accurate regulation to gripper height-down, control accuracy is high, be equipped with step motor, bull stick and bearing, can drive the bull stick through step motor and rotate, and then drive the claw arm and rotate, thereby make the gripper can carry out all-round rotation, be convenient for adjust the distance between the claw finger, adaptation that can be fine is to snatching of different specification article, bring better use prospect.

Description

Three-finger adsorption type automatic mechanical gripper of high-precision transfer robot

Technical Field

The utility model relates to a transfer robot technical field, in particular to three indicate adsorption type automatic gripper of high accuracy transfer robot.

Background

The transfer robot is an industrial robot capable of performing automated transfer work. The conveying operation is to hold a workpiece with one kind of equipment, and is to move from one processing position to another processing position. The transfer robot finishes the work piece transfer work of various shapes and states through the automatic mechanical claw, and the heavy physical labor of human is greatly reduced.

When the existing automatic mechanical gripper of the transfer robot is used, the structure is too simple, the descending height of the mechanical gripper cannot be accurately adjusted, the control precision is low, and the damage to the surface of an article is easily caused.

In addition, the gripper can not rotate in all directions, so that the gripper is inconvenient to adjust to a proper angle to grab articles, and the distance between fingers is inconvenient to adjust.

SUMMERY OF THE UTILITY MODEL

The utility model discloses a main aim at provides a three of high accuracy transfer robot indicate adsorption-type automatic gripper, can effectively solve the current transfer robot automatic gripper structure that provides in the background art too simple, can not the accurate height that adjusts the gripper and descend, control accuracy is low, easily causes the damage on article surface, and the gripper can't carry out the omnidirectional and rotate, and inconvenient distance to between the gripper finger carries out the problem of adjusting.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

a three-finger adsorption type automatic mechanical gripper of a high-precision carrying robot comprises a base, wherein a shell is fixedly connected to the bottom of the base, a stepping motor is fixedly mounted at the top of the inner wall of the shell, the output end of the stepping motor is connected with a rotating rod through a coupling transmission, the bottom end of the rotating rod penetrates through the bottom of the inner wall of the shell and extends to the outside of the shell, a bearing column is fixedly connected to the bottom end of the rotating rod, an electric push rod is fixedly mounted in the middle of the bottom of the bearing column, a gripper arm is fixedly mounted at the output end of the electric push rod, a sleeve is fixedly connected to the bottom of the bearing column, a sliding rod is fixedly connected to the top of the gripper arm, a distance sensor is mounted at the top of the gripper arm, a mounting disc is fixedly mounted at the bottom of the gripper arm, three sliding grooves are formed in the bottom of the mounting disc, and, the inside activity joint of spout has the claw to indicate, the bottom fixed mounting that the claw indicates has the sucking disc, the middle part fixedly connected with triangular prism of mounting disc bottom, the outside fixed mounting of triangular prism has electric telescopic handle.

Preferably, a bearing is embedded at the bottom of the inner wall of the shell, and the inner side of the bearing is fixedly sleeved with the outer side of the rotating rod.

Preferably, the number of the sleeves is two, the two sleeves are symmetrically distributed on the outer side of the electric push rod, and one end of the slide rod is movably connected to the inner part of the sleeve.

Preferably, the distance sensor is an LDM301 type or a same-level infrared distance measuring sensor.

Preferably, the number of the electric telescopic rods is three, the electric telescopic rods are distributed on three side faces of the triangular prism respectively, and the output ends of the electric telescopic rods and the outer sides of the claw fingers are fixedly installed.

Compared with the prior art, the utility model discloses following beneficial effect has: the three-finger adsorption type automatic mechanical gripper of the high-precision transfer robot is characterized in that an electric push rod and a distance sensor are arranged, a slide rod is movably connected inside a sleeve, a claw arm can be driven to move through the electric push rod, the distance between a bearing column and the claw arm is changed, the slide rod is driven to move in the sleeve through the movement of the claw arm, so that the claw arm can be more stable, the distance sensor adopts an infrared distance measuring sensor, a beam of infrared light is emitted through the sensor, a reflecting process is formed after the infrared light irradiates the bottom of the bearing column, the distance between the bearing column and the claw arm can be accurately calculated by processing data of time difference between emission and reception, the work of the electric push rod can be stopped in time when the claw arm descends to a specific height, the accurate adjustment of the descending height of the mechanical gripper is realized, the control precision is high, and the accurate control of the descending, the accurate control of the descending height of the claw fingers is realized, the movement of the claw fingers is automatically controlled through an electric push rod, articles are grabbed by adsorbing the articles through a sucker, the surface of the articles is prevented from being damaged, through the arrangement of a stepping motor, a rotating rod and a bearing, the output end of the stepping motor is in transmission connection with the rotating rod, the outer side of the rotating rod is fixedly sleeved on the inner ring of the bearing, the bottom end of the rotating rod is fixedly connected with a bearing column, under the matching action of the bearing, the rotating rod can be driven by the stepping motor to rotate, so that the rotating rod drives the bearing column to rotate, and further drives a claw arm to rotate, so that the mechanical claw can rotate in all directions, the mechanical claw can be conveniently adjusted to a proper angle to grab the articles, the claw fingers are movably clamped in a chute at the bottom of the mounting plate, the output end of the electric telescopic rod and the outer side of, and then be convenient for adjust the distance between the claw and indicate, adaptation that can be fine is to the snatching of different specification article.

