CN219685634U - Pick scattered work piece robot with snatching structure - Google Patents
Pick scattered work piece robot with snatching structure Download PDFInfo
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- CN219685634U CN219685634U CN202320839851.XU CN202320839851U CN219685634U CN 219685634 U CN219685634 U CN 219685634U CN 202320839851 U CN202320839851 U CN 202320839851U CN 219685634 U CN219685634 U CN 219685634U
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- mounting plate
- fixedly connected
- robot
- scattered
- workpieces
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- 230000007246 mechanism Effects 0.000 claims abstract description 15
- 238000005266 casting Methods 0.000 abstract description 5
- 238000012545 processing Methods 0.000 abstract description 3
- 230000009471 action Effects 0.000 abstract description 2
- 238000004512 die casting Methods 0.000 description 4
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 229910045601 alloy Inorganic materials 0.000 description 2
- 239000000956 alloy Substances 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000000243 solution Substances 0.000 description 2
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- FYYHWMGAXLPEAU-UHFFFAOYSA-N Magnesium Chemical compound [Mg] FYYHWMGAXLPEAU-UHFFFAOYSA-N 0.000 description 1
- 229910001128 Sn alloy Inorganic materials 0.000 description 1
- ATJFFYVFTNAWJD-UHFFFAOYSA-N Tin Chemical compound [Sn] ATJFFYVFTNAWJD-UHFFFAOYSA-N 0.000 description 1
- HCHKCACWOHOZIP-UHFFFAOYSA-N Zinc Chemical compound [Zn] HCHKCACWOHOZIP-UHFFFAOYSA-N 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 229910052802 copper Inorganic materials 0.000 description 1
- 239000010949 copper Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000001746 injection moulding Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- LQBJWKCYZGMFEV-UHFFFAOYSA-N lead tin Chemical compound [Sn].[Pb] LQBJWKCYZGMFEV-UHFFFAOYSA-N 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 229910052749 magnesium Inorganic materials 0.000 description 1
- 239000011777 magnesium Substances 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000005058 metal casting Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 230000008569 process Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 229910052725 zinc Inorganic materials 0.000 description 1
- 239000011701 zinc Substances 0.000 description 1
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- Manipulator (AREA)
Abstract
The utility model relates to the technical field of casting processing equipment, and provides a grabbing structure for a robot for picking scattered workpieces, which comprises a mounting plate which is connected to a robot arm and is of a circular structure, wherein four symmetrical supporting blocks are fixedly connected to the circumferential surface of the mounting plate, guide rods perpendicular to the central axis of the mounting plate are fixedly connected to the bottoms of the four supporting blocks, V-shaped rods are clamped and sleeved on each guide rod in a sliding manner, and clamping blocks for clamping workpieces are fixedly connected to the bottoms of each V-shaped rod. According to the utility model, the plurality of V-shaped rods can move towards the central axis direction of the mounting plate at the same time under the action of the moving mechanism, and at the moment, the plurality of clamping blocks can move along with the V-shaped rods in a mutually approaching way, and can clamp and grab scattered workpieces, and the grabbing structure can contact the periphery of the workpieces, so that the grabbing stability can be improved, and the clamping and grabbing device is suitable for clamping and grabbing more workpieces with different surface shapes.
Description
Technical Field
The utility model relates to the technical field of casting processing equipment, in particular to a grabbing structure for a robot for picking scattered workpieces.
Background
Die casting is a metal casting process and is characterized in that high pressure is applied to molten metal by utilizing the inner cavity of a die. The mold is typically fabricated from a stronger alloy, somewhat similar to injection molding. Most die cast castings are free of iron, such as zinc, copper, aluminum, magnesium, lead, tin, and lead-tin alloys and alloys thereof. Die casting is particularly suitable for manufacturing a large number of small and medium-sized castings, and is therefore one of the most widely used of various casting processes.
At present, small-sized parts/workpieces manufactured by die casting are transported through a conveyor line after being manufactured so as to carry out subsequent processing and production steps, the processed workpieces are scattered on the conveyor line, and at the moment, the scattered workpieces are grabbed by a robot arm.
The existing grabbing structure of the robot arm is usually composed of two symmetrical and contractible clamping jaws, the grabbing structure can achieve stable grabbing of workpieces with flat surfaces and rectangular structures, in actual machining, specifications and shapes of various die-casting workpieces are different, the existing robot arm can not be suitable for grabbing different workpieces only by means of double-point clamping, the problem that workpieces fall due to the fact that grabbing is unstable can occur, and therefore the grabbing structure for the robot for picking scattered workpieces is designed to solve the problem.
Disclosure of Invention
The utility model aims to provide a grabbing structure for a robot for picking scattered workpieces, so as to solve the problems in the background art.
