CN213647583U - Anti-falling robot sorting ironwork rubbish gripper device - Google Patents
Anti-falling robot sorting ironwork rubbish gripper device Download PDFInfo
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- CN213647583U CN213647583U CN202021451362.XU CN202021451362U CN213647583U CN 213647583 U CN213647583 U CN 213647583U CN 202021451362 U CN202021451362 U CN 202021451362U CN 213647583 U CN213647583 U CN 213647583U
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Abstract
The utility model discloses an anti falling robot letter sorting grip device for ironwork rubbish, including base flange, finger subassembly, driving-disc, cylinder, battery, electro-magnet and travel switch, wherein: the electromagnet is arranged at the bottom of the driving disc, the battery is arranged on the base flange, the battery is connected with the electromagnet through the travel switch, and the travel switch controls the connection and disconnection of the battery and the electromagnet circuit according to the contraction degree of the air cylinder. The utility model provides a robot letter sorting grip device for ironwork rubbish that anti-drop, the circular telegram through the electro-magnet is convenient for realize the absorption to ironwork rubbish, avoids ironwork rubbish to break away from grip device because gravity is great when grip device snatchs the operation.
Description
Technical Field
The utility model relates to a rubbish letter sorting machine people technical field especially relates to an anti falling robot letter sorting tongs device for ironwork rubbish.
Background
With the rapid development of artificial intelligence and mechanical automation, the problem of sorting the remaining garbage in the traditional mechanical equipment combination mode is more and more highlighted. At present, most enterprises at home and abroad begin to research and adopt intelligent robot identification to grab and convey platform garbage materials, and manual labor force is replaced so as to reduce the cost of enterprises and improve the production quality and efficiency. The garbage sorting has many problems, such as large differences of sizes, types and degradation degrees of materials needing to be sorted. The pneumatic claw form adopted by the tail end of the robot is high in requirement, and the pneumatic claw form is used as an important executing component of the robot and requires reasonable structure, special material of the pneumatic claw, coordinated action and the like.
But current letter sorting robot grabbing device generally adopts the cylinder finger, and this kind of device stroke is less, and the article quality of snatching is lighter, to some ironwork rubbish because density is great causes the finger to become flexible easily or even can not realize snatching the ironwork rubbish.
The authorization notice number is: CN210589367U, entitled "pneumatic claw for grabbing fabric in robot sorting garbage storage platform", discloses a pneumatic claw convenient for grabbing fabric, and the patent has the disadvantage that it is inconvenient for grabbing heavy ironwork garbage.
SUMMERY OF THE UTILITY MODEL
For solving the technical problem who exists among the background art, the utility model provides an anti-drop robot letter sorting tongs device for ironwork rubbish.
The utility model provides an anti falling robot letter sorting tongs device for ironwork rubbish, including base flange, finger subassembly, driving-disc, cylinder, battery, electro-magnet and travel switch, wherein:
the driving disc is positioned below the base flange, the air cylinder is arranged on the base flange, the telescopic end of the air cylinder is connected with the driving disc, and the air cylinder is used for driving the driving disc to move towards the direction close to or away from the base flange;
the finger assemblies are provided with a plurality of groups, and the plurality of groups of finger assemblies are uniformly and circumferentially distributed on the base flange and the driving disc;
the finger assembly comprises a connecting rod and a finger, one end of the finger is rotatably arranged on the base flange, the finger can rotate up and down relative to the base flange, the other end of the finger extends downwards, one end of the connecting rod is rotatably arranged on the driving disk, the other end of the second connecting rod is rotatably connected with the middle part of the finger, and the axis of the finger rotating relative to the connecting rod and the axis of the connecting rod rotating relative to the driving disk are parallel to the axis of the connecting rod rotating relative to the base flange;
the electromagnet is arranged at the bottom of the driving disc, the battery is arranged on the base flange, the battery is connected with the electromagnet through the travel switch, and the travel switch controls the connection and disconnection of the battery and the electromagnet circuit according to the contraction degree of the air cylinder.
As the utility model discloses the scheme of further optimization, when the flexible end of cylinder is in the longest extension state, travel switch control battery is in the off-state with the circuit of electro-magnet, and when the flexible end of cylinder was in the in-process that shortens and the cylinder was in and is shortened to the shortest state, travel switch control battery was in the connected state with the circuit of electro-magnet.
