CN219311273U

CN219311273U - Grabbing device of industrial intelligent robot

Info

Publication number: CN219311273U
Application number: CN202222551664.XU
Authority: CN
Inventors: 吴晓凤
Original assignee: Wuxi Saiyade Automation Technology Co ltd
Current assignee: Wuxi Saiyade Automation Technology Co ltd
Priority date: 2022-09-26
Filing date: 2022-09-26
Publication date: 2023-07-07
Anticipated expiration: 2032-09-26

Abstract

The utility model belongs to the technical field of robot gripping devices, in particular to a gripping device of an industrial intelligent robot, which comprises a robot body and a mechanical clamping jaw, wherein the robot body and the mechanical clamping jaw are connected through a wire; according to the grabbing device of the industrial intelligent robot, the installation blocks, the embedded blocks, the fixing pins, the fixing sheets, the fixing springs, the pull rings and the limiting sheets are arranged, the traditional mechanical clamping jaws can be prevented from being fixed through the fastening screws through the matched use of the components, the rapid disassembly or assembly function is realized, common staff can independently disassemble and assemble after learning for a while, the problem that the mechanical clamping jaws are time-consuming to replace is solved, the working efficiency is improved, and the grabbing device is convenient to use.

Description

Grabbing device of industrial intelligent robot

Technical Field

The utility model belongs to the technical field of robot gripping devices, and particularly relates to a gripping device of an industrial intelligent robot.

Background

The industrial intelligent robot is an automatic mechanical device which is most widely applied in the technical field of robots, and can see the figure in the fields of industrial manufacture, medical treatment, entertainment service, military, semiconductor manufacture, space exploration and the like. Although they have different forms, they have a common feature of being able to receive instructions and accurately position to a certain point in three-dimensional (or two-dimensional) space for operation, and as technology develops, the application of micro-workpieces is more and more widespread, and a gripping device is needed for carrying or loading and unloading during micro-workpiece processing.

Because of the specificity of industrial production manufacturing, the gripper clamp on the industrial robot needs long-term high-load work, in the work manufacturing, the robot controls the gripper clamp to reciprocate to clamp and place industrial metal products, and because industrial production is mostly metal parts, and the mass is great, this leads to the gripper clamp of the robot to use for a long time and can produce wearing and tearing, need professional technical personnel to maintain and change after damaging, but original gripper mounting mode is fixed through installing through more bolts, and intelligent robot part structure is complicated, so professional maintenance personnel is required to dismantle, ordinary staff need long-term study just can independently change the gripper, a great deal of inconvenience has been brought for industrial production manufacturing, and production efficiency is reduced.

The chinese patent application 201821819336.0 discloses a gripping device for industrial robot, which reduces abrasion of the gripping jaw by adding a rubber sheet, but still has the possibility of abrasion of the gripping jaw, so the above problems still exist and improvement is needed.

Disclosure of Invention

In order to solve the problems in the prior art, the utility model provides a gripping device of an industrial intelligent robot, has the characteristics of simplicity, practicality and convenient installation and disassembly.

In order to achieve the above purpose, the present utility model provides the following technical solutions: the utility model provides a grabbing device of industrial intelligent robot, includes robot body and mechanical clamping jaw, robot body and mechanical clamping jaw pass through the wire and connect, the end of the arm that stretches out of robot body is fixed with the installation piece, wear to establish the mouth has been seted up to one side of installation piece, the bottom of installation piece has been seted up and has been inlayed and has been established the groove, inlay the one side of establishing the piece orientation installation piece has been seted up the fixed slot, inlay and establish the piece and inlay and establish the inslot and make mechanical clamping jaw install on the arm that stretches out of robot body, still include the fixed pin, fixed pin movable mounting is on the installation piece and have the removal degree of freedom along the horizontal direction.

As a preferable technical scheme of the utility model, when the embedded block is embedded in the embedded groove, the fixed groove is communicated with the penetrating opening, and the fixing pin can be embedded in the fixed groove from the penetrating opening.

As a preferable technical scheme of the utility model, the ports of the fixing groove and the embedded groove are provided with chamfers.

As a preferable technical scheme of the utility model, a rotating shaft is fixed on one side of the mounting block close to the penetrating opening, a rotating sheet is rotatably mounted on the rotating shaft, the fixing pin penetrates through one end of the rotating sheet far away from the rotating shaft in a sliding manner, and the rotating sheet can rotate bidirectionally and has sliding friction force with the rotating shaft to form a damping state.

