CN216098992U - Flexible carrying gripper for industrial robot - Google Patents
Flexible carrying gripper for industrial robot Download PDFInfo
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- CN216098992U CN216098992U CN202122361142.9U CN202122361142U CN216098992U CN 216098992 U CN216098992 U CN 216098992U CN 202122361142 U CN202122361142 U CN 202122361142U CN 216098992 U CN216098992 U CN 216098992U
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- lower connecting
- screw rod
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- industrial robot
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Abstract
The utility model relates to a flexible carrying gripper of an industrial robot. The device comprises a main body frame, wherein the lower end of the main body frame is connected with a flexible mechanism, the flexible mechanism comprises an upper connecting plate and a lower connecting plate which are vertically arranged at intervals, first screw rods penetrate through four corners of the upper connecting plate, each first screw rod penetrates through the corresponding corner of the lower connecting plate and is locked by a locking nut, a first rectangular spring is sleeved on the outer surface of each first screw rod between the upper connecting plate and the lower connecting plate, an electromagnet sucking disc is arranged below the lower connecting plate, the upper end of the electromagnet sucking disc is connected with a second screw rod, a second rectangular spring is sleeved on the second screw rod above the lower connecting plate, due to the arrangement of the flexible mechanism, when the electromagnet sucking disc is adsorbed on the surface of a workpiece, the electromagnet sucking disc floats according to the surface of the workpiece, the electromagnet is enabled to increase the adsorption area to the maximum degree, the grabbing firmness is improved, and the device is suitable for industrial production, has strong practicability.
Description
Technical Field
The utility model belongs to the technical field of metal sheet stamping part grabbing devices, and particularly relates to a flexible carrying gripper for an industrial robot.
Background
In current chinese patent database, the patent that discloses the name a multi-functional robot tongs, application number is CN201921699426.5, and application date is 20191012, and the bulletin number of authorizing is CN210551309U, and the bulletin date of authorizing is 20200519, and the device includes robot tongs body, robot tongs body includes ring flange installation sleeve, the internally mounted of ring flange installation sleeve has the cylinder, the tip from the top down of the telescopic link of cylinder runs through flange installation sleeve, bearing housing, mounting disc, lift disc in proper order and extends to the below muffjoint in the inside of fixed axle sleeve of lift disc, inlay in the bearing housing and locate at the telescopic bottom center of ring flange installation, be connected through the connecting rod between ring flange installation sleeve and the mounting disc, inlay on the lift disc in the fixed axle sleeve, its weak point lies in: the device's tongs commonality is not strong, can't adapt to the condition that multiplex spare thoughtlessly produced, and when the work piece was placed side by side, can't snatch the work piece simultaneously, and the easy extrusion deformation in sheet metal work piece both sides has certain limitation.
SUMMERY OF THE UTILITY MODEL
The technical problem to be solved by the utility model is as follows: 1. the universality is strong, and the mixed line production can be met; 2. when the workpieces are placed side by side, the workpieces can be grabbed; 3. the workpiece cannot deform in the grabbing and placing process, and in order to overcome the defects, the utility model provides the flexible carrying gripper for the industrial robot.
In order to achieve the purpose, the utility model is realized by the following technical scheme:
a flexible carrying gripper for an industrial robot comprises a main body frame, wherein a flexible mechanism is connected to the lower end of the main body frame and comprises an upper connecting plate and a lower connecting plate which are vertically arranged at intervals, vertical first screw rods penetrate through four corners of the upper connecting plate, each first screw rod penetrates through the corresponding corner of the lower connecting plate and is locked by a locking nut, a first rectangular spring is sleeved on the outer surface of each first screw rod between the upper connecting plate and the lower connecting plate, one end of each first rectangular spring abuts against the lower surface of the upper connecting plate, the other end of each first rectangular spring abuts against the upper surface of the lower connecting plate, a vertical second screw rod penetrates through the middle of the lower connecting plate, an electromagnet sucking disc is arranged below the lower connecting plate, the upper end of the electromagnet sucking disc is connected with the second screw rod, and a second rectangular spring is sleeved on the second screw rod above the lower connecting plate, one end of the second rectangular spring is abutted against the lower end face of the head of the second screw, and the other end of the second rectangular spring is abutted against the upper surface of the lower connecting plate.
When the electromagnetic sucking disc type workpiece sucking device works, an operator controls the magnetism of the electromagnetic sucking disc by controlling the on-off of the electromagnetic sucking disc, the contact surface of the electromagnetic sucking disc is large, the surfaces of workpieces of different types can be sucked simultaneously, and due to the fact that the surfaces of the workpieces are uneven, when the electromagnetic sucking disc sucks the workpieces, the contact area is increased to the maximum extent through the flexible mechanism, and the workpieces are sucked more firmly.
