CN212919450U - Arch mounting robot gripper and arch mounting robot - Google Patents
Arch mounting robot gripper and arch mounting robot Download PDFInfo
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- CN212919450U CN212919450U CN202021516585.XU CN202021516585U CN212919450U CN 212919450 U CN212919450 U CN 212919450U CN 202021516585 U CN202021516585 U CN 202021516585U CN 212919450 U CN212919450 U CN 212919450U
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Abstract
The utility model discloses an arch frame installation robot gripper, which comprises a gripper palm body, a gripper wrist seat, a gripper finger group and a power assembly, wherein the gripper finger group comprises at least two gripper fingers; the power assembly comprises a finger grabbing power piece; the gripper palm body is arranged on the gripper wrist seat; at least one grabbing finger is movably arranged on the grabbing hand body, two ends of the grabbing finger power piece are respectively connected with the grabbing finger and the grabbing hand body, and the grabbing finger power piece drives the grabbing finger to act so as to clamp or loosen the arch truss by the grabbing fingers in the grabbing finger group. By applying the technical scheme of the utility model, the gripper has simple structure; the gripper palm body is used for supporting the arch centering and ensuring the position of the arch centering to be convenient for subsequent installation; the power assembly drives the grabbing fingers in the grabbing finger group to move so as to grab or loosen the arch, the operation is convenient, and the grabbing finger group and the grabbing finger body are matched to better grab the arch.
Description
Technical Field
The utility model relates to an bow member installation technical field, concretely relates to bow member installation robot tongs and bow member installation robot.
Background
At present, the arch center snatchs the mounting means, and there are three kinds mainly:
the first is a simple tool manufactured by manual utilization, is directly hung and installed, is similar to a lifting hook, has very high requirement on manual labor intensity and extremely low efficiency, and is basically eliminated; the second type is a universal arch clamping device which needs manual adjustment, and has a heavy structure and is not flexible enough; the dedicated installation grabbing device of third kind bow member, the structure is more rough, and manual intervention adjusts more, and the bow member installation has the limitation, and performance is lower, the intelligent operation of not being convenient for.
Therefore, an arch installing device with flexible structure, strong applicability and high efficiency is urgently needed to solve the problems.
SUMMERY OF THE UTILITY MODEL
The utility model provides an bow member installation robot tongs to solve the technical problem that present bow member installation device structure is inflexible, the suitability is poor and efficient, concrete technical scheme as follows:
a gripper of an arch frame installation robot comprises a gripper palm body, a gripper wrist seat, a gripper group and a power assembly;
the grabbing finger group comprises at least two grabbing fingers;
the power assembly comprises a finger grabbing power piece;
the gripper palm body is arranged on the gripper wrist seat;
at least one grabbing finger is movably arranged on the grabbing hand body, two ends of the grabbing finger power piece are respectively connected with the grabbing finger and the grabbing hand body, and the grabbing finger power piece drives the grabbing finger to act so as to clamp or loosen the arch truss by the grabbing fingers in the grabbing finger group.
Preferably, in the above technical solution, the power assembly further includes a palm power member; the hand grip palm body is movably arranged on the hand grip wrist seat through the palm body power piece.
Preferably among the above technical scheme, the both ends of palm power spare are connected the tongs palm respectively and are held hand wrist seat, through the action of palm power spare adjust the swing angle between the tongs palm and hold hand wrist seat.
Preferably, in the technical scheme, the swing angle between the hand grip body and the hand grip wrist seat is 0-75 degrees.
Preferably in the technical scheme, the hand grip palm body is connected with the hand grip wrist seat through a swing pin, so that the hand grip palm body can swing relative to the hand grip wrist seat.
Preferably, in the above technical solution, the finger grasping group includes a first finger grasping and a second finger grasping that are correspondingly arranged; the first grabbing finger and the second grabbing finger are movably arranged on the grabbing palm body and are connected through the grabbing finger connecting rod.