Drawings

Fig. 1 is a schematic view of the overall structure of the present invention.

Fig. 2 is a front view of the present invention.

Fig. 3 is a bottom view of the mounting plate of the present invention.

In the figure: 1. a base; 2. a housing; 3. a stepping motor; 4. a rotating rod; 5. a bearing; 6. a support post; 7. an electric push rod; 8. a claw arm; 9. a sleeve; 10. a slide bar; 11. a distance sensor; 12. mounting a disc; 13. a chute; 14. a claw finger; 15. a suction cup; 16. a triangular prism; 17. an electric telescopic rod.

Detailed Description

In order to make the technical means, creation features, achievement purposes and functions of the present invention easy to understand, the present invention is further described below with reference to the following embodiments.

As shown in fig. 1-3, a three-finger adsorption type automatic gripper of a high-precision transfer robot comprises a base 1, a housing 2 is fixedly connected to the bottom of the base 1, a stepping motor 3 is fixedly mounted on the top of the inner wall of the housing 2, an output end of the stepping motor 3 is connected with a rotating rod 4 through a coupling transmission, the rotating rod 4 can be driven to rotate by the stepping motor 3, the bottom end of the rotating rod 4 penetrates through the bottom of the inner wall of the housing 2 and extends to the outside of the housing 2, a receiving column 6 is fixedly connected to the bottom end of the rotating rod 4, an electric push rod 7 is fixedly mounted in the middle of the bottom of the receiving column 6, a gripper arm 8 is fixedly mounted at the output end of the electric push rod 7, the gripper arm 8 can be driven to move by the electric push rod 7, a sleeve 9 is fixedly connected to the bottom of the receiving column 6, a slide rod 10 is fixedly connected to the top of the gripper, spout 13 has been seted up to the bottom of mounting disc 12, the quantity of spout 13 is three, contained angle between the three spout 13 is 120 degrees, the inside activity joint of spout 13 has claw to indicate 14, the claw of being convenient for indicates 14 to remove in spout 13, the bottom fixed mounting that claw indicates 14 has sucking disc 15, can utilize sucking disc 15 to adsorb article and pick article, the middle part fixedly connected with triangular prism 16 of mounting disc 12 bottom, the outside fixed mounting of triangular prism 16 has electric telescopic handle 17.

A bearing 5 is embedded at the bottom of the inner wall of the shell 2, and the inner side of the bearing 5 is fixedly sleeved with the outer side of the rotating rod 4; the number of the sleeves 9 is two, the two sleeves 9 are symmetrically distributed on the outer side of the electric push rod 7, one end of the sliding rod 10 is movably connected to the inner part of the sleeve 9, and the claw arm 8 is more stable through the movement of the sliding rod 10 in the sleeve 9; the distance sensor 11 is an infrared distance measuring sensor of an LDM301 model or the same level, can emit a beam of infrared light through the sensor, and forms a reflection process after irradiating the bottom of the receiving column 6, and the sensor can accurately calculate the distance between the receiving column 6 and the claw arm 8 by processing and receiving the data of the time difference between emission and reception; the quantity of electric telescopic handle 17 is three, and three electric telescopic handle 17 distributes respectively in the three side of triangular prism 16, and electric telescopic handle 17's output and the outside fixed mounting of claw finger 14.

