CN212445282U

CN212445282U - Coal gangue pneumatic parallel mechanical gripper based on six-axis robot

Info

Publication number: CN212445282U
Application number: CN202020902197.9U
Authority: CN
Inventors: 范振; 黄玉林; 张来伟; 陈乃建; 王旭; 孙建波
Original assignee: University of Jinan
Current assignee: University of Jinan
Priority date: 2020-05-26
Filing date: 2020-05-26
Publication date: 2021-02-02
Anticipated expiration: 2030-05-26

Abstract

The utility model discloses a parallel mechanical gripper of gangue pneumatics based on six robots mainly includes six robots, mechanical gripper connecting piece, slider, guide rail, slim cylinder, two earrings bases, single earring foot stool, guide rail installed part, rod end joint bearing and deep groove ball bearing. The pneumatic parallel mechanical gripper is connected with a six-axis robot through the upper end of a top plate, the mechanical gripper is fixed on a sliding block through screw connection, the upper portion of the mechanical gripper is connected with a connecting rod transmission mechanism consisting of a rod end joint bearing and a rod end joint bearing connecting piece through a mechanical gripper connecting piece, a thin cylinder is connected with the other end of the rod end joint bearing connecting piece to indirectly control opening and closing movement, and the thin cylinder is connected with a double lug ring base arranged on the lower portion of the top plate through a single lug ring base arranged on the tail portion of the thin cylinder and is fixed below the top plate. The mechanical paw indirectly drives the mechanical paws on the two sides to open and close through the thin cylinder so as to grab and carry materials such as coal gangue.

Description

Coal gangue pneumatic parallel mechanical gripper based on six-axis robot

Technical Field

The utility model relates to an industrial robot technical field belongs to a six robots and pneumatic parallel mechanical tongs and combines together the device that snatchs and transport the gangue.

Background

The coal gangue is solid waste discharged in the coal mining process and the coal washing process, and is a black and gray rock which has lower carbon content and is harder than coal and is associated with a coal bed in the coal forming process. The density is large, the volume is different, so that the universal mechanical gripper adopted in the carrying process can not meet the requirements.

Disclosure of Invention

For satisfying the gangue volume that snatchs not of uniform size, mechanical gripper snatchs dynamics little and handling stability low grade shortcoming, the utility model provides a pneumatic parallel mechanical gripper of gangue based on six robots.

A coal gangue pneumatic parallel mechanical gripper based on a six-axis robot comprises the six-axis robot, the mechanical gripper, a sliding block, a guide rail, a double-lug-ring base, a thin cylinder, a single-lug-ring foot base, a top plate, a guide rail mounting piece, a rod end joint bearing and a deep groove ball bearing; the top plate is provided with a plurality of through holes for being installed at the tail end of the six-axis robot through screw connection, the mechanical gripper is fixed on the sliding block through screw connection, a mechanical gripper connecting piece is installed on the upper portion of the mechanical gripper and can be connected with the rod end joint bearing, and two thin cylinders drive the mechanical grippers on two sides to achieve the purposes of parallel motion and grabbing and carrying of materials such as coal gangue through a connecting rod transmission mechanism consisting of the rod end joint bearing and the rod end joint bearing connecting piece which are installed at the top of a guide rod of the two thin cylinders.

The thin cylinders are connected and fixed below the top plate through single-lug-ring foot seats arranged at the tail part and double-lug-ring bases arranged at the lower part of the top plate, and the two thin cylinders can swing in a staggered mode; the single lug ring foot stool is provided with a through hole, deep groove ball bearings are arranged on two sides of the inside of the single lug ring foot stool, and hole shoulders and check rings for mounting holes are milled inside the single lug ring foot stool so that the outer rings of the deep groove ball bearings can be positioned conveniently.

The guide rail mounting part is milled with a micro boss at the bottom so as to facilitate the positioning of the guide rail and ensure the parallelism of the guide rail mounting, and the guide rail mounting part is fixedly mounted on two sides of the top plate and is fixedly connected by screws.

