CN108406732A - A kind of crawl tooling carried for robot - Google Patents
A kind of crawl tooling carried for robot Download PDFInfo
- Publication number
- CN108406732A CN108406732A CN201810184775.7A CN201810184775A CN108406732A CN 108406732 A CN108406732 A CN 108406732A CN 201810184775 A CN201810184775 A CN 201810184775A CN 108406732 A CN108406732 A CN 108406732A
- Authority
- CN
- China
- Prior art keywords
- fixed
- seat
- servo motor
- link slot
- rod
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of crawl toolings carried for robot, including pedestal and Mobile base, the sliding seats are in the top of pedestal, sliding slot is offered at the top of the pedestal, the inner rotation of the sliding slot is connected with screw rod, the bottom of the Mobile base is opened up there are two the first limiting slot, the two side walls of the sliding slot extend respectively to the inside of two the first limiting slots, it is rotatablely connected between the screw rod and Mobile base, it is rotatably connected to turntable at the top of the Mobile base, it is fixed with fixed seat at the top of the turntable, the top of the fixed seat is equipped with head rod, the first link slot is offered at the top of the fixed seat, one end of the head rod extends to the inside of the first link slot, the other end of the head rod is rotatably connected to the second connecting rod.Structure of the invention is reasonable, ingenious in design, more flexible and convenient when transporting goods, and stable structure, greatly reduces and damages the probability of cargo because chucking power is excessive.
Description
Technical field
The present invention relates to robots to carry technical field more particularly to a kind of crawl tooling carried for robot.
Background technology
Industrial robot is made of operation machine (basic machine), controller, servo drive system and detection sensing device, is
A kind of automatic metaplasia of electromechanical integration that apery is operated, automatically controlled, repeating programming, can complete various operations in three dimensions
Produce equipment.Flexible production particularly suitable for multi items, change batch.It improves production efficiency to stabilization, raising product quality,
The quick update with product of improving working conditions plays a very important role.
With the development of technology, robot is all used in many factories to wait for that enemy's work carries out production activity, especially
It is for example to be carried in the field of some amounts of labour.Existing robot carrying has a single function, not steady enough to the Grasping skill of article
It is fixed, and underaction, the bad control of dynamics of crawl.
Invention content
The purpose of the present invention is to solve disadvantages existing in the prior art, and the one kind proposed is carried for robot
Crawl tooling.
To achieve the goals above, present invention employs following technical solutions：
A kind of crawl tooling carried for robot, including pedestal and Mobile base, the sliding seats are in the top of pedestal
Portion offers sliding slot at the top of the pedestal, and the inner rotation of the sliding slot is connected with screw rod, and the bottom of the Mobile base opens up
There are two the first limiting slot, the two side walls of the sliding slot extend respectively to the inside of two the first limiting slots, the screw rod with
It is rotatablely connected between Mobile base, turntable is rotatably connected at the top of the Mobile base, fixed seat is fixed at the top of the turntable,
The top of the fixed seat is equipped with head rod, and the first link slot, first connection are offered at the top of the fixed seat
One end of bar extends to the inside of the first link slot, and the other end of the head rod is rotatably connected to the second connecting rod, institute
The one end for stating the second connecting rod is rotatably connected to third connecting rod, and one end of the third connecting rod is fixed with adjustment seat, described
The side of adjustment seat is equipped with connecting seat, and is rotatablely connected between connecting seat and adjustment seat, and the side of the connecting seat offers the
Three link slots, the connecting seat are internally provided with cavity, and hydraulic cylinder is fixed in cavity, and one end of the hydraulic cylinder extends to
The inside of three link slots, the hydraulic cylinder are located at folding rod there are two the rotation connections of one end inside third link slot, and two
Folding rod is located at the both sides of hydraulic cylinder, and one end of two folding rods is respectively rotatably connected to fixed jaw, and two described solid
The one end for determining pawl is equipped with fixed block.
Preferably, two mutually close sides of fixed jaw offer spring eye, and spring eye is internally provided with spring, two
The side of fixed block is respectively and fixedly provided with bumper post, and one end of two bumper posts extends respectively to the inside of two spring eyes, spring
The second limiting slot is offered on the both sides inner wall in hole, bumper post is located at one end inside spring eye and is fixed with limited block, and limits
The both ends of position block extend respectively to the inside of two the second limiting slots.
Preferably, one end that two fixed jaws are equipped with spring eye all extends to the outside of third link slot, and two
Fixed jaw is rotatablely connected with the both sides inner wall of third link slot respectively, and first rotating shaft is rotatably connected between two fixed jaws.
Preferably, the both sides of the head rod are respectively and fixedly provided with the second shaft, and the both ends of the second shaft are respectively with
The both sides of one link slot are rotatablely connected, and the top of the fixed seat is equipped with first servo motor, and the output of first servo motor
Axis is fixedly connected with one end of the second shaft.
