CN216913872U

CN216913872U - Grabbing device of truss robot

Info

Publication number: CN216913872U
Application number: CN202220347542.6U
Authority: CN
Inventors: 周慧珍
Original assignee: Beijing Moyungge Precision Rack Co ltd
Current assignee: Beijing Moyungge Precision Rack Co ltd
Priority date: 2022-02-21
Filing date: 2022-02-21
Publication date: 2022-07-08
Anticipated expiration: 2032-02-21

Abstract

The utility model discloses a truss robot gripping device, which belongs to the technical field of mechanical gripping, and comprises a machine body, an installation head and grippers, wherein the installation head is fixedly connected to the top end of the machine body, the number of the grippers is two, a plurality of grippers are symmetrically arranged at the bottom of the machine body, double-acting air cylinders are symmetrically arranged at two sides of the machine body, connecting pieces are arranged above the double-acting air cylinders, a connecting plate is arranged below the double-acting air cylinders, a metal groove is welded at the lower surface of the connecting plate, guide rods are symmetrically welded at the inner side of the metal groove, springs are sleeved on the outer walls of the guide rods, a slide block is movably arranged at one side of each spring, a supporting plate is fixedly connected to the bottom of each slide block, a first electromagnetic block is arranged on the outer wall at one side of each slide block, and the work pieces can be supported by arranging a protection mechanism to avoid falling of the work pieces, thereby improving the safety of the device in use.

Description

Grabbing device of truss robot

Technical Field

The utility model relates to the technical field of mechanical grabbing, in particular to a grabbing device of a truss robot.

Background

Truss robots are also known as cartesian robots and gantry robots. In industrial application, the multifunctional multi-freedom manipulator can realize automatic control, repeated programming, multiple functions, multiple degrees of freedom, spatial right-angle relation among motion degrees of freedom and multiple purposes. Can carry objects and operate tools to complete various operations. The device is widely applied to production workshops for grabbing transferred objects. Most truss robot grabbing device is insecure when snatching article among the prior art, and article drop easily, and can only snatch the article of certain extent size, can't snatch bigger size's article, and truss robot grabbing device, the technique disclosed in patent application number CN202121797013.8 can be solved above-mentioned problem.

However, when the existing device is used for grabbing a workpiece, the grabbing part is not provided with a protection mechanism, so that the grabbed workpiece still has the risk of falling, and the practical safety is influenced, and therefore the grabbing device of the truss robot is provided for solving the existing problems.

SUMMERY OF THE UTILITY MODEL

1. Technical problem to be solved

Aiming at the problems in the prior art, the utility model aims to provide a truss robot gripping device which can support a workpiece by arranging a protection mechanism to prevent the workpiece from falling off, so that the use safety of the device is improved.

2. Technical scheme

In order to solve the above problems, the present invention adopts the following technical solutions.

The utility model provides a truss robot grabbing device, includes organism, installation head and tongs, installation head fixed connection is on the organism top, the tongs symmetry is equipped with two, and a plurality of symmetry sets up the tongs is located the bottom half of the body, the equal symmetry in organism both sides installs double-acting cylinder, double-acting cylinder top is equipped with the connecting piece, the connecting plate is installed to double-acting cylinder below, the welding has the metal slot under the connecting plate, the inboard symmetric welding of metal slot has the guide bar, the spring has been cup jointed to the guide bar outer wall, the activity of spring one side is equipped with the slider, slider bottom fixedly connected with layer board, first electromagnetism piece is installed to slider one side outer wall, with the second electromagnetism piece is installed to the corresponding metal slot inside wall of first electromagnetism piece, and the like magnetic pole of second electromagnetism piece and first electromagnetism piece is corresponding.

Furthermore, the top end and the bottom end of the double-acting air cylinder are fixedly connected with mounting plates, and the top end and the bottom end mounting plates of the double-acting air cylinder are respectively connected with the connecting piece and the connecting plate through bolts.

Furthermore, the connecting piece is the setting of L shape structure, and the connecting piece passes through the bolt and links to each other with the organism outer wall, the inboard welding of connecting piece department of buckling has the floor.

Further, the spring is stretched out the length and is the same with the guide bar, and guide bar external diameter and spring internal diameter looks adaptation, the guide bar runs through the slider, the slider has seted up the via hole with the guide bar grafting department, just via hole internal diameter and guide bar external diameter looks adaptation, slider opposite side outer wall and spring tip looks butt.

Further, the layer board symmetry is equipped with two, and two the layer board all is the setting of L shape structure, the welding of layer board department of buckling has the strengthening rib, and the strengthening rib is the setting of right triangle structure.

Furthermore, the two sides of the first electromagnetic block are fixedly connected with limit columns, and the end parts of the limit columns protrude out of the first electromagnetic block.