The connecting part of the rod end joint bearing and the connecting part of the rod end joint bearing is provided with a hexagon nut, the angle of the rod end joint bearing can be adjusted to ensure that the rod end joint bearing is smoothly arranged at the connecting part of the manipulator claw, and the whole length of the connecting rod transmission mechanism can be adjusted.

The utility model provides a pneumatic parallel mechanical gripper device of gangue based on six robots transmits power with the control of indirect two slim cylinders of realization to the motion that opens and shuts of both sides mechanical gripper through connecting rod drive mechanism. The coal gangue conveying device has the characteristics of large opening and closing stroke, high clamping force, high conveying stability and high flexibility, is suitable for the characteristics of large coal gangue density and different sizes and volumes, and can bear large radial force and certain axial force by adopting a double-guide-rail double-sliding-block design; the dustproof water-proof device is simple in overall structure, small in size, convenient to mount and dismount and favorable for maintenance and repair, and baffles are arranged on the left side and the right side so as to be dustproof and waterproof, and the dustproof water-proof device can be applied to occasions with severe environments.

Drawings

FIG. 1 is a schematic view of the overall structure of a coal gangue pneumatic parallel mechanical gripper based on a six-axis robot.

Fig. 2 is a schematic diagram of an internal structure of a coal gangue pneumatic parallel mechanical gripper based on a six-axis robot.

Fig. 3 is a schematic diagram of an interior front view of a coal gangue pneumatic parallel mechanical gripper based on a six-axis robot.

Fig. 4 is a schematic diagram of a side view of the inside of a coal gangue pneumatic parallel mechanical gripper based on a six-axis robot.

Fig. 5 is a partial cross-sectional view of portion i of fig. 3.

In the figure: the robot comprises a six-axis robot base 1, a six-axis robot 2, a six-axis robot tail end 3, a pneumatic parallel mechanical gripper 4, a mechanical gripper 5, a mechanical gripper connecting piece 6, a sliding block 7, a guide rail 8, a side plate 9, a side plate connecting plate 10, a thin cylinder 11, a single lug ring foot base 12, a top plate 13, a double lug ring base 14, a guide rail mounting piece 15, a rod end joint bearing connecting piece 16, a hexagon nut 17, a rod end joint bearing 18, a side plate bottom plate 19, a deep groove ball bearing 20, a check ring for 21 holes, a sleeve 22 and a cylinder connecting shaft 23.

Detailed Description

The present invention will be described in detail with reference to the accompanying drawings.

The utility model relates to a pneumatic parallel mechanical gripper of gangue based on six robots, its pneumatic parallel mechanical gripper of main part (4) are fixed in six robot end (3) through the mounting of screw connection by roof (13), because of six robots (2) can realize linear motion and use six robot base (1) to carry out rotary motion as the center, so its flexibility is higher. The upper part of a pneumatic parallel mechanical claw (4) is an execution part, two thin cylinders (11), a guide rail (8) and a slide block (7) are arranged in the pneumatic parallel mechanical claw (4) (the specific structure is shown in figure 3), the lower part of the pneumatic parallel mechanical claw is a mechanical claw (5), and the mechanical claw (5) is indirectly controlled to open and close by the thin cylinders (11) so as to realize grabbing and carrying.

Fig. 2 shows an internal structural schematic diagram of a coal gangue pneumatic parallel mechanical gripper based on a six-axis robot.

Fig. 3 is a schematic front view of the inside of a coal gangue pneumatic parallel mechanical gripper based on a six-axis robot.

Fig. 4 is a schematic diagram of an internal side view of a coal gangue pneumatic parallel gripper based on a six-axis robot.

The mechanical gripper (5) is installed on the sliding block (7) through screw connection, the lower portion of the mechanical gripper is bent to facilitate grabbing, the upper portion of the mechanical gripper is provided with a mechanical gripper connecting piece (6) which can be connected with the rod end knuckle bearing (18), and the two thin cylinders (11) drive the mechanical grippers (5) on the two sides to achieve the purposes of parallel motion and grabbing and carrying materials such as coal gangue through a connecting rod transmission mechanism which is composed of the rod end knuckle bearing (18) and the rod end knuckle bearing connecting piece (16) installed at the top of a guide rod of the mechanical gripper.