Preferably, in the above technical scheme, the first gripping finger and the second gripping finger are both composed of a gripping section and a connecting section; the connecting section of the first grabbing finger and the connecting section of the second grabbing finger can be arranged on the hand grip body in a swinging mode; the connecting section of the first grabbing finger is movably connected with the connecting section of the second grabbing finger through a grabbing finger connecting rod; the two ends of the grabbing finger power piece are respectively connected with the grabbing section of the first grabbing finger and the grabbing finger palm body, and the grabbing or loosening of the arch center is realized through the matching of the grabbing section of the first grabbing finger and the grabbing section of the second grabbing finger.
Preferably, in the above technical solution, the first gripping finger and the second gripping finger are both composed of a gripping section and a connecting section (preferably 75 ° to 150 °, and more preferably 120 ° to 135 °) which are arranged in series and form an included angle of 35 ° to 155 °.
Preferably, the robot further comprises a mechanical arm, and the gripper wrist seat is arranged on the mechanical arm.
The gripper of the arch centering installation robot comprises a gripper palm body, a gripper wrist seat, a gripper finger group and a power assembly, and has simple structure; the gripper palm body is used for supporting the arch centering and ensuring the position of the arch centering to be convenient for subsequent installation; the power assembly drives the grabbing fingers in the grabbing finger group to move so as to grab or loosen the arch, the operation is convenient, and the grabbing finger group and the grabbing finger body are matched to better grab the arch.
The utility model discloses through swing pin connection between well tongs palm body and the tongs wrist seat, combine the design of palm body power spare, the tongs palm body of being convenient for carries out angular adjustment on the wrist seat, and the structure is more nimble, has improved the suitability greatly.
The finger grabbing group of the utility model comprises a first finger grabbing part and a second finger grabbing part; through the structure of imitating the finger joints of the human body, the arch center is quickly grabbed, and the working efficiency is improved.
The utility model also discloses an bow member installation robot, including bow member installation robot body and foretell bow member installation robot tongs, bow member installation robot tongs set up on the bow member installation robot body, be convenient for realize that the clamp of bow member gets or loosen, do benefit to bow member installation operation.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification.
In the drawings:
FIG. 1 is a schematic structural view of an arch installing robot gripper in the embodiment;
FIG. 2 is a cross-sectional view of FIG. 1;
wherein, 1, a first finger grip; 2. a second finger grip; 3. a finger grasping connecting rod; 4. a swing pin; 5. a gripper wrist seat; 6. a hand grip body; 7. a finger grasping power member; 8. palm power piece.
Detailed Description
The embodiments of the invention will be described in detail hereinafter with reference to the accompanying drawings, but the invention can be implemented in many different ways, which are defined and covered by the claims.
Example 1:
an arch installing robot gripper is shown in figures 1-2 and comprises a gripper palm body 6, a gripper wrist seat 5, a gripper finger group and a power assembly, and the details are as follows:
the power assembly comprises a palm power piece 8 and a finger gripping power piece 7.
The grasping finger group comprises at least two grasping fingers, wherein two grasping fingers are illustrated in fig. 1, and specifically: the grabbing finger group comprises a first grabbing finger 1 and a second grabbing finger 2; the first grabbing finger 1 and the second grabbing finger 2 imitate clamping cooperation of a thumb and a forefinger of a human body, the first grabbing finger and the second grabbing finger can be arranged on the grabbing palm body in a swinging mode 6, the lower end of the first grabbing finger and the lower end of the second grabbing finger are connected through the grabbing finger connecting rod 3, and grabbing or loosening of the arch center can be achieved through cooperation of the upper end of the first grabbing finger and the upper end of the second grabbing finger. By adopting the structure, the first grabbing finger and the second grabbing finger can synchronously move to realize the grasping or releasing of the arch center.
