CN214394250U

CN214394250U - Industrial robot gripper

Info

Publication number: CN214394250U
Application number: CN202120152469.2U
Authority: CN
Inventors: 李华辉
Original assignee: Jiangxi Industrial Vocational And Technical College
Current assignee: Jiangxi Industrial Vocational And Technical College
Priority date: 2021-01-20
Filing date: 2021-01-20
Publication date: 2021-10-15
Anticipated expiration: 2031-01-20

Abstract

The utility model discloses an industrial robot holder, the on-line screen storage device comprises a base, the upside fixedly connected with manipulator of base, the one end fixedly connected with claw dish of manipulator, the downside of claw dish is rotated and is connected with a plurality of dwangs, a plurality of control cylinders of lateral wall fixedly connected with of dwang, the inside of control cylinder is equipped with the fixture that is used for the centre gripping article. The utility model has the advantages of reasonable design for the work piece receives robotic arm self on the one hand and grabs the power, and on the other hand also can receive the suction of suction fan, and then effectively prevents dropping of work piece, makes fixedly more firm, and the sucking disc of rubber material also prevents to cause the damage to workpiece surface simultaneously.

Description

Industrial robot gripper

Technical Field

The utility model relates to an industrial robot technical field especially relates to an industrial robot holder.

Background

The mechanical arm is an automatic mechanical device which is widely applied in the technical field of robots, and the figure of the mechanical arm can be seen in the fields of industrial manufacturing, medical treatment, entertainment service, military, semiconductor manufacturing, space exploration and the like. Although they have different forms, they all have a common feature of being able to receive commands and precisely locate a point in three-dimensional space for work.

The robot that uses often in the industry includes robotic arm, and when utilizing robotic arm to centre gripping the work piece, to anomalous work piece, robotic arm can be at first the bellied part of centre gripping work piece, and then make the bellied part of work piece can receive the clamping-force of machine and the gravity of self, cause the damage of work piece, and when centre gripping heavier object, can damage the work piece surface when the holder applied force is great and influence the pleasing to the eye and the quality of work piece, and can appear the not firm dropping that causes the work piece of centre gripping when the applied force is less.

SUMMERY OF THE UTILITY MODEL

The utility model aims at solving the defects in the prior art and providing an industrial robot holder.

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

the utility model provides an industrial robot holder, includes the base, the upside fixedly connected with manipulator of base, the one end fixedly connected with claw dish of manipulator, the downside of claw dish is rotated and is connected with a plurality of dwangs, a plurality of control cylinders of lateral wall fixedly connected with of dwang, the inside of a control cylinder is equipped with the fixture that is used for the centre gripping article.

Preferably, fixture is including setting up the control tube in the control cylinder inside, the inboard of control cylinder is equipped with two spouts, the inside sliding connection of spout has the slider, the lateral wall fixed connection of slider and control tube, the control cylinder all overlaps with the outside of control tube and is equipped with the fixed plate, two the common fixedly connected with spring of lateral wall that the fixed plate is relative, the sucking disc has been cup jointed to the one end of control tube, the upside of base is equipped with and is used for driving the inspiratory control mechanism of a plurality of sucking discs.

Preferably, control mechanism includes suction fan and the collecting box of fixed connection on the base upside, the end of giving vent to anger of suction fan is linked together with the collecting box, the upside of collecting box is equipped with a plurality of openings, the inside of claw dish is equipped with collects the chamber, the suction fan is linked together through intake pipe and collection chamber, the inside of dwang is equipped with the chamber of ventilating, the breathing pipe has been cup jointed to the one end of control tube, and is a plurality of the breathing pipe all is linked together with the chamber of ventilating, and is a plurality of the chamber of ventilating is linked together with the collection chamber through a plurality of connecting pipes respectively.

Preferably, the suction cup is of a funnel-shaped structure, and the suction cup is made of rubber.

Preferably, the air suction pipe is a corrugated pipe, and the connecting pipe and the air inlet pipe are both plastic hoses.

Preferably, two sliding chutes in the same control cylinder are symmetrically arranged, and the length of each sliding chute is smaller than the length of the inner side of the control cylinder.

