CN210791020U - Industrial robot's centre gripping hand claw - Google Patents

Industrial robot's centre gripping hand claw Download PDF

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Publication number
CN210791020U
CN210791020U CN201921404335.4U CN201921404335U CN210791020U CN 210791020 U CN210791020 U CN 210791020U CN 201921404335 U CN201921404335 U CN 201921404335U CN 210791020 U CN210791020 U CN 210791020U
Authority
CN
China
Prior art keywords
clamping
industrial robot
centre gripping
gripper jaw
grip block
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
CN201921404335.4U
Other languages
Chinese (zh)
Inventor
徐磊
吕登辉
舒翰儒
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shandong University of Science and Technology
Original Assignee
Shandong University of Science and Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shandong University of Science and Technology filed Critical Shandong University of Science and Technology
Priority to CN201921404335.4U priority Critical patent/CN210791020U/en
Application granted granted Critical
Publication of CN210791020U publication Critical patent/CN210791020U/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Abstract

The utility model discloses an industrial robot's gripper jaw, including the gripper jaw, the pneumatic cylinder, the grip block, the centre gripping groove has been seted up to the bottom of gripper jaw, the inside sliding connection of pneumatic cylinder has the piston rod, the end of piston rod is rotated and is connected with the centre gripping gyro wheel, the one end fixedly connected with motor of centre gripping gyro wheel, the inside top surface of pneumatic cylinder is inlayed and is had pressure sensor, a side fixedly connected with hydraulic pressure oil pipe of pneumatic cylinder, the grip block is located the upper end of centre gripping inslot portion, the bottom surface of grip block is rotated and is connected with the rubber roll, the last fixed surface of grip block is connected with the telescopic link, the bottom cover of telescopic link has the. Through pivoted centre gripping gyro wheel, can rotate on cylindrical workpiece's surface, promote cylindrical workpiece and remove toward the interior clamping groove of gripper jaw to this can convenient and fast carry out the centre gripping to cylindrical workpiece, and the centre gripping is stable, is difficult for producing and slides.

