CN219179957U

CN219179957U - Grabbing device for truss robot to carry coiled goods

Info

Publication number: CN219179957U
Application number: CN202320119211.1U
Authority: CN
Inventors: 潘伟; 赵颐; 李波; 范云龙; 刘旭; 李鹏彪; 楚闻
Original assignee: Mias Logistics Equipment Kunshan Co ltd
Current assignee: Mias Logistics Equipment Kunshan Co ltd
Priority date: 2023-01-18
Filing date: 2023-01-18
Publication date: 2023-06-13
Anticipated expiration: 2033-01-18

Abstract

The utility model provides a grabbing device for a truss robot to carry rolled goods, which comprises a fixed disc, a driving screw rod, a main body square tube, a plurality of sliding block assemblies, a plurality of clamping finger assemblies and a screw rod fixing block, wherein the fixed disc is arranged on the main body square tube; the fixed disc and the screw rod fixed block are respectively arranged at two ends of the main body square tube, the driving screw rod is arranged in the main body square tube, and two ends of the driving screw rod are respectively and rotatably connected with the fixed disc and the screw rod fixed block; the sliding block component is connected with the driving screw rod in a meshed manner, and a plurality of side through holes are formed in the positions, corresponding to the sliding block component, of the main body square tube; the clamping finger assembly is rotatably connected with the main body square tube through the connecting rod assembly, and is rotatably connected with the sliding block assembly through the connecting rod assembly; when the driving screw rod rotates, the driving sliding block assembly moves along the main shaft direction of the main body square tube, and the sliding block assembly drives the clamping finger assembly to move along the direction approaching to or far from the main body square tube.

Description

Grabbing device for truss robot to carry coiled goods

Technical Field

The utility model relates to the related technical field of truss robots, in particular to a grabbing device for carrying roll-shaped cargoes for a truss robot.

Background

Along with the rapid development of intelligent storage, more and more manufacturing enterprises start to upgrade logistics storage environments, and the stacking requirement of the intelligent storage equipment sorting machine is also higher and higher. Truss robots are common devices for intelligent storage, sorting and grabbing.

Truss robots are also known as rectangular robots and gantry robots. In industrial application, the multifunctional operating machine with automatic control, repeated programming, multiple functions, multiple degrees of freedom, space right angle relation between the degrees of freedom of motion and multiple purposes can be realized. The object and the operation tool can be carried to complete various operations. Is widely applied to a production workshop for grabbing transfer objects.

The middle part of the coiled goods is provided with a middle hole, and if the coiled goods penetrate through the middle hole, the coiled goods can be stably grabbed. Truss robots need to use different gripping devices for different forms of cargo. The prior art lacks gripping means for roll goods.

Disclosure of Invention

In view of the above, an object of the present utility model is to provide a gripping device for a truss robot for carrying a roll-shaped load, which is capable of gripping the roll-shaped load from the inside by being extended through a center hole of the roll-shaped load and then expanding, and further, gripping and carrying the roll-shaped load.

In order to achieve the above purpose, the utility model provides a gripping device for a truss robot for carrying rolled goods, which comprises a fixed disc, a driving screw rod, a main body square tube, a plurality of sliding block components, a plurality of clamping finger components and a screw rod fixing block; the fixed disc and the screw rod fixed block are respectively arranged at two ends of the main body square tube, the driving screw rod is arranged inside the main body square tube, and two ends of the driving screw rod are respectively and rotatably connected with the fixed disc and the screw rod fixed block; the sliding block assembly is connected with the driving screw rod in a meshed mode, and a plurality of side through holes are formed in positions, corresponding to the sliding block assembly, of the main body square tube; the clamping finger assembly is rotatably connected with the main body square tube through a connecting rod assembly, and is rotatably connected with the sliding block assembly through the connecting rod assembly; when the driving screw rod rotates, the sliding block assembly is driven to move along the main shaft direction of the main body square tube, and the sliding block assembly is driven to move along the direction close to or far away from the main body square tube.

Preferably, the sliding block assembly comprises a sliding block nut, a wear-resistant sliding block, a main body supporting seat and a plurality of connecting floating seats; the sliding block nuts are respectively arranged at the upper end and the lower end of the main body supporting seat, a wear-resistant sliding block is arranged at one end, far away from the main body supporting seat, of each sliding block nut, and a plurality of connecting floating seats are arranged at the side part of each main body supporting seat; the driving screw rod passes through the main body supporting seat, the sliding block nut is sleeved on the driving screw rod, and the sliding block nut is meshed with the driving screw rod; the clamping finger assembly is rotatably connected with the connecting floating seat through the connecting rod assembly.