Preferably, the other end of the head rod is fixed with the second servo motor, and the output of the second servo motor
Axis and one end of the second connecting rod are solidly connected, and the other end of the second connecting rod is fixed with third servo motor, and third servo electricity
The output shaft of machine is fixedly connected with one end of third connecting rod.
Preferably, the connecting seat is internally provided with the 4th servo motor, and the output shaft of the 4th servo motor and connection
The side of seat is fixedly connected.
The beneficial effects of the invention are as follows：
1, by the cooperation between hydraulic cylinder, folding rod, fixed jaw and fixed block, the crawl cargo that can stablize, and
It will not be because chucking power is excessive and damage goods；
2, pass through the cooperation between head rod, the second connecting rod, third connecting rod and adjustment seat so that crawl cargo
When it is more flexible and convenient.
Structure of the invention is reasonable, ingenious in design, more flexible and convenient when transporting goods, and stable structure, drops significantly
It is low to damage the probability of cargo because chucking power is excessive.
Description of the drawings
Fig. 1 is a kind of structural schematic diagram of crawl tooling carried for robot proposed by the present invention；
Fig. 2 is the enlarged drawing at a kind of A of crawl tooling carried for robot proposed by the present invention；
Fig. 3 is a kind of side figure of the Mobile base of crawl tooling carried for robot proposed by the present invention；
Fig. 4 is a kind of structural representation of the third link slot of crawl tooling carried for robot proposed by the present invention
Figure.
In figure：1 pedestal, 2 sliding slots, 3 Mobile bases, 4 screw rods, 5 turntables, 6 fixed seats, 7 first link slots, 8 head rods,
9 second connecting rods, 10 connecting seats, 11 hydraulic cylinders, 12 folding rods, 13 bumper posts, 14 fixed blocks, 15 fixed jaws, 16 spring eyes, 17
First limiting slot, 18 second link slots, 19 third connecting rods, 20 adjustment seats, 21 third link slots.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.
Referring to Fig.1-4, a kind of crawl tooling carried for robot, including pedestal 1 and Mobile base 3, Mobile base 3 are located at
The top at the top of pedestal 1, pedestal 1 offers sliding slot 2, and the inner rotation of sliding slot 2 is connected with screw rod 4, and the bottom of Mobile base 3 is opened
If there are two the first limiting slot 17, the two side walls of sliding slot 2 extend respectively to the inside of two the first limiting slots 17, screw rod 4 with
It being rotatablely connected between Mobile base 3, the top of Mobile base 3 is rotatably connected to turntable 5, and the top of turntable 5 is fixed with fixed seat 6, Gu
The top of reservation 6 is equipped with head rod 8, and the top of fixed seat 6 offers the first link slot 7, and one end of head rod 8 is prolonged
The inside of the first link slot 7 is extended to, the other end of head rod 8 is rotatably connected to the second connecting rod 9, the second connecting rod 9
One end is rotatably connected to third connecting rod 19, and one end of third connecting rod 19 is fixed with adjustment seat 20, and the side of adjustment seat 20 is set
There is connecting seat 10, and is rotatablely connected between connecting seat 10 and adjustment seat 20, the side of connecting seat 10 offers third link slot 21,
Connecting seat 10 is internally provided with cavity, and hydraulic cylinder 11 is fixed in cavity, and one end of hydraulic cylinder 11 extends to third link slot 21
Inside, hydraulic cylinder 11 is located at the rotation connection of one end inside third link slot 21 there are two folding rod 12, and two folding rods
12 are located at the both sides of hydraulic cylinder 11, and one end of two folding rods 12 is respectively rotatably connected to fixed jaw 15, two fixations
One end of pawl 15 is equipped with fixed block 14.
In the present embodiment, the mutually close side of two fixed jaws 15 offers spring eye 16, and the inside of spring eye 16 is set
There is spring, the side of two fixed blocks 14 is respectively and fixedly provided with bumper post 13, and one end of two bumper posts 13 extends respectively to two
The inside of spring eye 16 offers the second limiting slot on the both sides inner wall of spring eye, and bumper post 13 is located inside spring eye
One end is fixed with limited block, and the both ends of limited block extend respectively to the inside of two the second limiting slots, and two fixed jaws 15 are set
There is one end of spring eye 16 to all extend to the outside of third link slot 21, and two fixed jaws 15 respectively with third link slot 21
Both sides inner wall is rotatablely connected, and is rotatably connected to first rotating shaft between two fixed jaws 15, the both sides of head rod 8 are respectively and fixedly provided with
Second shaft, and the both ends of the second shaft are rotatablely connected with the both sides of the first link slot 7 respectively, the top of fixed seat 6 are equipped with the
One servo motor, and the output shaft of first servo motor is fixedly connected with one end of the second shaft, the other end of head rod 8
It is fixed with the second servo motor, and the output shaft of the second servo motor and one end of the second connecting rod 9 are solidly connected, the second connecting rod
9 other end is fixed with third servo motor, and one end of the output shaft of third servo motor and third connecting rod 19 is fixed and connected
It connects, connecting seat 10 is internally provided with the 4th servo motor, and the side of the output shaft and connecting seat 10 of the 4th servo motor is fixed
Connection.