Description

Industrial robot's centre gripping hand claw
Technical Field
The utility model relates to an industrial robot technical field especially relates to an industrial robot's centre gripping hand claw.
Background
Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices oriented to the industrial field, can automatically execute work, and are machines which realize various functions by means of self power and control capacity. The robot can accept human command and operate according to a preset program, and modern industrial robots can also perform actions according to a principle formulated by artificial intelligence technology. When a cylindrical workpiece is clamped by a clamping paw of an industrial robot, the surface of the cylindrical workpiece is arc-shaped, so that the clamping paw is difficult to clamp and is easy to slide.
SUMMERY OF THE UTILITY MODEL
The utility model provides an industrial robot's centre gripping hand claw is with the comparatively difficult problem of centre gripping when the cylindrical work piece of centre gripping of industrial robot who solves above-mentioned background art and provide.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
the utility model provides an industrial robot's centre gripping hand claw, includes gripper jaw, pneumatic cylinder, grip block, the centre gripping groove has been seted up to gripper jaw's bottom, the pneumatic cylinder is inlayed in gripper jaw's the left and right sides both ends and is located the left and right sides in centre gripping groove, the inside sliding connection of pneumatic cylinder has the piston rod, the end of piston rod rotates and is connected with the centre gripping gyro wheel, the one end fixedly connected with motor of centre gripping gyro wheel, the inside top surface of pneumatic cylinder is inlayed and is had pressure sensor, a side fixedly connected with hydraulic pressure oil pipe of pneumatic cylinder, the grip block is located the inside upper end of centre gripping inslot, the bottom surface of grip block rotates and is connected with the rubber roll, the last fixed surface of grip block is connected with the telescopic link, the bottom cover of.
Furthermore, the left side wall and the right side wall of the bottom end of the clamping groove are inclined planes which are inclined inwards.
Furthermore, the hydraulic oil pipe is connected with the hydraulic oil tank, and the hydraulic oil pipe is communicated with the hydraulic cylinder.
Furthermore, the signal output end of the pressure sensor is in signal connection with the signal input end of the industrial robot controller.
Further, the clamping plate is an arc-shaped plate bent downwards.
Furthermore, the number of the clamping rollers is two, the clamping rollers are respectively positioned on the left side and the right side of the clamping groove, and the steering directions of the two clamping rollers are opposite.
Further, the gripper jaw is connected with a mechanical arm of the industrial robot.
Compared with the prior art, the utility model discloses the beneficial effect who realizes:
through pivoted centre gripping gyro wheel, can rotate on cylindrical workpiece's surface, promote cylindrical workpiece and remove toward the interior clamping groove of gripper jaw to this can convenient and fast carry out the centre gripping to cylindrical workpiece, and the centre gripping is stable, is difficult for producing and slides.
Drawings
Fig. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a partially enlarged schematic view of a portion a of fig. 1 according to the present invention.
Fig. 3 is a partially enlarged schematic view of the point B of fig. 1 according to the present invention.
Fig. 4 is a schematic side view of the clamping roller of the present invention.
In FIGS. 1-4: 1-clamping jaw, 101-clamping groove, 2-hydraulic cylinder, 3-piston rod, 4-clamping roller, 5-pressure sensor, 6-telescopic rod, 7-spring, 8-clamping plate, 9-hydraulic oil pipe, 10-rubber roller and 11-motor.
Detailed Description
The following description is provided for illustrative purposes, and other advantages and features of the present invention will become apparent to those skilled in the art from the following detailed description.
It should be understood that the structure, ratio, size and the like shown in the drawings attached to the present specification are only used for matching with the content disclosed in the specification, so as to be known and read by those skilled in the art, and are not used for limiting the limit conditions that the present invention can be implemented, so that the present invention has no technical essential meaning, and any structure modification, ratio relationship change or size adjustment should still fall within the scope that the technical content disclosed in the present invention can cover without affecting the function that the present invention can produce and the purpose that the present invention can achieve. Meanwhile, the terms such as "upper", "lower", "left", "right", "middle" and "one" used in the present specification are for convenience of description, and are not intended to limit the scope of the present invention, and changes or adjustments of the relative relationship thereof may be made without substantial technical changes, and the present invention is also regarded as the scope of the present invention.
Please refer to fig. 1 to 4:
the utility model provides an industrial robot's gripper jaw, including gripper jaw 1, pneumatic cylinder 2, grip block 8, each part to an industrial robot's gripper jaw carries out detailed description below:
the bottom of the clamping claw 1 is provided with a clamping groove 101, the clamping groove 101 can conveniently clamp a cylindrical workpiece, and because two side surfaces of the clamping groove 101 are inclined surfaces, when the clamping groove 101 clamps the cylindrical workpiece with a larger diameter, the clamping plate 8 cannot meet the clamping and positioning requirements on the workpiece, so that the two side surfaces of the clamping groove 101 can be tangent to the outer surface of the cylindrical workpiece with a larger diameter, the clamping and positioning of the workpiece can be assisted, and for the cylindrical workpiece with a smaller diameter, the clamping plate 8 can smoothly assist in positioning the cylindrical workpiece;
the hydraulic cylinder 2 is embedded at the left end and the right end of the clamping claw 1 and is positioned at the left side and the right side of the clamping groove 101, the piston rod 3 is connected inside the hydraulic cylinder 2 in a sliding mode, the tail end of the piston rod 3 is rotatably connected with the clamping roller 4, and one end of the clamping roller 4 is fixedly connected with the motor 11;
specifically, the motor 11 can drive the clamping rollers 4 to rotate, so that when the clamping claw 1 clamps a workpiece, the clamping rollers 4 can rotate on the surface of the workpiece, the workpiece moves towards the upper end of the clamping groove 101 under the pushing of the two clamping rollers 4, and meanwhile, when the clamping rollers 4 push the workpiece, the hydraulic cylinder 2 pushes the piston rod 3 to extend through oil pressure, so that the distance between the two clamping rollers 4 can be slowly reduced, and the workpiece clamped in the clamping groove 101 can be prevented from falling;
a pressure sensor 5 is embedded in the top surface inside the hydraulic cylinder 2, and a hydraulic oil pipe 9 is fixedly connected to one side surface of the hydraulic cylinder 2; specifically, the pressure sensor 5 can monitor the oil pressure inside the hydraulic cylinder 2, convert the oil pressure information into an electric signal and send the electric signal to the controller of the industrial robot, when the oil pressure inside the hydraulic cylinder 2 is in a stable state, the piston rod 3 is in a normal extension state, when the oil pressure inside the hydraulic cylinder 2 is suddenly increased, the extension of the piston rod 3 is blocked, the oil pressure inside the piston rod 3 is increased, and when the extension of the piston rod 3 is blocked, the workpiece is clamped in place, successfully fixed in the clamping groove 101 and cannot move upwards continuously, and at this time, the industrial robot can stop sending oil to the hydraulic cylinder 2, so as to complete clamping of the workpiece;
when the cylindrical workpiece needs to be unloaded from the clamping claw 1, the hydraulic oil in the hydraulic cylinder 2 is only required to be sent back to the hydraulic oil tank through the hydraulic oil pipe 9, so that the piston rod 3 on the hydraulic cylinder 2 can be retracted into the hydraulic cylinder 2, and the workpiece can fall from the clamping groove 101 after being clamped by the piston rod 3 and the clamping roller 4;
the clamping plate 8 is positioned at the upper end inside the clamping groove 101, and the bottom surface of the clamping plate 8 is rotatably connected with a rubber roller 10; specifically, the clamping plate 8 can perform auxiliary positioning clamping on the cylindrical workpiece, so that the cylindrical workpiece is ensured not to shake in the clamping groove 101, and the rubber roller 10 can enable the clamping plate 8 and the cylindrical workpiece to rotate relatively, so that the clamping roller 4 can conveniently clamp the workpiece;
the upper surface of the clamping plate 8 is fixedly connected with a telescopic rod 6, the bottom end of the telescopic rod 6 is sleeved with a spring 7, and the top of the telescopic rod 6 is welded on the top surface of the clamping groove 101; specifically, through the cooperation of the telescopic rod 6 and the spring 7, the telescopic rod 8 can clamp and position cylindrical workpieces with different diameters.
The above embodiments are merely illustrative of the principles and effects of the present invention, and are not to be construed as limiting the invention. Modifications and variations can be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which may be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.