Further preferred is: the first grabbing finger and the second grabbing finger are composed of a grabbing section A and a connecting section B which are arranged in series from top to bottom, the connecting section of the first grabbing finger and the connecting section of the second grabbing finger can be arranged on the grabbing hand body in a swinging mode (arranged through a pin shaft) 6, and the connecting section of the first grabbing finger and the connecting section of the second grabbing finger are movably connected through a grabbing finger connecting rod 3. Two ends of the grabbing finger power part 7 are respectively connected with the grabbing section of the first grabbing finger 1 and the grabbing palm body, as shown in detail in fig. 2, the action process is as follows: firstly, the grabbing finger power part extends, the grabbing section of the first grabbing finger moves towards the direction of the second grabbing finger, and the connecting section of the first grabbing finger swings towards the direction far away from the second grabbing finger; the grabbing finger connecting rod drives the connecting section of the second grabbing finger to swing towards the direction far away from the first grabbing finger, so that the grabbing section of the second grabbing finger moves towards the direction of the first grabbing finger, and the arch is grabbed tightly; shortening the grabbing finger power piece, moving the grabbing section of the first grabbing finger towards the direction far away from the second grabbing finger, and swinging the connecting section of the first grabbing finger towards the direction of the second grabbing finger; the grabbing finger connecting rod drives the connecting section of the second grabbing finger to swing towards the direction of the first grabbing finger, so that the grabbing section of the second grabbing finger moves towards the direction far away from the first grabbing finger, and the arch frame is loosened. In this embodiment, the preferred angle between the grasping section a and the connecting section B is α, which is preferably 35 ° -155 ° (e.g., 135 °), as shown in fig. 2.
The hand grip palm body is movably arranged on the hand grip wrist seat, two ends of the palm body power piece 8 are respectively connected with the hand grip palm body and the hand grip wrist seat, and the swinging angle between the hand grip palm body and the hand grip wrist seat is adjusted through the action of the palm body power piece. In the preferred embodiment, the grip palm body 6 and the grip wrist seat 5 are both provided with matching holes matched with the swing pins 4, and the swing pins 4 penetrate through the matching holes, so that the grip palm body can swing relative to the grip wrist seat, and the swing angle of the grip palm body is adjusted (the swing angle is determined according to the working condition, such as 0-75 degrees, and further preferably 5-45 degrees).
In the preferred embodiment, the palm power member 8 and the finger gripping power member 7 are at least one of oil cylinders or air cylinders.
The embodiment further comprises a mechanical arm, the gripper wrist seat 5 is installed on the mechanical arm, and the gripper of the whole arch installing robot is driven to move through the action of the mechanical arm.
The working principle is applied in the embodiment:
clamping: the gripper of the arch center mounting robot is controlled to move to an arch center (arch center) accessory, the power part of the gripper body is controlled to drive the gripper body to carry out angle adjustment, and the finger grabbing power part moves to drive the first finger grabbing part and the second finger grabbing part to gradually move away from each other to be in an open state; the arch center is shoveled by the first grabbing finger or the second grabbing finger, the arch center enters the accommodating cavity formed by the first grabbing finger, the second grabbing finger and the hand grip body, the arch center is supported by the hand grip body, and meanwhile, the first grabbing finger and the second grabbing finger are driven to gradually approach by the movement of the grabbing finger power part, so that the arch center on the hand grip body is clamped. Other auxiliary equipment such as a proportioning starter and the like is not needed when the arch center is clamped.
Loosening: after the arch centering moved to the mounted position, control and grab finger power piece and drive first grabbing finger and second grabbing finger and keep away from, realize loosening the arch centering on the tongs palm body.
Adopt the utility model discloses a scheme can realize snatching and loosening of bow member high-efficiently, does benefit to the installation of follow-up bow member.
Example 2:
an arch installing robot comprises a body, a control center, a valve control center, a swing arm and an arch installing robot gripper (the arch installing robot gripper is arranged on a mechanical arm) in embodiment 1.
The body sets up on movable carrier, drives whole bow member installation robot through the action of moving the carrier and removes.
The control center and the valve control center are both arranged on the body or the movable carrier. The specific structural configurations of the control center and the valve control center can be found in the prior art.