3. Advantageous effects

Compared with the prior art, the utility model has the advantages that:

this scheme, after the tongs snatchs the work piece, through two effect cylinder extensions, drive the metal slot downstream, make the layer board be located the below of work piece, through first electromagnetic block and second electromagnetic block disconnected power supply, magnetism between second electromagnetic block and the first electromagnetic block disappears, thereby utilize the elastic force of spring to promote the slider and reset, thereby make the layer board extend to the below of work piece, and through the suitable stroke of two effect cylinder rebound, make layer board and work piece looks butt, hold the work piece through setting up protection machanism, avoid the work piece to drop, thereby hoisting device's safety in utilization.

Drawings

FIG. 1 is a schematic perspective view of the present invention;

FIG. 2 is a schematic view of the present invention from another perspective;

FIG. 3 is a schematic view of the metal bath structure of the present invention;

fig. 4 is a schematic structural view of a metal tank according to another aspect of the present invention.

The reference numbers in the figures illustrate:

1. a body; 101. a mounting head; 102. a gripper;

2. a double-acting cylinder; 201. mounting a plate;

3. a connecting member;

4. a connecting plate;

5. a metal tank; 501. a guide bar; 502. a spring; 503. a slider; 504. a support plate; 505. reinforcing ribs; 506. a first electromagnetic block; 507. a limiting column; 508. a second electromagnet block.

Detailed Description

The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention; it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and all other embodiments obtained by those skilled in the art without any inventive work are within the scope of the present invention.

Example 1:

referring to fig. 1-4, a truss robot gripping device includes a machine body 1, a mounting head 101 and two grippers 102, the mounting head 101 is fixedly connected to the top end of the machine body 1, the grippers 102 are symmetrically arranged, and a plurality of symmetrically arranged grippers 102 are positioned at the bottom of the machine body 1, two sides of the machine body 1 are symmetrically provided with double-acting cylinders 2, a connecting piece 3 is arranged above the double-acting cylinders 2, a connecting plate 4 is arranged below the double-acting cylinders 2, a metal groove 5 is welded on the lower surface of the connecting plate 4, guide rods 501 are symmetrically welded on the inner side of the metal groove 5, the outer wall of each guide rod 501 is sleeved with a spring 502, one side of each spring 502 is movably provided with a slide block 503, the bottom of each slide block 503 is fixedly connected with a supporting plate 504, the outer wall of one side of each slide block 503 is provided with a first electromagnetic block 506, the second electromagnet block 508 is installed on the inner side wall of the metal slot 5 corresponding to the first electromagnet block 506, and the second electromagnet block 508 corresponds to the same magnetic pole of the first electromagnet block 506.

Referring to fig. 1 and 2, the top end and the bottom end of the double-acting cylinder 2 are fixedly connected with a mounting plate 201, the top end and the bottom end mounting plate 201 of the double-acting cylinder 2 are respectively connected with the connecting piece 3 and the connecting plate 4 through bolts, the double-acting cylinder 2 is conveniently mounted between the connecting piece 3 and the connecting plate 4 through the mounting plate 201, and therefore the double-acting cylinder 2 can be made to adjust the lifting of the metal groove 5.

Referring to fig. 1, the connecting piece 3 is arranged in an L-shaped structure, the connecting piece 3 is connected with the outer wall of the machine body 1 through a bolt, the rib plate is welded on the inner side of the bent part of the connecting piece 3, the rib plate is arranged on the bent part of the connecting piece 3, the overall structural strength of the connecting piece 3 can be improved, and the deformation of the connecting piece 3 due to overlarge stress is avoided.

Referring to fig. 3, the extension length of the spring 502 is the same as that of the guide rod 501, the outer diameter of the guide rod 501 is matched with the inner diameter of the spring 502, the guide rod 501 penetrates through the sliding block 503, a through hole is formed in the joint of the sliding block 503 and the guide rod 501, the inner diameter of the through hole is matched with the outer diameter of the guide rod 501, the outer wall of the other side of the sliding block 503 is abutted against the end of the spring 502, the position of the sliding block 503 can be adjusted through the elastic acting force of the spring 502, and therefore the position of the supporting plate 504 can be adjusted, and the supporting plate 504 corresponds to a captured workpiece.

Referring to fig. 1, two supporting plates 504 are symmetrically arranged, the two supporting plates 504 are both arranged in an L-shaped structure, reinforcing ribs 505 are welded at the bent positions of the supporting plates 504, and the reinforcing ribs 505 are arranged in a right-angled triangle structure, so that the strength, rigidity and torsion resistance of the bent positions of the supporting plates 504 can be enhanced, and the product distortion caused by uneven stress due to the difference of wall thickness of the supporting plates 504 can be overcome, so that the strength of a joint surface can be increased.