In order to achieve the above purpose, the present utility model provides the following technical solutions:
pick scattered work piece robot and use snatch structure, including connecting on robot arm and being circular structure's mounting panel, the circumference fixed surface of mounting panel is connected with four symmetrical pieces, the equal fixedly connected with of bottom of four pieces is with the perpendicular guide bar of mounting panel axis, and all block sliding sleeve has V type pole on every guide bar, the equal fixedly connected with in bottom of every V type pole is used for the clamp splice of centre gripping work piece, be provided with on the mounting panel and be used for making a plurality of V type poles be close to or keep away from the mobile mechanism who removes towards the mounting panel axis direction simultaneously.
Preferably, the top fixedly connected with connecting block of V type pole has seted up square hole on the connecting block, and the guide bar is square pole and alternates in square downthehole for the V type pole can form the block slip socket on the guide bar.
Preferably, the moving mechanism comprises a rotating rod which is rotationally inserted on the mounting plate through a bearing and located in the same central axis with the mounting plate, a circular plate is fixedly connected to the bottom of the rotating rod, four symmetrical pushing rods are hinged to the bottom surface of the circular plate, one sides of the hinging positions of the four pushing rods and the circular plate are respectively hinged to the four V-shaped rods, a rotating mechanism used for enabling the rotating rod to rotate left and right is arranged on the mounting plate, the rotating rod can be driven to synchronously rotate when being rotated, one sides of the four pushing rods can respectively pull the four V-shaped rods to move along the guide rods, and therefore the four V-shaped rods can synchronously move towards the central axis of the mounting plate.
Preferably, the rotating mechanism comprises a driving straight gear arranged above the mounting plate in a rotating way, the top of the rotating rod is fixedly connected with a driven straight gear meshed with the driving straight gear, a driving piece used for driving the driving straight gear to rotate is arranged on the mounting plate, and the driving straight gear can drive the driven straight gear and the rotating rod to rotate through the cooperation of teeth during rotation.
Preferably, the driving piece comprises a servo motor fixedly installed on one side of the top of the mounting plate and with an upward output shaft, the tail end of an output group of the servo motor is fixedly connected with the bottom of the driving spur gear, and the driving spur gear can be driven to rotate when the output shaft of the servo motor rotates.
Preferably, a connecting plate parallel to the mounting plate is fixedly arranged above the mounting plate, a plurality of connecting columns distributed in an equidistant annular array are fixedly connected between the connecting plate and the mounting plate, and four through holes which are symmetrical and are used for being matched and connected with the robot arm through bolts are formed in the connecting plate.
Preferably, a rubber pad is fixedly connected to one side of the surface of each clamping block, and the rubber pad can deform according to the shape of the surface of the workpiece, so that the contact area between the clamping blocks and the surface of the workpiece is increased, and the friction force is increased.
Compared with the prior art, the utility model has the beneficial effects that:
1. according to the utility model, the robot arm can move the mounting plate to the upper part of the scattered workpiece, the workpiece is positioned among the clamping blocks, then the V-shaped rods can move towards the central axis direction of the mounting plate under the action of the moving mechanism, the clamping blocks can move along with the V-shaped rods in a mutually approaching way, the scattered workpiece can be clamped and grabbed, the periphery of the workpiece can be contacted by the grabbing structure, the grabbing stability can be improved, the robot arm is suitable for clamping and grabbing workpieces with different surface shapes, and the robot arm has higher practicability.
2. According to the utility model, after the four clamping blocks clamp the surface of the workpiece, the rubber pad can deform according to the shape of the surface of the workpiece, so that the contact area between the clamping blocks and the surface of the workpiece is increased, the friction force is increased, the structure can grasp the workpiece more firmly, and the problem that the workpiece falls is avoided.
Drawings
FIG. 1 is a schematic perspective view of the present utility model;
FIG. 2 is a schematic perspective view of another embodiment of the present utility model;
FIG. 3 is a schematic plan view of the present utility model;
FIG. 4 is a schematic view of the cross-sectional structure of FIG. 3 taken along the line A-A in accordance with the present utility model;
in the figure: 1. a mounting plate; 2. a support block; 3. a guide rod; 4. a V-shaped rod; 41. a connecting block; 5. clamping blocks; 51. a rubber pad; 6. a rotating lever; 7. a circular plate; 8. a push rod; 9. a driving spur gear; 10. a driven spur gear; 11. a servo motor; 12. a connecting plate; 13. a connecting column; 14. and a through hole.
Detailed Description
The technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model.
It will be apparent that numerous specific details are set forth in the following description in order to provide a thorough understanding of the present utility model, however, the present utility model may be practiced in other ways than as described herein, and therefore the present utility model is not limited to the specific embodiments of the present disclosure.