The swing arm is arranged on the body, and a swing arm power part (a telescopic oil cylinder or an air cylinder) can drive the swing arm to swing and/or pitch. The swing arm can be connected with the mechanical arm in series, and can also be integrated with the mechanical arm to form an integrated structure, and the swing arm is selected according to actual requirements.
The swing arm power piece, the finger grabbing power piece and the palm body power piece are connected with the control center through the valve control center, and automatic control of the swing arm power piece, the finger grabbing power piece and the palm body power piece is achieved.
The above, only be the 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 design of the present invention, equivalent replacement or change should be included in the protection scope of the present invention.
Claims (10)
1. A robot gripper for mounting an arch center is characterized by comprising a gripper palm body (6), a gripper wrist seat (5), a gripper group and a power assembly;
the grabbing finger group comprises at least two grabbing fingers;
the power assembly comprises a finger gripping power piece (7);
the hand grip palm body (6) is arranged on the hand grip wrist seat (5);
at least one grabbing finger is movably arranged on the grabbing hand body (6), two ends of the grabbing finger power piece (7) are respectively connected with the grabbing finger and the grabbing hand body, and the grabbing finger power piece drives the grabbing finger to move so as to clamp or release the arch truss by the grabbing fingers in the grabbing finger group.
2. The arch mounted robotic gripper of claim 1, wherein the power assembly further includes a palm power member (8); the hand grip palm body (6) is movably arranged on the hand grip wrist seat (5) through the palm body power piece (8).
3. The arch-mounted robot gripper as claimed in claim 2, wherein the two ends of the gripper body power member (8) are respectively connected with the gripper body and the gripper wrist seat, and the swinging angle between the gripper body and the gripper wrist seat is adjusted by the motion of the gripper body power member.
4. An arch-mounted robotic gripper as claimed in claim 3 in which the swing angle between the gripper's palm and the gripper's wrist rest is between 0 ° and 75 °.
5. The arch mounted robotic gripper of any one of claims 1-4, wherein the gripper body is connected to the gripper seat by a swing pin (4) enabling swinging of the gripper body relative to the gripper seat.
6. The arch mounted robot gripper according to claim 5, characterized in that the set of gripping fingers comprises a first gripping finger (1) and a second gripping finger (2) arranged correspondingly; the first grabbing finger and the second grabbing finger are movably arranged on the grabbing palm body and are connected through the grabbing finger connecting rod (3).
7. The arch mount robot gripper of claim 6, wherein the first gripping finger and the second gripping finger each consist of a gripping section and a connecting section; the connecting section of the first grabbing finger and the connecting section of the second grabbing finger can be arranged on the grabbing palm body (6) in a swinging mode; the connecting section of the first grabbing finger is movably connected with the connecting section of the second grabbing finger through a grabbing finger connecting rod (3); two ends of the grabbing finger power piece (7) are respectively connected with the grabbing section of the first grabbing finger and the grabbing finger palm body (6), and the grabbing or the loosening of the arch center is realized through the matching of the grabbing section of the first grabbing finger and the grabbing section of the second grabbing finger.
8. The arch installing robot gripper of claim 7, wherein the first gripper finger and the second gripper finger are each composed of a gripper section and a connecting section arranged in series and having an included angle of 35 ° to 155 °.
9. The arch mount robot gripper of claim 1, further comprising a robotic arm, the gripper wrist mount being disposed on the robotic arm.
10. An arch installing robot comprising an arch installing robot body and an arch installing robot hand according to any one of claims 1-9, the arch installing robot hand being provided on the arch installing robot body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021516585.XU CN212919450U (en) | 2020-07-28 | 2020-07-28 | Arch mounting robot gripper and arch mounting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021516585.XU CN212919450U (en) | 2020-07-28 | 2020-07-28 | Arch mounting robot gripper and arch mounting robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212919450U true CN212919450U (en) | 2021-04-09 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021516585.XU Active CN212919450U (en) | 2020-07-28 | 2020-07-28 | Arch mounting robot gripper and arch mounting robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN212919450U (en) |
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2020
- 2020-07-28 CN CN202021516585.XU patent/CN212919450U/en active Active
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