Referring to fig. 1, both sides of the first electromagnetic block 506 are fixedly connected with limiting posts 507, the end portions of the limiting posts 507 protrude out of the first electromagnetic block 506, when the first electromagnetic block 506 and the second electromagnetic block 508 are powered off, magnetism between the second electromagnetic block 508 and the first electromagnetic block 506 disappears, and when the first electromagnetic block 506 approaches the second electromagnetic block 508, the first electromagnetic block is abutted against the inner wall of the metal groove 5 through the limiting posts 507, so that impact between the first electromagnetic block 506 and the second electromagnetic block 508 is prevented, and the first electromagnetic block 506 and the second electromagnetic block 508 are well protected.

When in use: through the external pneumatic control arrangement of the double-acting cylinder 2, the expansion and contraction of the double-acting cylinder 2 are controlled by using pneumatic control equipment, before the gripper 102 grips a workpiece, the double-acting cylinder 2 is in a contraction state, the first electromagnetic block 506 and the second electromagnetic block 508 are in a power-on state, magnetism exists between the first electromagnetic block 506 and the second electromagnetic block 508, as the second electromagnetic block 508 corresponds to the same magnetic pole of the first electromagnetic block 506, the first electromagnetic block 506 and the second electromagnetic block 508 are in a repulsion state, under the action of the magnetic force, the spring 502 sleeved on the guide rod 501 is compressed and deformed by the sliding block 503, after the gripper 102 grips the workpiece, the metal groove 5 is driven to move downwards through the extension of the double-acting cylinder 2, the supporting plate 504 is positioned below the workpiece, the power supply is disconnected through the first electromagnetic block 506 and the second electromagnetic block 508, the magnetism between the second electromagnetic block 508 and the first electromagnetic block 506 disappears, therefore, the slide block 503 is pushed to reset by the elastic acting force of the spring 502, so that the supporting plate 504 extends to the lower part of the workpiece, and moves upwards by a proper stroke through the double-acting cylinder 2, so that the supporting plate 504 is abutted to the workpiece, the workpiece is supported by arranging a protection mechanism, the workpiece is prevented from falling, and the use safety of the device is improved.

The foregoing is only a preferred embodiment of the present invention; the scope of the utility model is not limited thereto. Any person skilled in the art should be able to cover the technical scope of the present invention by equivalent or modified solutions and modifications within the technical scope of the present invention.

Claims

1. The utility model provides a truss robot grabbing device, includes organism (1), installation head (101) and tongs (102), installation head (101) fixed connection is on organism (1) top, tongs (102) symmetry is equipped with two, and a plurality of symmetry sets up tongs (102) are located organism (1) bottom, its characterized in that: double-acting cylinder (2) are installed to the equal symmetry in organism (1) both sides, double-acting cylinder (2) top is equipped with connecting piece (3), connecting plate (4) are installed to double-acting cylinder (2) below, the welding has metal slot (5) under connecting plate (4), the inboard symmetrical welding of metal slot (5) has guide bar (501), spring (502) have been cup jointed to guide bar (501) outer wall, the activity of spring (502) one side is equipped with slider (503), slider (503) bottom fixedly connected with layer board (504), first electromagnetism piece (506) are installed to slider (503) one side outer wall, with second electromagnetism piece (508) are installed to the corresponding metal slot (5) inside wall of first electromagnetism piece (506), and the like magnetic pole of second electromagnetism piece (508) and first electromagnetism piece (506) is corresponding.

2. The truss robotic grasping device of claim 1, wherein: double-acting cylinder (2) top and the equal fixedly connected with mounting panel (201) in bottom, double-acting cylinder (2) top is connected with connecting piece (3) and connecting plate (4) respectively through the bolt with bottom mounting panel (201).

3. The truss robotic grasping device of claim 1, wherein: the connecting piece (3) is arranged in an L-shaped structure, the connecting piece (3) is connected with the outer wall of the machine body (1) through a bolt, and a rib plate is welded on the inner side of the bending part of the connecting piece (3).

4. The truss robotic grasping device of claim 1, wherein: spring (502) extension length is the same with guide bar (501), and guide bar (501) external diameter and spring (502) internal diameter looks adaptation, slider (503) are run through in guide bar (501), the via hole has been seted up in slider (503) and guide bar (501) grafting department, just via hole internal diameter and guide bar (501) external diameter looks adaptation, slider (503) opposite side outer wall and spring (502) tip looks butt.

5. The truss robotic grasping device of claim 1, wherein: the supporting plate (504) symmetry is equipped with two, and two supporting plate (504) all are the setting of L shape structure, the welding of the department of buckling of supporting plate (504) has strengthening rib (505), and strengthening rib (505) are the setting of right triangle structure.

6. The truss robotic grasping device of claim 1, wherein: the two sides of the first electromagnetic block (506) are fixedly connected with limiting columns (507), and the end parts of the limiting columns (507) protrude out of the first electromagnetic block (506).