As a further preferred aspect of the present invention, the travel switch is mounted between the drive plate and the base flange.
Travel switch can be the switch of other controller control such as singlechip among the prior art, as the utility model discloses further optimized's scheme, travel switch includes the sleeve, electrically conductive elastic component, the conducting block and lead electrical pillar, the conducting block is through with the power intercommunication, it is connected with the electro-magnet through electrically conductive elastic component to lead electrical pillar, the sleeve is installed on the base flange, the one end of leading electrical pillar is installed on the driving-disc, the other end slidable mounting who leads electrical pillar is in the sleeve, the one end and the conducting block of electrically conductive elastic component or lead electrical pillar and be connected, electrically conductive elastic component takes place deformation along cylinder shrink direction, it makes the electro-magnet circuit intercommunication to lead electrical pillar along with the cylinder shrink in the sleeve removal.
As a further optimized solution of the present invention, the conductive column is sleeved with an elastic bellows.
As a further preferred aspect of the present invention, the conductive elastic member is a conductive spring.
As the utility model discloses further optimized scheme, the sleeve is made for insulating material.
The utility model discloses in, the robot that prevents dropping that proposes sorts tongs device for ironwork rubbish, the circular telegram through the electro-magnet is convenient for realize the absorption to ironwork rubbish, avoids ironwork rubbish to break away from tongs device because gravity is great when tongs device snatchs the operation.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
FIG. 1 is a schematic structural view of the present invention;
fig. 2 is the schematic diagram of the travel switch structure of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar designations denote like or similar elements or elements having like or similar functionality throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
It will be understood that the terms "central," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in an orientation or positional relationship indicated in the drawings for convenience and simplicity of description only, and do not indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be considered as limiting the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; may be mechanically coupled, may be electrically coupled or may be in communication with each other; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
In the present application, unless expressly stated or limited otherwise, the first feature may be directly on or directly under the second feature or indirectly via intermediate members. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
As shown in fig. 1-2, the robot that prevents falling sorts grip device for ironwork rubbish includes base flange 2, finger subassembly 3, driving disc 5, cylinder 1, battery 4, electro-magnet 6 and travel switch 7, wherein:
the driving disc 5 is positioned below the base flange 2, the cylinder 1 is installed on the base flange 2, the telescopic end of the cylinder 1 is connected with the driving disc 5, and the cylinder 1 is used for driving the driving disc 5 to move towards the direction close to or far away from the base flange 2;
the finger assemblies 3 are provided with a plurality of groups, and the plurality of groups of finger assemblies 3 are uniformly and circumferentially distributed on the base flange 2 and the driving disc 5;
the finger assembly 3 comprises a connecting rod 31 and a finger 32, one end of the finger 32 is rotatably mounted on the base flange 2, the finger 32 can rotate up and down relative to the base flange 2, the other end of the finger 32 extends downwards, one end of the connecting rod 31 is rotatably mounted on the driving disk 5, the other end of the second connecting rod 31 is rotatably connected with the middle part of the finger 32, and the axis of the finger 32 rotating relative to the connecting rod 31 and the axis of the connecting rod 31 rotating relative to the driving disk 5 are parallel to the axis of the connecting rod 31 rotating relative to the base flange 2;
the electromagnet 6 is arranged at the bottom of the driving disc 5, the battery 4 is arranged on the base flange 2, the travel switch 7 is arranged between the driving disc 5 and the base flange 2, the battery 4 is connected with the electromagnet 6 through the travel switch 7, and the travel switch 7 controls the connection and disconnection of the circuit of the battery 4 and the electromagnet 6 according to the contraction degree of the cylinder 1;
when the telescopic end of the cylinder 1 is in the longest extension state, the travel switch 7 controls the circuit of the battery 4 and the electromagnet 6 to be in a disconnection state, and when the telescopic end of the cylinder 1 is in the shortening process and the cylinder 1 is in the shortest shortening state, the travel switch 7 controls the circuit of the battery 4 and the electromagnet 6 to be in a connection state;
the travel switch 7 comprises a sleeve 70, a conductive spring 71, a conductive block 72 and a conductive column 73, wherein the conductive block 72 is communicated with a power supply through a conducting wire, the conductive column 73 is connected with the electromagnet 6 through a conductive elastic part 71, the sleeve 70 is installed on the base flange 2, one end of the conductive column 73 is installed on the driving disc 5, the other end of the conductive column 73 is installed in the sleeve 70 in a sliding manner, one end of the conductive spring 71 is fixedly connected with the conductive block 72, the conductive spring 71 deforms along the contraction direction of the cylinder 1, and the conductive column 73 moves in the sleeve 70 along with the contraction of the cylinder 1 and extrudes the conductive spring 71 to enable the electromagnet;
the elastic corrugated pipe 8 is sleeved outside the conductive column 73, so that the conductive column 73 is prevented from being corroded by acid and alkali gas in the outside air, and dust is prevented from being adsorbed on the conductive column 73, so that the precision of the conductive column is ensured;
the sleeve 70 is made of an insulating material, so that the leakage of electricity of the sleeve is prevented, the service life of the device is prolonged, and the finger 32 can be grabbed with a larger grip.