Claims (7)

1. The utility model provides an industrial robot's centre gripping hand claw, includes gripper jaw (1), pneumatic cylinder (2), grip block (8), its characterized in that:
the clamping jaw is characterized in that a clamping groove (101) is formed in the bottom of the clamping jaw (1), the hydraulic cylinder (2) is embedded at the left end and the right end of the clamping jaw (1) and is located at the left side and the right side of the clamping groove (101), a piston rod (3) is connected to the inside of the hydraulic cylinder (2) in a sliding mode, the tail end of the piston rod (3) is rotatably connected with a clamping roller (4), one end of the clamping roller (4) is fixedly connected with a motor (11), a pressure sensor (5) is embedded in the top surface of the inside of the hydraulic cylinder (2), and a hydraulic oil pipe (9) is fixedly connected to one;
the utility model discloses a rubber roll, including grip block (8), bottom surface rotation of grip block (8) is connected with rubber roll (10), the upper surface fixed connection of grip block (8) has telescopic link (6), the bottom cover of telescopic link (6) has spring (7), the top welding of telescopic link (6) is at the top surface of grip block (101).
2. A gripper jaw for an industrial robot according to claim 1, characterized in that: the left side wall and the right side wall of the bottom end of the clamping groove (101) are inclined planes which are inclined inwards.
3. A gripper jaw for an industrial robot according to claim 1, characterized in that: the hydraulic oil pipe (9) is connected with a hydraulic oil tank, and the hydraulic oil pipe (9) is communicated with the hydraulic cylinder (2).
4. A gripper jaw for an industrial robot according to claim 1, characterized in that: and the signal output end of the pressure sensor (5) is in signal connection with the signal input end of the industrial robot controller.
5. A gripper jaw for an industrial robot according to claim 1, characterized in that: the clamping plate (8) is an arc-shaped plate which is bent downwards.
6. A gripper jaw for an industrial robot according to claim 1, characterized in that: the number of the clamping rollers (4) is two, the clamping rollers are respectively positioned at the left side and the right side of the clamping groove (101), and the turning directions of the two clamping rollers (4) are opposite.
7. A gripper jaw for an industrial robot according to claim 1, characterized in that: the clamping claw (1) is connected with a mechanical arm of an industrial robot.
CN201921404335.4U 2019-08-28 2019-08-28 Industrial robot's centre gripping hand claw Expired - Fee Related CN210791020U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201921404335.4U CN210791020U (en) 2019-08-28 2019-08-28 Industrial robot's centre gripping hand claw

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201921404335.4U CN210791020U (en) 2019-08-28 2019-08-28 Industrial robot's centre gripping hand claw

Publications (1)

Publication Number Publication Date
CN210791020U true CN210791020U (en) 2020-06-19

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN201921404335.4U Expired - Fee Related CN210791020U (en) 2019-08-28 2019-08-28 Industrial robot's centre gripping hand claw

Country Status (1)

Country Link
CN (1) CN210791020U (en)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112318533A (en) * 2020-09-23 2021-02-05 南京合信智能装备有限公司 Adjustable cylinder clamping mechanism based on intelligent welding robot technology
CN113001572A (en) * 2021-02-26 2021-06-22 杭州临润贸易有限公司 Industrial robot clamping device capable of preventing object from falling off during rotation
CN113335915A (en) * 2021-06-07 2021-09-03 青岛理工大学 Safety protection structure of carrying manipulator
CN113414779A (en) * 2021-06-29 2021-09-21 河南职业技术学院 Manipulator based on computer control
CN113733061A (en) * 2021-11-08 2021-12-03 深圳市福瑞达电子有限公司 Be used for test piece to snatch manipulator in succession

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112318533A (en) * 2020-09-23 2021-02-05 南京合信智能装备有限公司 Adjustable cylinder clamping mechanism based on intelligent welding robot technology
CN113001572A (en) * 2021-02-26 2021-06-22 杭州临润贸易有限公司 Industrial robot clamping device capable of preventing object from falling off during rotation
CN113001572B (en) * 2021-02-26 2022-06-07 广东银谷科技股份有限公司 Industrial robot clamping device capable of preventing object from falling off during rotation
CN113335915A (en) * 2021-06-07 2021-09-03 青岛理工大学 Safety protection structure of carrying manipulator
CN113414779A (en) * 2021-06-29 2021-09-21 河南职业技术学院 Manipulator based on computer control
CN113733061A (en) * 2021-11-08 2021-12-03 深圳市福瑞达电子有限公司 Be used for test piece to snatch manipulator in succession
CN113733061B (en) * 2021-11-08 2022-01-25 深圳市福瑞达电子有限公司 Be used for test piece to snatch manipulator in succession

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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: 20200619

Termination date: 20200828