The utility model discloses possess following beneficial effect:

1. by arranging the clamping mechanism and the control mechanism, when the mechanical arm is started to clamp a workpiece, the rotating rods of the claw disc can rotate and enable the suckers to be attached to the surface of the workpiece, the plurality of suckers can be attached to the surface of the irregular workpiece by using the spring, then the suction fan is started to suck air between the suckers and the workpiece, and further the workpiece is fixed, so that the workpiece is subjected to the gripping force of the mechanical arm on one hand, and the suction force of the suction fan on the other hand, the workpiece is effectively prevented from falling off, the fixation is firmer, and meanwhile, the suckers made of rubber materials are prevented from damaging the surface of the workpiece;

2. through setting up the suction fan, when need not to carry out the centre gripping to the work piece, start the suction fan after being close to the work piece with the sucking disc for debris such as the dust on workpiece surface are inhaled the intracavity of ventilating, get into the collecting box through collecting chamber and intake pipe at last in, realize the clearance to workpiece surface, make things convenient for the later stage to beat operations such as mark of work piece, have increased the functionality of device.

Drawings

Fig. 1 is a schematic structural view of an industrial robot gripper according to the present invention;

fig. 2 is an enlarged view of a structure of fig. 1.

In the figure: the device comprises a base 1, a manipulator 2, a claw disk 3, a rotating rod 4, a connecting pipe 5, a ventilation cavity 6, a collection cavity 7, a suction cup 8, a control cylinder 9, a control pipe 10, a sliding chute 11, a sliding block 12, a fixing plate 13, an air suction pipe 14, a suction fan 15, a collection box 16, an opening 17, an air inlet pipe 18 and a spring 19.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments.

Referring to fig. 1-2, an industrial robot holder comprises a base 1, an upper side fixedly connected with manipulator 2 of the base 1, one end fixedly connected with claw disk 3 of the manipulator 2, the lower side of the claw disk 3 is rotatably connected with a plurality of rotating rods 4, the claw disk 3 and the manipulator 2 are in the prior art, namely, the manipulator 2 is started through modes such as a PLC (programmable logic controller) or a single chip microcomputer, so that the rotating rods 4 on the claw disk 3 are rotated and can hold objects, a plurality of control cylinders 9 are fixedly connected with the side walls of the rotating rods 4, and the longitudinal sections of the control cylinders 9 are in a circular ring structure.

The inside of the control cylinder 9 is provided with a clamping mechanism for clamping an object, the clamping mechanism comprises a control tube 10 arranged inside the control cylinder 9, the inner side of the control cylinder 9 is provided with two sliding chutes 11, the two sliding chutes 11 positioned in the same control cylinder 9 are symmetrically arranged, the length of each sliding chute 11 is smaller than that of the inner side of the control cylinder 9, the control tube 10 is effectively prevented from being separated from the control cylinder 9, the inner part of each sliding chute 11 is connected with a sliding block 12 in a sliding manner, the sliding blocks 12 are fixedly connected with the side walls of the control tube 10, the outer sides of the control cylinder 9 and the control tube 10 are respectively sleeved with a fixing plate 13, the two fixing plates 13 are respectively fixedly connected with the control cylinder 9 and the control tube 10, the opposite side walls of the two fixing plates 13 are jointly and fixedly connected with a spring 19, the suction cup 8 is always abutted against the surface of the workpiece by utilizing the compression action of the spring 19, so that the suction cup 8 can suck irregular workpieces, and one end of the control tube 10 is sleeved with the suction cup 8, the sucking disc 8 is hopper-shaped structure, and sucking disc 8 is made by rubber, because sucking disc 8 has elasticity, and then can not cause the smooth loss on workpiece surface when sucking disc 8 contacts with workpiece surface.