It should be noted that, the utility model relates to a three-finger adsorption type automatic gripper of a high-precision transfer robot, when in use, the stepping motor 3, the electric push rod 7, the electric telescopic rod 17 and the distance sensor 11 are all electrically connected with a robot controller on the transfer robot body, firstly, the stepping motor 3 is started through the controller, because the output end of the stepping motor 3 is in transmission connection with the rotating rod 4, the outer side of the rotating rod 4 is fixedly sleeved on the inner ring of the bearing 5, the bottom end of the rotating rod 4 is fixedly connected with the receiving column 6, under the cooperation effect of the bearing 5, the rotating rod 4 can be driven by the stepping motor 3 to rotate, so that the rotating rod 4 drives the receiving column 6 to rotate, and then the gripper arm 8 is driven to rotate, the gripper is adjusted to a specified angle to grab articles, then the electric push rod 7 is started through the controller, because the slide rod 10 is movably connected inside the sleeve 9, the electric push rod 7 drives the claw arm 8 to move, the distance between the bearing column 6 and the claw arm 8 is changed, the slide rod 10 is driven to move in the sleeve 9 through the movement of the claw arm 8, the claw arm 8 can be more stable, the distance sensor 11 adopts an infrared distance measuring sensor, a beam of infrared light is emitted through the sensor, a reflecting process is formed after the infrared light irradiates the bottom of the bearing column 6, the sensor receives data of time difference between emission and receiving through processing, the distance between the bearing column 6 and the claw arm 8 can be accurately calculated, the work of the electric push rod 7 is stopped in time when the claw arm 8 descends to a specific height, the accurate adjustment of the descending height of the mechanical claw is realized, the control precision is high, the accurate control of the descending height of the claw finger 14 is realized through the accurate control of the descending height of the claw arm 8, the claw finger 14 is automatically controlled to move through the electric push rod 7, and the object is adsorbed by the sucker 15 to grab, prevent that the article surface from being damaged, when the distance between 14 fingers is pointed to needs regulation claw, start electric telescopic handle 17, because 14 movable joint of claw fingers are in the spout 13 of mounting disc 12 bottom, drive claw finger 14 through electric telescopic handle 17 and remove in spout 13, and then be convenient for adjust the distance between 14 fingers of claw, adaptation that can be fine is favorable to people's use, comparatively practical to snatching of different specification article.

The basic principles and the main features of the invention and the advantages of the invention have been shown and described above. It will be understood by those skilled in the art that the present invention is not limited to the above embodiments, and that the foregoing embodiments and descriptions are provided only to illustrate the principles of the present invention without departing from the spirit and scope of the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. The utility model provides a three indicate absorption formula automatic mechanical claw of high accuracy transfer robot, includes base (1), its characterized in that: the bottom fixedly connected with casing (2) of base (1), the top fixed mounting of casing (2) inner wall has step motor (3), the output of step motor (3) is connected with bull stick (4) through the shaft coupling transmission, the bottom of casing (2) inner wall is worn to establish and is extended to the outside of casing (2) in the bottom of bull stick (4), the bottom fixedly connected with of bull stick (4) holds post (6), the middle part fixed mounting that holds post (6) bottom has electric putter (7), the output fixed mounting of electric putter (7) has claw arm (8), the bottom fixedly connected with sleeve (9) of holding post (6), the top fixedly connected with slide bar (10) of claw arm (8), distance sensor (11) are installed at the top of claw arm (8), the bottom fixed mounting of claw arm (8) has set (12), spout (13) have been seted up to the bottom of mounting disc (12), the quantity of spout (13) is three, and is three contained angle between spout (13) is 120 degrees, the inside activity joint of spout (13) has the claw to indicate (14), the bottom fixed mounting that the claw indicates (14) has sucking disc (15), the middle part fixedly connected with triangular prism (16) of mounting disc (12) bottom, the outside fixed mounting of triangular prism (16) has electric telescopic handle (17).

2. The three-finger adsorption type automatic gripper for the high-precision transfer robot according to claim 1, comprising: the bottom of the inner wall of the shell (2) is inlaid with a bearing (5), and the inner side of the bearing (5) is fixedly sleeved with the outer side of the rotating rod (4).

3. The three-finger adsorption type automatic gripper for the high-precision transfer robot according to claim 1, comprising: the number of the sleeves (9) is two, the two sleeves (9) are symmetrically distributed on the outer side of the electric push rod (7), and one end of the sliding rod (10) is movably connected to the inner portion of the sleeve (9).

4. The three-finger adsorption type automatic gripper for the high-precision transfer robot according to claim 1, comprising: the distance sensor (11) is an LDM301 type or a same-level infrared distance measuring sensor.

5. The three-finger adsorption type automatic gripper for the high-precision transfer robot according to claim 1, comprising: the number of electric telescopic handle (17) is three, and is three electric telescopic handle (17) distributes respectively in the three side of triangular prism (16), the output of electric telescopic handle (17) and the outside fixed mounting of claw finger (14).