Compared with the prior art, the utility model has the beneficial effects that: because the setting of flexible mechanism, when the electro-magnet sucking disc adsorbs on the work piece surface, float according to the surface of work piece for the biggest increase adsorption area of electro-magnet sucking disc has improved the firm nature of snatching, and the device is applicable to in the industrial production, has very strong practicality.
Four edges of the lower surface of the lower connecting plate are connected with auxiliary pneumatic permanent magnetic suction discs. The auxiliary pneumatic permanent magnetic chuck is arranged to enhance firmness of grabbing the workpiece by the gripper, and particularly, the auxiliary pneumatic permanent magnetic chuck has better supplementary suction force for the workpiece with a step surface.
The upper portion of the auxiliary pneumatic permanent magnetic chuck is connected with a switching plate, the switching plate is arranged in an L shape, the horizontal section of the switching plate is connected with the auxiliary pneumatic permanent magnetic chuck, the vertical section of the switching plate is provided with through holes, the lower connecting plate right opposite to the through holes is provided with threaded holes, the auxiliary pneumatic permanent magnetic chuck further comprises connecting screws, the connecting screws penetrate through the through holes and are connected with the corresponding threaded holes in a screwing mode, and the switching plate is fixed with the lower connecting plate.
The upper connecting plate at the head of each first screw rod is provided with a flange-shaped groove, an oilless bushing is arranged in each groove, and the first screw rods penetrate through the corresponding oilless bushings.
And the upper surface of the lower connecting plate at each second screw is provided with a limiting sleeve, and the outer surface of the second rectangular spring is abutted against the inner surface of the limiting sleeve.
Be located and be provided with position detection mechanism on the upper junction plate of main part frame both sides, position detection mechanism is including the installing support who is connected with the upper junction plate, and the laser displacement sensor is clamped to the last dress of installing support. The position detection mechanism is used for detecting the distances from the surfaces of different workpieces to the sensor during mixed line production, so that the grippers can not damage the workpieces when gripping the workpieces.
Drawings
FIG. 1 is a schematic structural diagram of the present invention.
Fig. 2 is an internal structural view of the flexible mechanism of the present invention.
Fig. 3 is a schematic view of the connection between the adapter plate and the lower connecting plate according to the present invention.
In the figure: the device comprises a main body frame, 2 upper connecting plates, 3 lower connecting plates, 4 first screw rods, 5 locking nuts, 6 first rectangular springs, 7 second screw rods, 8 electromagnet suckers, 9 second rectangular springs, 10 auxiliary pneumatic permanent magnet suckers, 11 adapter plates, 12 connecting screws, 13 oil-free bushes, 14 limiting sleeves, 15 mounting supports and 16 laser displacement sensors.
Detailed Description
The technical solution of the present application will be further described and explained with reference to the accompanying drawings and embodiments.
As shown in figures 1-3, the flexible handling gripper for the industrial robot comprises a main body frame 1, a flexible mechanism is connected to the lower end of the main body frame 1, the flexible mechanism comprises an upper connecting plate 2 and a lower connecting plate 3 which are vertically arranged at intervals, vertical first screws 4 penetrate through four corners of the upper connecting plate 2, each first screw 4 penetrates through the corresponding corner of the lower connecting plate 3 and is locked by a locking nut 5, a first rectangular spring 6 is sleeved on the outer surface of each first screw 4 positioned between the upper connecting plate 2 and the lower connecting plate 3, one end of each first rectangular spring 6 abuts on the lower surface of the upper connecting plate 2, the other end of each first rectangular spring abuts on the upper surface of the lower connecting plate 3, a vertical second screw 7 is inserted in the middle of the lower connecting plate 3, an electromagnet suction cup 8 is arranged below the lower connecting plate 3, the upper end of the electromagnet suction cup 8 is connected with the second screw 7, a second rectangular spring 9 is sleeved on the second screw 7 positioned above the lower connecting plate 3, one end of a second rectangular spring 9 props against the lower end face of the head of the second screw 7, and the other end of the second rectangular spring props against the upper surface of the lower connecting plate 3. Four corners of the lower surface of the lower connecting plate 3 are connected with auxiliary pneumatic permanent magnetic chucks 10. The auxiliary pneumatic permanent magnetic chuck 10 is arranged to enhance the firmness of grabbing a workpiece by the gripper, and particularly has better supplementary suction force for the workpiece with a step surface. The upper portion of the auxiliary pneumatic permanent magnetic chuck 10 is connected with an adapter plate 11, the adapter plate 11 is arranged in an L shape, the horizontal section of the adapter plate 11 is connected with the auxiliary pneumatic permanent magnetic chuck 10, a through hole is formed in the vertical section of the adapter plate 11, a threaded hole is formed in the lower connecting plate 3 which is right opposite to each through hole, the auxiliary pneumatic permanent magnetic chuck further comprises a connecting screw 12, the connecting screw 12 penetrates through the through hole and is in screwed connection with the corresponding threaded hole, and the adapter plate 11 is fixed with the lower connecting plate 3. The upper connecting plate 2 at the head of each first screw rod 4 is provided with a flange-shaped groove, an oilless bush 13 is arranged in each groove, and the first screw rods 4 penetrate through the corresponding oilless bushes 13. The upper surface of the lower connecting plate 3 at each second screw 7 is provided with a limiting sleeve 14, and the outer surface of the second rectangular spring 9 is abutted against the inner surface of the limiting sleeve 14. The upper connecting plates 2 positioned at two sides of the main body frame 1 are provided with position detection mechanisms, the position detection mechanisms comprise mounting brackets 15 connected with the upper connecting plates 2, and the mounting brackets 15 are clamped with laser displacement sensors 16. The position detection mechanism is used for detecting the distances from the surfaces of different workpieces to the sensor during mixed line production, so that the grippers can not damage the workpieces when gripping the workpieces.