Preferably, the connecting floating seat is provided with a wear-resistant copper sleeve, and the clamping finger assembly is rotatably connected with the wear-resistant copper sleeve through the connecting rod assembly.

Preferably, the clamping finger assembly comprises a cargo supporting rod, a connecting rod assembly and a cargo detection sensor; the support rod is connected with the main body square tube and the sliding block assembly through a plurality of connecting rod assemblies, and the goods detection sensor is installed at the end part of the goods support rod, which is far away from the fixed disc.

Preferably, the link assembly includes a first link and a second link; one end of the first connecting rod is rotatably connected with the cargo supporting rod, and the other end of the first connecting rod is rotatably connected with the sliding block assembly; one end of the second connecting rod is rotatably connected with the first connecting rod, and the other end of the second connecting rod is rotatably connected with the main body square tube.

Preferably, one end of the second connecting rod is rotatably connected with a fixed seat, and the fixed seat is fixedly arranged on the side part of the main body square tube.

Preferably, the connecting rod assembly comprises a first connecting rod, a hinge pin is arranged at one end of the first connecting rod, and the first connecting rod is rotatably connected with the wear-resistant copper sleeve through the hinge pin.

Compared with the prior art, the grabbing device for carrying the coiled goods for the truss robot has the advantages that: the grabbing device for the truss robot to carry the roll-shaped goods can quickly and efficiently grab and carry the roll-shaped goods; the grabbing device for carrying the coiled goods for the truss robot can detect grabbing states of the coiled goods, accurate grabbing is achieved, clamping stability is better, and falling is not easy to occur.

Drawings

In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the utility model, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic view showing a structure of a gripping device for carrying a roll-shaped cargo for a truss robot according to the present utility model.

Fig. 2 is a schematic structural view of a slider assembly of a gripping device for handling roll goods for a truss robot according to the present utility model.

Fig. 3 is a schematic structural view of a finger assembly of a gripping device for a truss robot according to the present utility model.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

As shown in fig. 1, the grabbing device for carrying a roll-shaped cargo for a truss robot comprises a fixed disc 1, a driving screw 2, a main body square tube 3, a plurality of sliding block assemblies 4, a plurality of clamping finger assemblies 5 and a screw fixing block 6. The fixed disk 1 and the screw rod fixed block 6 are respectively installed at two ends of the main body square tube 3, the driving screw rod 2 is arranged inside the main body square tube 3, two ends of the driving screw rod 2 are respectively connected with the fixed disk 1 and the screw rod fixed block 6 in a rotatable mode, the truss robot is connected with the fixed disk 1, and a driving motor of the truss robot is in transmission connection with the driving screw rod 2. The sliding block component 4 is meshed with the driving screw rod 2, and a plurality of side through holes are formed in the positions, corresponding to the sliding block component 4, of the main body square tube 3. The clamping finger assembly 5 is rotatably connected with the main body square tube 3 through a connecting rod assembly, and the clamping finger assembly 5 is rotatably connected with the sliding block assembly 4 through a connecting rod assembly. When the driving screw rod 2 rotates, the driving sliding block assembly 4 moves along the main shaft direction of the main body square tube 3, and the sliding block assembly 4 drives the clamping finger assembly 5 to move along the direction approaching or separating from the main body square tube 3. The grabbing device for carrying the roll-shaped cargoes for the truss robot can extend into the middle hole of the roll-shaped cargoes and clamp the roll-shaped cargoes from the inside of the roll-shaped cargoes through the expansion clamping finger assembly 5, so that grabbing and carrying of the roll-shaped cargoes are achieved rapidly and efficiently.

Specifically, referring to fig. 2, the slider assembly 4 includes a slider nut 41, a wear-resistant slider 42, a main body support seat 43, and a plurality of connection floating seats 44, wherein the slider nut 41 is respectively mounted at the upper and lower ends of the main body support seat 43, the wear-resistant slider 42 is mounted at one end of the slider nut 41 away from the main body support seat 43, and the plurality of connection floating seats 44 are mounted at the side portion of the main body support seat 43. The driving screw rod 2 passes through the main body supporting seat 43, the sliding block nut 41 is sleeved on the driving screw rod 2, and the sliding block nut 41 is meshed with the driving screw rod 2. The finger assembly 5 is rotatably connected to the floating connection 44 by a linkage assembly. Further, the connecting floating seat 44 is provided with a wear-resistant copper sleeve 45. The finger assembly 5 is rotatably connected with the wear-resistant copper sleeve 45 through a connecting rod assembly.

Referring to fig. 3, the finger assembly 5 includes a cargo support bar 51, a link assembly, and a cargo detection sensor 56. The bracing piece 51 is connected with main part side pipe 3 and slider subassembly 4 through a plurality of link assembly, and the goods detects sensor 56 and installs the tip that keeps away from fixed disk 1 at the goods bracing piece 51, and when centre gripping cylindric goods, the goods detects sensor 56 and is located the bottom of cylindric goods, detects whether snatch in place.