In the working process of the embodiment: base flange 2 is connected with the robot arm, when the robot drives the device and removes a definite position, cylinder 1 shrink, finger 32 snatchs the operation this moment, driving-disc 5 drives and leads electrical pillar 73 to removing and extrude conducting spring 71 to being close to conducting pillar 72 direction in this in-process, and then make and lead electrical pillar 73 and conducting pillar 72 intercommunication, make electro-magnet 6 circular telegram, and then make electro-magnet 6 realize the absorption to ironwork rubbish, it drops when snatching the operation to place ironwork rubbish, cylinder 1 extension makes finger 32 not hard up after the robot removes rubbish to the assigned position, when cylinder 1 extends to the longest, it breaks away from with conducting spring 71 to lead electrical pillar 73, electro-magnet 6 does not lead the electricity and loses magnetism, and then the blanking of the ironwork rubbish of being convenient for.
In this embodiment, preferably, when the telescopic end of the cylinder 1 is in the longest extension state, the circuit of the battery 4 and the electromagnet 6 is controlled to be in the disconnection state by the stroke switch 7, and when the telescopic end of the cylinder 1 is in the shortening process and the cylinder 1 is in the shortest state, the circuit of the battery 4 and the electromagnet 6 is controlled to be in the connection state by the stroke switch 7, so that the electromagnet 6 is in the power-on state when the finger 32 of the gripping device performs the gripping operation, so that the ironwork garbage is further adsorbed, the sorting of the ironwork garbage is further increased, and the ironwork garbage is prevented from falling due to the heavier weight.
In the present embodiment, it is preferable that the travel switch 7 is installed between the driving disk 5 and the base flange 2, so that the space is not occupied, and the travel switch is prevented from interfering with the finger 32 grasping operation of the gripper device.
Compared with an existing electronic switch controlled by a single chip microcomputer or other controllers, the electronic switch is preferred in this embodiment, the travel switch 7 includes a sleeve 70, a conductive spring 71, a conductive block 72 and a conductive column 73, the conductive block 72 is communicated with a power supply, the conductive column 73 is connected with the electromagnet 6 through a conductive elastic part 71, the sleeve 70 is installed on the base flange 2, one end of the conductive column 73 is installed on the driving disc 5, the other end of the conductive column 73 is installed in the sleeve 70 in a sliding manner, one end of the conductive spring 71 is connected with the conductive block 72 or the conductive column 73, the conductive spring 71 deforms along the contraction direction of the cylinder 1, the conductive column 73 moves in the sleeve 70 along with the contraction of the cylinder 1 and extrudes the conductive spring 71 to enable the electromagnet 6 to be communicated with a circuit.
In this embodiment, it is preferable that the elastic bellows 8 is sleeved outside the conductive post 73, so as to prevent the conductive post 73 from being corroded by acid and alkali gases in the outside air and prevent dust from being adsorbed on the conductive post 73, thereby ensuring the accuracy of the conductive post 73
In the present embodiment, it is preferable that the conductive elastic member 71 is a conductive spring. Simple structure and low cost.
In the present embodiment, the sleeve 70 is preferably made of an insulating material. Thereby preventing the electric leakage of the sleeve and ensuring the service life of the device and the larger grip force when the fingers 32 grab the device.