As a preferable technical scheme of the utility model, the head end of the fixing pin is provided with an inclined plane, one side of the fixing pin close to the inclined plane is sleeved and fixed with the fixing plate, the fixing pin further comprises a fixing spring, the fixing spring is sleeved outside the fixing pin and is positioned between the fixing plate and the rotating plate, the fixing pin can move through the elastic force of the fixing spring, and the tail end of the fixing pin is fixed with the limiting plate and the pull ring.

Compared with the prior art, the utility model has the beneficial effects that: according to the grabbing device of the industrial intelligent robot, the installation blocks, the embedded blocks, the fixing pins, the fixing sheets, the fixing springs, the pull rings and the limiting sheets are arranged, the traditional mechanical clamping jaws can be prevented from being fixed through the fastening screws through the matched use of the components, the rapid disassembly or assembly function is realized, common staff can independently disassemble and assemble after learning for a while, the problem that the mechanical clamping jaws are time-consuming to replace is solved, the working efficiency is improved, and the grabbing device is convenient to use.

Drawings

The accompanying drawings are included to provide a further understanding of the utility model and are incorporated in and constitute a part of this specification, illustrate the utility model and together with the embodiments of the utility model, serve to explain the utility model. In the drawings:

FIG. 1 is a schematic diagram of the structure of the present utility model;

FIG. 2 is a schematic diagram of the separation structure of the reference numeral 3 in the present utility model;

FIG. 3 is a schematic diagram of the axial structure of FIG. 2 according to the present utility model;

FIG. 4 is an enlarged schematic view of the structure of FIG. 2 according to the present utility model;

FIG. 5 is an enlarged schematic view of the structure of the present utility model at B in FIG. 3;

in the figure: 1. a robot body; 2. a mounting block; 3. mechanical clamping jaws; 4. a rotating shaft; 5. a rotating piece; 6. embedding blocks; 7. chamfering; 8. a fixing groove; 9. a penetrating opening; 10. a groove is embedded; 11. an inclined plane; 12. a fixing pin; 13. a fixing piece; 14. a fixed spring; 15. a pull ring; 16. and a limiting piece.

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.

Referring to fig. 1-5, the present utility model provides the following technical solutions: the grabbing device of the industrial intelligent robot comprises a robot body 1 and a mechanical clamping jaw 3, wherein the robot body 1 and the mechanical clamping jaw 3 are connected through a wire, an installation block 2 is fixed at the tail end of an extension arm of the robot body 1, a penetrating opening 9 is formed in one side of the installation block 2, an embedding groove 10 is formed in the bottom of the installation block 2, an embedding block 6 is fixed at the tail end of the mechanical clamping jaw 3, a fixing groove 8 is formed in one surface of the embedding block 6 facing the installation block 2, the embedding block 6 can be embedded into the embedding groove 10 to enable the mechanical clamping jaw 3 to be installed on the extension arm of the robot body 1, the grabbing device further comprises a fixing pin 12, the fixing pin 12 is movably installed on the installation block 2 and has a moving freedom degree along the horizontal direction, when the embedding block 6 is embedded into the embedding groove 10, the fixing groove 8 is communicated with a penetrating opening 9, the fixing pin 12 can be embedded into the fixing groove 8, a slope 11 is formed in the head end of the fixing pin 12, one side of the fixing pin 12 close to the slope 11 is sleeved with a fixing piece 13, the fixing spring 14 is further comprises a fixing spring 14, the fixing spring 14 is sleeved on the outer side of the fixing spring 12 and is positioned between the tail end 12 and the fixing piece 13, and the fixing ring 12 can move by a fixing spring 16 and a fixing ring 16; in the present embodiment, parts not described in detail are existing structural members in the related art, and are well known to those skilled in the related art; during installation, the mechanical clamping jaw 3 is taken to align the embedded block 6 on the mechanical clamping jaw and is embedded into the embedded groove 10, as can be seen from fig. 5, the head end of the fixed pin 12 is provided with the inclined surface 11, the embedded block 6 is extruded by the inclined surface 11 in the embedding process to enable the fixed pin 12 to move away from the embedded groove 10, when the embedded block 6 moves to the position that the fixed groove 8 is flush with the penetrating opening 9, at the moment, the fixed pin 12 is forced to be ejected into the fixed groove 8 through the elastic tension of the fixed spring 14, and quick installation can be realized.

Specifically, as can be seen from fig. 4 and 5, in this embodiment, the fixing groove 8 and the insertion groove 10 have chamfer angles 7 at the ends thereof, which facilitates the installation and insertion of the fixing pin 12 and the insertion block 6, and can prevent the fixing pin 12 or the insertion block 6 from being clamped in the fixing groove 8 or the insertion groove 10.