The linkage assembly includes a first linkage 52 and a second linkage 54. One end of the first link 52 is rotatably connected to the cargo support bar 51, and the other end is rotatably connected to the slider assembly 4. One end of the second connecting rod 54 is rotatably connected with the first connecting rod 52, the other end of the second connecting rod is rotatably connected with the fixing seat 55, and the fixing seat 55 is fixedly arranged on the side part of the main body square tube 3.

Specifically, a hinge pin 53 is installed at one end of the first link 52, and the first link 52 is rotatably connected to the wear-resistant copper sleeve 45 through the hinge pin 53.

The gripping device for carrying the coiled goods for the truss robot is in a contracted state in an idle state, and the goods supporting rod 51 is nearest to the main body square tube 3; during the centre bore of roll-shaped goods is stretched into at first in the centre bore of centre bore, and drive lead screw 2 is driven and is driven slider subassembly 4 and remove, and drive goods bracing piece 51 moves to the direction of keeping away from main part side pipe 3, expands, carries out the centre gripping to it from the inside of roll-shaped goods, and when the centre gripping was put in place, the goods detects that the sensor 56 detects up to standard and stops the expansion promptly, can transport operation such as follow-up. When the goods shelf is placed, the screw rod 2 is driven to reversely rotate, and the goods supporting rod 51 is driven to shrink, so that the goods shelf can be pulled out.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present utility model. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the utility model. Thus, the present utility model is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. The grabbing device for carrying the coiled goods for the truss robot is characterized by comprising a fixed disc, a driving screw rod, a main body square tube, a plurality of sliding block assemblies, a plurality of clamping finger assemblies and a screw rod fixing block; the fixed disc and the screw rod fixed block are respectively arranged at two ends of the main body square tube, the driving screw rod is arranged inside the main body square tube, and two ends of the driving screw rod are respectively and rotatably connected with the fixed disc and the screw rod fixed block; the sliding block assembly is connected with the driving screw rod in a meshed mode, and a plurality of side through holes are formed in positions, corresponding to the sliding block assembly, of the main body square tube; the clamping finger assembly is rotatably connected with the main body square tube through a connecting rod assembly, and is rotatably connected with the sliding block assembly through the connecting rod assembly; when the driving screw rod rotates, the sliding block assembly is driven to move along the main shaft direction of the main body square tube, and the sliding block assembly is driven to move along the direction close to or far away from the main body square tube.

2. The gripping device for a truss robot for handling roll goods as in claim 1, wherein the slider assembly comprises a slider nut, a wear-resistant slider, a body support, and a plurality of connection floating bases; the sliding block nuts are respectively arranged at the upper end and the lower end of the main body supporting seat, a wear-resistant sliding block is arranged at one end, far away from the main body supporting seat, of each sliding block nut, and a plurality of connecting floating seats are arranged at the side part of each main body supporting seat; the driving screw rod passes through the main body supporting seat, the sliding block nut is sleeved on the driving screw rod, and the sliding block nut is meshed with the driving screw rod; the clamping finger assembly is rotatably connected with the connecting floating seat through the connecting rod assembly.

3. The gripping device for a truss robot for handling roll goods according to claim 2, wherein the connecting floating seat is provided with a wear-resistant copper sleeve, and the finger clamping assembly is rotatably connected with the wear-resistant copper sleeve through the connecting rod assembly.

4. The gripping device for a truss robot for handling roll goods as claimed in claim 1, wherein the finger assembly comprises a goods support bar, a link assembly, and a goods detection sensor; the support rod is connected with the main body square tube and the sliding block assembly through a plurality of connecting rod assemblies, and the goods detection sensor is installed at the end part of the goods support rod, which is far away from the fixed disc.

5. The grasping device for a truss robot for handling roll goods according to claim 4, wherein the link assembly includes a first link and a second link; one end of the first connecting rod is rotatably connected with the cargo supporting rod, and the other end of the first connecting rod is rotatably connected with the sliding block assembly; one end of the second connecting rod is rotatably connected with the first connecting rod, and the other end of the second connecting rod is rotatably connected with the main body square tube.

6. The grabbing device for a truss robot to remove rolled goods according to claim 5, wherein one end of the second link is rotatably connected to a fixing base, and the fixing base is fixedly installed at a side portion of the main square tube.

7. A gripping device for handling roll goods for a truss robot as in claim 3 wherein said link assembly comprises a first link having a hinge pin mounted at one end thereof, said first link being rotatably connected to said wear-resistant copper sleeve by said hinge pin.