Referring to fig. 1-4, the present utility model provides a gripping structure for a robot for picking up scattered workpieces, comprising: including connecting on the robot arm and being the mounting panel 1 of circular structure, the circumference fixed surface of mounting panel 1 is connected with four symmetrical support pieces 2, the equal fixedly connected with in bottom of four support pieces 2 is with the perpendicular guide bar 3 of mounting panel 1 axis, and all block sliding sleeve has V type pole 4 on every guide bar 3, the equal fixedly connected with in bottom of every V type pole 4 is used for the clamp splice 5 of centre gripping work piece, be provided with the mobile mechanism who is used for making a plurality of V type poles 4 be close to or keep away from the removal towards mounting panel 1 axis direction simultaneously on the mounting panel 1, through such design, the robot arm can remove mounting panel 1 to the work piece top of scattering, and make the work piece be located between a plurality of clamp splice 5, then can make a plurality of V type poles 4 simultaneously towards the axis direction of mounting panel 1 under mobile mechanism's effect, a plurality of clamp splice 5 can follow V type pole 4 and carry out the removal that is close to each other this kind of each other, and can carry out the centre gripping and snatch to the work piece of scattering, this kind of structure can all contact all around, can not improve the stability, and can not be applicable to more practical shape that snatch the shape is higher.
The specific connection mode between the V-shaped rod 4 and the guide rod 3 is as follows, the top fixedly connected with connecting block 41 of the V-shaped rod 4, square holes are formed in the connecting block 41, the guide rod 3 is a square rod and is inserted into the square holes, so that the V-shaped rod 4 can only slide on the guide rod 3 along the length direction thereof and cannot rotate, and the design is more reasonable.
In order to enable a plurality of V-shaped rods 4 to move close to or far away from the central axis of the mounting plate 1 at the same time, it is proposed that the moving mechanism comprises a rotating rod 6 which is rotationally inserted on the mounting plate 1 through a bearing and located at the same central axis with the mounting plate 1, the bottom of the rotating rod 6 is fixedly connected with a circular plate 7, four symmetrical pushing rods 8 are hinged to the bottom surface of the circular plate 7, one side of each pushing rod 8 far away from the hinging position of the circular plate 7 is hinged to the four V-shaped rods 4 respectively, a rotating mechanism for enabling the rotating rod 6 to rotate left and right is arranged on the mounting plate 1, when the rotating rod 6 rotates, the circular plate 7 can drive the circular plate 7 to synchronously rotate, one side of the four pushing rods 8 can be pulled to rotate along the central axis, and the other side of the four pushing rods 8 can respectively pull the four V-shaped rods 4 to move along the guide rods 3, so that the four V-shaped rods 4 can synchronously move close to or far away from the central axis of the mounting plate 1, and the four clamping blocks 5 can be driven to grab or release workpieces.
In some embodiments, in order to enable the rotation rod 6 to rotate, it is proposed that the rotation mechanism includes a driving spur gear 9 rotatably disposed above the mounting plate 1, a driven spur gear 10 meshed with the driving spur gear 9 is fixedly connected to the top of the rotation rod 6, and a driving member for driving the driving spur gear 9 to rotate is disposed on the mounting plate 1, and the driven spur gear 10 is driven to rotate by the cooperation of teeth when the driving spur gear 9 rotates, so that the rotation rod 6 can rotate.
Referring to fig. 1, the driving member includes a servo motor 11 fixedly installed at one side of the top of the mounting plate 1 and having an output shaft facing upwards, wherein the output end of the servo motor 11 is fixedly connected with the bottom of the driving spur gear 9, and the driving spur gear 9 can be driven to rotate when the output shaft of the servo motor 11 rotates.
Furthermore, the connection between the mounting plate 1 and the robot arm is as follows, the connection plate 12 parallel to the mounting plate 1 is fixedly arranged above the mounting plate 1, a plurality of connection posts 13 distributed in an equidistant annular array are fixedly connected between the connection plate 12 and the mounting plate 1, four through holes 14 which are symmetrically arranged on the connection plate 12 and are used for being matched and connected with the robot arm through bolts are formed, after the connection plate 12 is attached to the connection end of the robot arm, the bolts penetrate through the through holes 14 and are connected with corresponding screw holes on the robot arm, and then the connection between the mounting plate 1 and the robot arm can be formed.
In addition, the rubber pad 51 is fixedly connected to one side of the surface of each clamping block 5, the rubber pad 51 has better elasticity and plasticity, after the four clamping blocks 5 clamp the surface of a workpiece, the rubber pad 51 can deform according to the shape of the surface of the workpiece, so that the contact area between the clamping blocks 5 and the surface of the workpiece is increased, the friction force is increased, the grabbing of the workpiece by the structure can be firmer, and the problem that the workpiece falls off is avoided.