The thin cylinder (11) is connected and fixed below the top plate (13) by a single-lug-ring foot base (12) arranged at the tail part of the thin cylinder and a double-lug-ring base (14) arranged at the lower part of the top plate (13), and a connecting rod transmission mechanism consisting of a rod end joint bearing (18) and a rod end joint bearing connecting piece (16) is arranged at the top of a guide rod of the thin cylinder. The utility model discloses use two the same slim cylinders (11), its mounted position staggers each other and is parallel to it is different along with the different swing angle of guide arm extension length in the course of the work.

Fig. 5 is a partial cross-sectional view of portion i of fig. 3.

The single-lug-ring foot seat (12) is provided with a through hole, deep groove ball bearings (20) are arranged on two sides of the interior of the single-lug-ring foot seat, hole shoulders and check rings (21) for mounting holes are milled in the interior of the single-lug-ring foot seat so that the outer rings of the deep groove ball bearings (20) can be conveniently positioned, and the deep groove ball bearings (20) are respectively positioned by the shaft shoulders of the cylinder connecting shafts (17) and the sleeves (22)

The utility model discloses wholly install in six robot end (3) by roof (13), pass through the control that the connecting rod drive mechanism was opened and shut to both sides mechanical gripper (5) by slim cylinder (11) indirectly to realize its purpose to snatching and carrying of materials such as gangue.

The above embodiments of the present invention are only examples, not only, all changes within the scope of the present invention or the same range of the present invention are all surrounded by the present invention.

Claims

1. A coal gangue pneumatic parallel mechanical gripper based on a six-axis robot comprises a six-axis robot (2), a mechanical gripper (5), a sliding block (7), a guide rail (8), a double-lug-ring base (14), a thin cylinder (11), a single-lug-ring base (12), a top plate (13), a guide rail mounting piece (15), a rod end joint bearing (18) and a deep groove ball bearing (20); the robot is characterized in that the top plate (13) is provided with a plurality of through holes for being installed at the tail end (3) of the six-axis robot through screw connection, the mechanical gripper (5) is installed on the sliding block (7) through screw connection, the lower part of the mechanical gripper is bent to be beneficial to grabbing, the upper part of the mechanical gripper is provided with a mechanical gripper connecting piece (6) which can be connected with the rod end joint bearing (18), and the thin cylinder (11) drives the mechanical grippers (5) at two sides to achieve the purposes of parallel motion and grabbing and carrying of materials such as coal gangue through a connecting rod transmission mechanism consisting of the rod end joint bearing (18) and the rod end joint bearing connecting piece (16) which are installed at the top of a.

2. The coal gangue pneumatic parallel mechanical gripper based on the six-axis robot as claimed in claim 1, wherein the thin cylinders (11) are characterized in that a single-lug ring foot base (12) arranged at the tail part is connected with a double-lug ring base (14) arranged at the lower part of the top plate (13) and fixed below the top plate (13), and the two thin cylinders (11) are staggered and can swing; deep groove ball bearings (20) are mounted on two sides of the inner portion of the single-lug-ring foot seat (12), and hole shoulders and a retainer ring (21) for mounting holes are milled in the inner portion of the single-lug-ring foot seat so that the outer ring of each deep groove ball bearing (20) can be positioned conveniently; the guide rail mounting piece (15) is characterized in that a boss is milled at the bottom of the guide rail mounting piece so as to position the guide rail (8) and ensure the parallelism of the installation of the guide rail (8), and the guide rail mounting piece is fixedly arranged on two sides of the top plate (13); the connecting part of the rod end joint bearing (18) and the rod end joint bearing connecting piece (16) is provided with a hexagon nut (17), the angle of the rod end joint bearing (18) can be adjusted to enable the rod end joint bearing to be smoothly arranged at the manipulator claw connecting piece (6), and the whole length of the connecting rod transmission mechanism can be adjusted.