During operation, operating personnel controls the magnetism of electromagnet sucker 8 through the break-make electricity of controlling electromagnet sucker 8, and electromagnet sucker 8 contact surface is great, can absorb the workpiece surface of different models simultaneously, because the workpiece surface is unevenness's surface, electromagnet sucker 8 is when absorbing the work piece, through flexible mechanism, maximum increase area of contact for it is more firm to absorb the work piece.
The present invention is not limited to the above-mentioned embodiments, and based on the technical solutions disclosed in the present invention, those skilled in the art can make some substitutions and modifications to some technical features without creative efforts according to the disclosed technical contents, and these substitutions and modifications are all within the protection scope of the present invention.
Claims (6)
1. The utility model provides a flexible transport tongs of industrial robot which characterized in that: the flexible mechanism comprises an upper connecting plate and a lower connecting plate which are vertically arranged at intervals, wherein vertical first screw rods penetrate through four corners of the upper connecting plate, each first screw rod penetrates through the corresponding corner of the lower connecting plate and is locked by a locking nut, a first rectangular spring is sleeved on the outer surface of each first screw rod between the upper connecting plate and the lower connecting plate, one end of each first rectangular spring abuts against the lower surface of the upper connecting plate, the other end of each first rectangular spring abuts against the upper surface of the lower connecting plate, a vertical second screw rod is inserted in the middle of the lower connecting plate, an electromagnet sucking disc is arranged below the lower connecting plate, the upper end of the electromagnet sucking disc is connected with the second screw rod, a second rectangular spring is sleeved on the second screw rod above the lower connecting plate, one end of the second rectangular spring abuts against the lower end face of the head of the second screw rod, the other end of the connecting rod is abutted against the upper surface of the lower connecting plate.
2. An industrial robot flexible handling gripper according to claim 1, characterized in that: four edges of the lower surface of the lower connecting plate are connected with auxiliary pneumatic permanent magnetic suction discs.
3. An industrial robot flexible handling gripper according to claim 2, characterized in that: the upper portion of the auxiliary pneumatic permanent magnetic chuck is connected with a switching plate, the switching plate is arranged in an L shape, the horizontal section of the switching plate is connected with the auxiliary pneumatic permanent magnetic chuck, the vertical section of the switching plate is provided with through holes, the lower connecting plate right opposite to the through holes is provided with threaded holes, the auxiliary pneumatic permanent magnetic chuck further comprises connecting screws, the connecting screws penetrate through the through holes and are connected with the corresponding threaded holes in a screwing mode, and the switching plate is fixed with the lower connecting plate.
4. An industrial robot flexible handling gripper according to claim 3, characterized in that: the upper connecting plate at the head of each first screw rod is provided with a flange-shaped groove, an oilless bushing is arranged in each groove, and the first screw rods penetrate through the corresponding oilless bushings.
5. An industrial robot flexible handling gripper according to claim 4, characterized in that: and the upper surface of the lower connecting plate at each second screw is provided with a limiting sleeve, and the outer surface of the second rectangular spring is abutted against the inner surface of the limiting sleeve.
6. An industrial robot flexible handling grip according to any one of claims 1-5 and characterized in that: be located and be provided with position detection mechanism on the upper junction plate of main part frame both sides, position detection mechanism is including the installing support who is connected with the upper junction plate, and the laser displacement sensor is clamped to the last dress of installing support.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122361142.9U CN216098992U (en) | 2021-09-28 | 2021-09-28 | Flexible carrying gripper for industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122361142.9U CN216098992U (en) | 2021-09-28 | 2021-09-28 | Flexible carrying gripper for industrial robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216098992U true CN216098992U (en) | 2022-03-22 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122361142.9U Active CN216098992U (en) | 2021-09-28 | 2021-09-28 | Flexible carrying gripper for industrial robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216098992U (en) |
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2021
- 2021-09-28 CN CN202122361142.9U patent/CN216098992U/en active Active
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