In the present embodiment, first servo motor, the second servo motor and third servo motor under the control of the controller will
Connecting seat is moved to the top of cargo to be captured, and drives connecting seat 10 to rotate by the rotation of the 4th servo motor, so that
Two fixed jaws 15 can be directed at cargo to be captured, and start hydraulic cylinder 11, and hydraulic cylinder 11, which is shunk, drives two folding rods 12 to stretch
Exhibition, because two fixed jaws 15 are fixed on the inside of third link slot 19, with the stretching, extension of folding rod 12, two fixed jaws
15 start to open, and when cargo is intermediate into two fixed blocks 14, hydraulic cylinder 11 are made to extend, and it is solid that folding rod 12 shrinks drive two
Determine pawl 15 to close up so that two fixed blocks 14 can catch cargo because the both sides of two fixed blocks 14 be equipped with it is slow
Column 13 is rushed, when fixed block 14 captures cargo, a part of pressure is sponged by spring, therefore is not in because of operation
Carelessness so that aid power it is excessive and to cargo surfaces cause damage the phenomenon that, cargo crawl after, can enable screw rod 4 rotate, screw rod 4
Mobile base 3 is driven to move, and then can be by goods movement a certain distance, to increase the efficient working range of device.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Any one skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (6)
1. a kind of crawl tooling carried for robot, including pedestal (1) and Mobile base (3), which is characterized in that the movement
Seat (3) is located at the top of pedestal (1), and sliding slot (2) is offered at the top of the pedestal (1), and the inner rotation of the sliding slot (2) connects
It is connected to screw rod (4), the bottom of the Mobile base (3) opens up that there are two the first limiting slot (17), the two side walls of the sliding slot (2)
It extends respectively to the inside of two the first limiting slots (17), be rotatablely connected between the screw rod (4) and Mobile base (3), the shifting
It is rotatably connected to turntable (5) at the top of dynamic seat (3), fixed seat (6), the fixed seat (6) are fixed at the top of the turntable (5)
Top be equipped with head rod (8), offer the first link slot (7), the head rod at the top of the fixed seat (6)
(8) one end extends to the inside of the first link slot (7), and the other end of the head rod (8) is rotatably connected to the second company
One end of extension bar (9), second connecting rod (9) is rotatably connected to third connecting rod (19), the third connecting rod (19)
One end is fixed with adjustment seat (20), and the side of the adjustment seat (20) is equipped with connecting seat (10), and connecting seat (10) and adjustment seat
(20) be rotatablely connected between, the side of the connecting seat (10) offers third link slot (21), the connecting seat (10) it is interior
Portion is equipped with cavity, is fixed with hydraulic cylinder (11) in cavity, one end of the hydraulic cylinder (11) extends to third link slot (21)
Inside, the hydraulic cylinder (11) are located at folding rod (12) there are two the internal one end rotation connections of third link slot (21), and two
A folding rod (12) is located at the both sides of hydraulic cylinder (11), and one end of two folding rods (12) is respectively rotatably connected to fixation
One end of pawl (15), two fixed jaws (15) is equipped with fixed block (14).
2. a kind of crawl tooling carried for robot according to claim 1, which is characterized in that two fixed jaws
(15) mutually close side offers spring eye (16), and spring eye (16) is internally provided with spring, two fixed blocks (14)
Side is respectively and fixedly provided with bumper post (13), and one end of two bumper posts (13) extends respectively to the inside of two spring eyes (16),
The second limiting slot is offered on the both sides inner wall of spring eye, one end that bumper post (13) is located inside spring eye is fixed with limit
Block, and the both ends of limited block extend respectively to the inside of two the second limiting slots.
3. a kind of crawl tooling carried for robot according to claim 1, which is characterized in that two fixations
One end that pawl (15) is equipped with spring eye (16) all extends to the outsides of third link slot (21), and two fixed jaws (15) respectively with
The both sides inner wall of third link slot (21) is rotatablely connected, and first rotating shaft is rotatably connected between two fixed jaws (15).
4. a kind of crawl tooling carried for robot according to claim 1, which is characterized in that first connection
The both sides of bar (8) are respectively and fixedly provided with the second shaft, and the both ends of the second shaft rotate with the both sides of the first link slot (7) connect respectively
It connects, the top of the fixed seat (6) is equipped with first servo motor, and one end of the output shaft of first servo motor and the second shaft
It is fixedly connected.