Specifically, as can be seen from fig. 4, in this embodiment, a rotating shaft 4 is fixed on one side of the mounting block 2 near the through hole 9, a rotating plate 5 is rotatably mounted on the rotating shaft 4, a fixing pin 12 is slidably inserted through one end of the rotating plate 5 far away from the rotating shaft 4, and the rotating plate 5 can bidirectionally rotate and has sliding friction force with the rotating shaft 4 to form a damping state; after the fixing pin 12 is pulled out, the fixing pin 12 can be rotated to any position through the rotating piece 5, so that the influence on the installation work of installation personnel is avoided; the sliding damping is arranged between the rotating piece 5 and the rotating shaft 4, so that the phenomenon that the rotating piece 5 swings back and forth due to the action of gravity after rotating for any angle, and the installer is influenced to take the fixing pin 12 is avoided.

The working principle and the using flow of the utility model are as follows: during installation, the mechanical clamping jaw 3 is taken to align the embedded block 6 on the mechanical clamping jaw and is embedded in the embedded groove 10, the embedded block 6 is extruded through the inclined plane 11 in the embedding process to enable the fixed pin 12 to move away from the embedded groove 10, when the embedded block 6 moves to the position that the fixed groove 8 is flush with the penetrating opening 9, at the moment, the fixed pin 12 is forced to be ejected into the fixed groove 8 through the elastic tension of the fixed spring 14, quick installation can be achieved, during disassembly, the fixed pin 12 is pulled out through the pull ring 15, after the fixed pin 12 is pulled out, the fixed pin 12 can be rotated to any position through the rotating piece 5, and then the mechanical clamping jaw 3 can be pulled out conveniently and quickly.

Finally, it should be noted that: the foregoing description is only a preferred embodiment of the present utility model, and the present utility model is not limited thereto, but it is to be understood that modifications and equivalents of some of the technical features described in the foregoing embodiments may be made by those skilled in the art, although the present utility model has been described in detail with reference to the foregoing embodiments. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model should be included in the protection scope of the present utility model.

Claims

1. The utility model provides a grabbing device of industrial intelligent robot, includes robot body (1) and mechanical clamping jaw (3), robot body (1) and mechanical clamping jaw (3) pass through wire connection, its characterized in that: the robot is characterized in that an installation block (2) is fixed at the tail end of an extension arm of the robot body (1), a penetrating opening (9) is formed in one side of the installation block (2), an embedding groove (10) is formed in the bottom of the installation block (2), an embedding block (6) is fixed at the tail end of the mechanical clamping jaw (3), a fixing groove (8) is formed in one surface of the embedding block (6) facing the installation block (2), the embedding block (6) can be embedded into the embedding groove (10), the mechanical clamping jaw (3) is installed on the extension arm of the robot body (1), and the robot further comprises a fixing pin (12), and the fixing pin (12) is movably installed on the installation block (2) and has a moving degree of freedom along the horizontal direction.

2. The grasping device of an industrial intelligent robot according to claim 1, wherein: when the embedded block (6) is embedded in the embedded groove (10), the fixed groove (8) is communicated with the penetrating opening (9), and the fixing pin (12) can be embedded in the fixed groove (8) from the penetrating opening (9).

3. The grasping device of an industrial intelligent robot according to claim 2, wherein: the ports of the fixing groove (8) and the embedded groove (10) are provided with chamfers (7).

4. A gripping device for an industrial intelligent robot according to claim 3, characterized in that: one side of the installation block (2) close to the penetrating opening (9) is fixedly provided with a rotating shaft (4), the rotating shaft (4) is rotatably provided with a rotating plate (5), the fixed pin (12) penetrates through one end, far away from the rotating shaft (4), of the rotating plate (5) in a sliding mode, and the rotating plate (5) can rotate in a bidirectional mode and has sliding friction force with the rotating shaft (4) to form a damping state.

5. The industrial intelligent robot gripping device according to claim 4, wherein: the head end of fixed pin (12) has inclined plane (11), one side ring cover that fixed pin (12) is close inclined plane (11) is fixed with stationary blade (13), still includes fixed spring (14), fixed spring (14) ring cover is in the outside of fixed pin (12) and be located between stationary blade (13) and rotor blade (5), the elastic force of fixed pin (12) accessible fixed spring (14) removes, the tail end of fixed pin (12) is fixed with spacing piece (16) and pull ring (15).