In the idle position of the device, all the electric devices and the matched drivers are arranged, and all the driving components are connected through wires by a person skilled in the art, wherein the driving components refer to power elements, electric devices and an adaptive power supply, and the specific connection means are known in the art.
It should be noted that, in the description of the present utility model, the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, only for convenience in describing the present utility model and simplifying the description, and do not indicate or imply that the apparatus or elements to be referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present utility model.
Meanwhile, in the description of the present utility model, unless explicitly specified and limited otherwise, terms such as "mounted," "disposed," "connected," "secured," "screwed" and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intermediaries, or in communication with each other or in interaction with each other, unless explicitly defined otherwise, the meaning of the terms described above in this application will be understood by those of ordinary skill in the art in view of the specific circumstances.
Furthermore, it should be understood that the dimensions of the various elements shown in the figures are not drawn to actual scale, e.g., the thickness or width of some layers may be exaggerated relative to other layers for ease of description.
The foregoing is only a preferred embodiment of the present utility model, but the scope of the present utility model is not limited thereto, and any person skilled in the art, who is within the scope of the present utility model, should make equivalent substitutions or modifications according to the technical scheme of the present utility model and the inventive concept thereof, and should be covered by the scope of the present utility model.
Claims (7)
1. Pick scattered work piece robot and use snatch structure, including connecting on robot arm and being mounting panel (1) of circular structure, its characterized in that: four symmetrical supporting blocks (2) are fixedly connected to the circumferential surface of the mounting plate (1), guide rods (3) perpendicular to the central axis of the mounting plate (1) are fixedly connected to the bottoms of the four supporting blocks (2), V-shaped rods (4) are sleeved on each guide rod (3) in a clamping sliding mode, clamping blocks (5) used for clamping workpieces are fixedly connected to the bottoms of each V-shaped rod (4), and a moving mechanism used for enabling a plurality of V-shaped rods (4) to move close to or away from the central axis of the mounting plate (1) simultaneously is arranged on the mounting plate (1).
2. The grasping structure for a robot for picking up scattered workpieces according to claim 1, wherein: the top of V type pole (4) fixedly connected with connecting block (41), square hole has been seted up on connecting block (41), and guide bar (3) are square pole and alternate in square downthehole.
3. The grasping structure for a robot for picking up scattered workpieces according to claim 1, wherein: the moving mechanism comprises a rotating rod (6) which is rotationally inserted on the mounting plate (1) through a bearing and located in the same central axis with the mounting plate (1), a circular plate (7) is fixedly connected to the bottom of the rotating rod (6), four symmetrical pushing rods (8) are hinged to the bottom surface of the circular plate (7), one side, away from the hinging position of the circular plate (7), of each pushing rod (8) is hinged to the four V-shaped rods (4) respectively, and a rotating mechanism used for enabling the rotating rod (6) to rotate left and right is arranged on the mounting plate (1).
4. A gripping structure for a robot for picking up scattered workpieces as claimed in claim 3, wherein: the rotating mechanism comprises a driving straight gear (9) which is rotatably arranged above the mounting plate (1), the top of the rotating rod (6) is fixedly connected with a driven straight gear (10) which is meshed with the driving straight gear (9), and a driving piece which is used for driving the driving straight gear (9) to rotate is arranged on the mounting plate (1).
5. The grasping configuration for a robot for picking up scattered workpieces according to claim 4, wherein: the driving piece comprises a servo motor (11) fixedly arranged on one side of the top of the mounting plate (1) and with an upward output shaft, and the tail end of an output group of the servo motor (11) is fixedly connected with the bottom of the driving spur gear (9).
6. The grasping structure for a robot for picking up scattered workpieces according to claim 1, wherein: a connecting plate (12) parallel to the connecting plate is fixedly arranged above the mounting plate (1), a plurality of connecting columns (13) distributed in an equidistant annular array are fixedly connected between the connecting plate (12) and the mounting plate (1), and four through holes (14) which are symmetrical and are used for being matched and connected with the robot arm through bolts are formed in the connecting plate (12).
7. The grasping structure for a robot for picking up scattered workpieces according to claim 1, wherein: a rubber pad (51) is fixedly connected to one side of the surface of each clamping block (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320839851.XU CN219685634U (en) | 2023-04-14 | 2023-04-14 | Pick scattered work piece robot with snatching structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320839851.XU CN219685634U (en) | 2023-04-14 | 2023-04-14 | Pick scattered work piece robot with snatching structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219685634U true CN219685634U (en) | 2023-09-15 |
Family
ID=87964866
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202320839851.XU Active CN219685634U (en) | 2023-04-14 | 2023-04-14 | Pick scattered work piece robot with snatching structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219685634U (en) |
-
2023
- 2023-04-14 CN CN202320839851.XU patent/CN219685634U/en active Active
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