5. a kind of crawl tooling carried for robot according to claim 1, which is characterized in that first connection
The other end of bar (8) is fixed with the second servo motor, and one end of the output shaft of the second servo motor and the second connecting rod (9) is solid
Connection, the other end of the second connecting rod (9) is fixed with third servo motor, and the output shaft of third servo motor is connect with third
One end of bar (19) is fixedly connected.
6. a kind of crawl tooling carried for robot according to claim 1, which is characterized in that the connecting seat
(10) be internally provided with the 4th servo motor, and the output shaft of the 4th servo motor is fixedly connected with the side of connecting seat (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810184775.7A CN108406732A (en) | 2018-03-07 | 2018-03-07 | A kind of crawl tooling carried for robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810184775.7A CN108406732A (en) | 2018-03-07 | 2018-03-07 | A kind of crawl tooling carried for robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108406732A true CN108406732A (en) | 2018-08-17 |
Family
ID=63129984
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810184775.7A Pending CN108406732A (en) | 2018-03-07 | 2018-03-07 | A kind of crawl tooling carried for robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108406732A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109465804A (en) * | 2018-11-09 | 2019-03-15 | 刘明贵 | A kind of desktop underloading robot |
| CN110202602A (en) * | 2019-05-28 | 2019-09-06 | 宁波君睿智能装备有限公司 | Robot polymorphic type cloth gripping system |
| CN112660841A (en) * | 2020-12-12 | 2021-04-16 | 安徽普华灵动机器人科技有限公司 | Stacking robot capable of moving freely |
| CN113878323A (en) * | 2021-09-28 | 2022-01-04 | 天津朗硕机器人科技有限公司 | Force control sensor-based double-shaft hole assembly robot device and method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS4833608B1 (en) * | 1968-11-04 | 1973-10-16 | ||
| CN104786216A (en) * | 2014-01-17 | 2015-07-22 | 斗山重工业株式会社 | Multi-articulated manipulator |
| CN204748639U (en) * | 2015-06-30 | 2015-11-11 | 何华琼 | Incorporation formula manipulator |
| CN106003111A (en) * | 2016-06-14 | 2016-10-12 | 合肥万向钱潮汽车零部件有限公司 | Automatic clamping device |
| CN205660742U (en) * | 2016-06-01 | 2016-10-26 | 湖南新天力科技有限公司 | Automatic snatch gripper of push pedal |
| CN107297752A (en) * | 2016-04-15 | 2017-10-27 | 发那科株式会社 | Robot gripping device |
| CN107414386A (en) * | 2017-08-23 | 2017-12-01 | 湖州森纳德电子科技有限公司 | A kind of mechanical grip of electronic welding |
| CN107650130A (en) * | 2017-10-09 | 2018-02-02 | 天津昭阳科技有限公司 | Machining Automobile Wheel Hub Mould rotary spraying machine people |
-
2018
- 2018-03-07 CN CN201810184775.7A patent/CN108406732A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS4833608B1 (en) * | 1968-11-04 | 1973-10-16 | ||
| CN104786216A (en) * | 2014-01-17 | 2015-07-22 | 斗山重工业株式会社 | Multi-articulated manipulator |
| CN204748639U (en) * | 2015-06-30 | 2015-11-11 | 何华琼 | Incorporation formula manipulator |
| CN107297752A (en) * | 2016-04-15 | 2017-10-27 | 发那科株式会社 | Robot gripping device |
| CN205660742U (en) * | 2016-06-01 | 2016-10-26 | 湖南新天力科技有限公司 | Automatic snatch gripper of push pedal |
| CN106003111A (en) * | 2016-06-14 | 2016-10-12 | 合肥万向钱潮汽车零部件有限公司 | Automatic clamping device |
| CN107414386A (en) * | 2017-08-23 | 2017-12-01 | 湖州森纳德电子科技有限公司 | A kind of mechanical grip of electronic welding |
| CN107650130A (en) * | 2017-10-09 | 2018-02-02 | 天津昭阳科技有限公司 | Machining Automobile Wheel Hub Mould rotary spraying machine people |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109465804A (en) * | 2018-11-09 | 2019-03-15 | 刘明贵 | A kind of desktop underloading robot |
| CN110202602A (en) * | 2019-05-28 | 2019-09-06 | 宁波君睿智能装备有限公司 | Robot polymorphic type cloth gripping system |
| CN112660841A (en) * | 2020-12-12 | 2021-04-16 | 安徽普华灵动机器人科技有限公司 | Stacking robot capable of moving freely |
| CN113878323A (en) * | 2021-09-28 | 2022-01-04 | 天津朗硕机器人科技有限公司 | Force control sensor-based double-shaft hole assembly robot device and method |
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Application publication date: 20180817 |
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