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 (7)
1. The utility model provides an anti falling robot letter sorting ironwork is tongs device for rubbish, a serial communication port, including base flange (2), finger subassembly (3), driving-disc (5), cylinder (1), battery (4), electro-magnet (6) and travel switch (7), wherein:
the driving disc (5) is located below the base flange (2), the air cylinder (1) is installed on the base flange (2), the telescopic end of the air cylinder (1) is connected with the driving disc (5), and the air cylinder (1) is used for driving the driving disc (5) to move towards the direction close to or away from the base flange (2);
the finger assemblies (3) are provided with a plurality of groups, and the plurality of groups of finger assemblies (3) are uniformly and circumferentially distributed on the base flange (2) and the driving disc (5);
the finger assembly (3) comprises a connecting rod (31) and a finger (32), one end of the finger (32) is rotatably installed on the base flange (2), the finger (32) can rotate up and down relative to the base flange (2), the other end of the finger (32) extends downwards, one end of the connecting rod (31) is rotatably installed on the driving disk (5), the other end of the second connecting rod (31) is rotatably connected with the middle of the finger (32), and the rotating axis of the finger (32) relative to the connecting rod (31) and the rotating axis of the connecting rod (31) relative to the driving disk (5) are parallel to the rotating axis of the connecting rod (31) relative to the base flange (2);
the electromagnet (6) is arranged at the bottom of the driving disc (5), the battery (4) is installed on the base flange (2), the battery (4) is connected with the electromagnet (6) through the travel switch (7), and the travel switch (7) controls the connection and disconnection of the circuit of the battery (4) and the electromagnet (6) according to the contraction degree of the cylinder (1).
2. The drop-proof robot gripper for sorting ironwork garbage according to claim 1, wherein the stroke switch (7) controls the circuit between the battery (4) and the electromagnet (6) to be in an off state when the telescopic end of the cylinder (1) is in the longest extension state, and the stroke switch (7) controls the circuit between the battery (4) and the electromagnet (6) to be in an on state when the telescopic end of the cylinder (1) is in the shortening process and the cylinder (1) is in the shortest state.
3. Anti-drop robot gripper for sorting ironic waste according to claim 1, characterized in that a travel switch (7) is installed between the driving disc (5) and the base flange (2).
4. The drop-proof robot gripping device for sorting ironwork garbage according to claim 1, the travel switch is characterized in that the travel switch (7) comprises a sleeve (70), a conductive elastic piece (71), a conductive block (72) and a conductive column (73), the conductive block (72) is communicated with a power supply, the conductive column (73) is connected with the electromagnet (6) through the conductive elastic piece (71), the sleeve (70) is installed on the base flange (2), one end of the conductive column (73) is installed on the driving disc (5), the other end of the conductive column (73) is installed in the sleeve (70) in a sliding mode, one end of the conductive elastic piece (71) is connected with the conductive block (72) or the conductive column (73), the conductive elastic piece (71) deforms along the contraction direction of the cylinder (1), and the conductive column (73) moves in the sleeve (70) along with the contraction of the cylinder (1) and extrudes the conductive elastic piece (71) to enable the electromagnet (6) to be.
5. The drop-proof robot gripper for sorting ironwork garbage according to claim 4, characterized in that the conductive posts (73) are sheathed with an elastic bellows (8).
6. The drop-proof robot gripper for sorting ironwork garbage according to claim 4, wherein the conductive elastic member (71) is a conductive spring.
7. Anti-drop robot gripping device for sorting ironic waste according to claim 4, characterized in that the sleeve (70) is made of insulating material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021451362.XU CN213647583U (en) | 2020-07-21 | 2020-07-21 | Anti-falling robot sorting ironwork rubbish gripper device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021451362.XU CN213647583U (en) | 2020-07-21 | 2020-07-21 | Anti-falling robot sorting ironwork rubbish gripper device |
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| CN213647583U true CN213647583U (en) | 2021-07-09 |
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| CN202021451362.XU Active CN213647583U (en) | 2020-07-21 | 2020-07-21 | Anti-falling robot sorting ironwork rubbish gripper device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113927621A (en) * | 2021-11-15 | 2022-01-14 | 苏州嘉诺环境工程有限公司 | Solid material snatchs mechanism and industrial robot |
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2020
- 2020-07-21 CN CN202021451362.XU patent/CN213647583U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113927621A (en) * | 2021-11-15 | 2022-01-14 | 苏州嘉诺环境工程有限公司 | Solid material snatchs mechanism and industrial robot |
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