The upside of base 1 is equipped with the control mechanism used for driving a plurality of sucking discs 8 to suck air, the control mechanism comprises a suction fan 15 and a collecting box 16 which are fixedly connected on the upside of base 1, the air outlet end of suction fan 15 is communicated with collecting box 16, the upside of collecting box 16 is equipped with a plurality of openings 17, the inside of opening 17 is equipped with a filter screen, so that sundries are left inside collecting box 16, and sucked air can be discharged through opening 17, the inside of claw disc 3 is equipped with collecting cavity 7, suction fan 15 is communicated with collecting cavity 7 through air inlet pipe 18, the inside of dwang 4 is equipped with ventilation cavity 6, one end of control pipe 10 is sleeved with air suction pipe 14, a plurality of air suction pipes 14 are all communicated with ventilation cavity 6, a plurality of ventilation cavities 6 are respectively communicated with collecting cavity 7 through a plurality of connecting pipes 5, air suction pipe 14 is a corrugated pipe, when control pipe 10 moves, air suction pipe 14 can be communicated with ventilation cavity 6 all the time, the connecting pipe 5 and the air inlet pipe 18 are both plastic hoses, so that the suction fan 15 can be always communicated with the suction disc 8 when the manipulator 2 moves.

The utility model discloses during the use, when starting 2 centre gripping work pieces of manipulator, a plurality of dwang 4 of claw dish 3 can rotate and make sucking disc 8 hug closely the workpiece surface, and utilize spring 19 to make a plurality of sucking discs 8 all can paste mutually with irregular workpiece surface, start suction fan 15 afterwards, make air between sucking disc 8 and the work piece sucked in the chamber 6 of ventilating, get into in collecting box 16 through collecting chamber 7 and intake pipe 18 at last, and then realize the fixed to the work piece, when need not to carry out the centre gripping to the work piece, start suction fan 15 after being close to the work piece with sucking disc 8, make in debris such as dust on workpiece surface are sucked in collecting box 16, realize the clearance to the workpiece surface, make things convenient for the later stage to beat operations such as mark of work piece.

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

1. The utility model provides an industrial robot holder, includes base (1), its characterized in that, upside fixedly connected with manipulator (2) of base (1), the one end fixedly connected with claw dish (3) of manipulator (2), the downside of claw dish (3) is rotated and is connected with a plurality of dwang (4), a plurality of control cylinders (9) of lateral wall fixedly connected with of dwang (4), the inside of control cylinder (9) is equipped with the fixture that is used for the centre gripping article.

2. The industrial robot gripper according to claim 1, characterized in that the gripping mechanism comprises a control tube (10) arranged inside a control cylinder (9), two sliding grooves (11) are arranged inside the control cylinder (9), a sliding block (12) is slidably connected inside the sliding grooves (11), the sliding block (12) is fixedly connected with the side wall of the control tube (10), a fixing plate (13) is sleeved outside the control cylinder (9) and the control tube (10), two opposite side walls of the fixing plate (13) are fixedly connected with a spring (19) together, a suction cup (8) is sleeved at one end of the control tube (10), and a control mechanism for driving the suction of the suction cups (8) is arranged on the upper side of the base (1).

3. The industrial robot gripper according to claim 2, characterized in that the control mechanism comprises a suction fan (15) and a collection box (16) fixedly connected to the upper side of the base (1), the air outlet end of the suction fan (15) is communicated with the collection box (16), the upper side of the collection box (16) is provided with a plurality of openings (17), the interior of the claw disc (3) is provided with a collection cavity (7), the suction fan (15) is communicated with the collection cavity (7) through an air inlet pipe (18), the interior of the rotating rod (4) is provided with a ventilation cavity (6), one end of the control pipe (10) is sleeved with an air suction pipe (14), the air suction pipes (14) are all communicated with the ventilation cavity (6), and the ventilation cavities (6) are respectively communicated with the collection cavity (7) through a plurality of connecting pipes (5).

4. An industrial robot gripper according to claim 2, characterized in that the suction cup (8) is funnel-shaped, the suction cup (8) being made of rubber.

5. A gripper according to claim 3, characterized in that the suction pipe (14) is a bellows, and that the connecting tube (5) and the inlet tube (18) are both plastic hoses.

6. An industrial robot gripper according to claim 2, characterized in that two of said runners (11) in the same control cylinder (9) are arranged symmetrically, the length of said runners (11) being smaller than the length of the inner side of the control cylinder (9).