CN108890683B - Elastic pickup device for industrial automation assembly line - Google Patents
Elastic pickup device for industrial automation assembly line Download PDFInfo
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- CN108890683B CN108890683B CN201810756097.7A CN201810756097A CN108890683B CN 108890683 B CN108890683 B CN 108890683B CN 201810756097 A CN201810756097 A CN 201810756097A CN 108890683 B CN108890683 B CN 108890683B
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- fixedly connected
- top plate
- rotatably connected
- bidirectional screw
- screw rod
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- 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
- B25J15/0233—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by chains, cables or ribbons
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- 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
- B25J15/08—Gripping heads and other end effectors having finger members
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Load-Engaging Elements For Cranes (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an elastic pickup device for an industrial automation assembly line, wherein the left side of a servo motor is rotatably connected with a driving shaft, a bearing at the left end of the driving shaft is rotatably connected with the upper part of a support, and the lower end of the support is fixedly connected with a top plate; the lower end of the top plate is symmetrically provided with side arms at two sides, the upper ends of the side arms are fixedly connected with the top plate, the lower ends of the side arms are rotatably connected with sleeves, springs are arranged in the sleeves, telescopic rods are sleeved at the lower parts of the sleeves, the upper ends of the springs are abutted against the upper wall in the sleeves, the lower ends of the springs are abutted against the upper ends of the telescopic rods, the lower ends of the telescopic rods are rotatably connected with clamping plates, wear-resisting plates are fixedly connected to the; the upper part of the lower part of the sleeve is rotatably connected with the lower end of a connecting rod, the upper end of the connecting rod is rotatably connected with a lantern ring, the lantern ring is in threaded connection with a bidirectional screw rod, two ends of the bidirectional screw rod are respectively in bearing rotation connection with side arms, a chain wheel is fixedly connected to the middle part of the bidirectional screw rod, a chain wheel is also fixedly connected to the middle part of the driving shaft, and the two chain wheels.
Description
Technical Field
The invention relates to industrial equipment, in particular to an elastic pickup device for an industrial automation production line.
Background
The manipulator can imitate some action functions of human hand and arm, and can be used for grabbing, carrying article or operating automatic operation device of tool according to fixed program. The manipulator is the earliest industrial robot and the earliest modern robot, can replace the heavy labor of people to realize the mechanization and automation of production, can operate in harmful environment to protect personal safety, and is widely applied to mechanical manufacturing, metallurgy, electronics, light industry, atomic energy and other departments.
At present, most of existing mechanical hands realize the function of picking up objects through mechanical claws in rigid connection, particularly in the object picking operation on an industrial automatic production line, for parts of objects which are easy to damage or objects with small strength, the clamping force required to be provided is also large due to the large dead weight of the objects, and the objects are easy to damage by the mechanical claws in rigid connection when force is applied.
Disclosure of Invention
The present invention is directed to an elastic pick-up device for an industrial automation assembly line, so as to solve the problems in the background art.
In order to achieve the purpose, the invention provides the following technical scheme:
an elastic pickup device for an industrial automation assembly line comprises a servo motor, side arms, telescopic rods, a clamping plate and a bidirectional screw rod, wherein the lower part of a driving motor is fixedly connected with a motor base, the motor base is fixedly connected with a top plate through bolts, the left side of the servo motor is rotatably connected with a driving shaft, a bearing at the left end of the driving shaft is rotatably connected with the upper part of a support, and the lower end of the support is fixedly connected with the top plate; the lower end of the top plate is symmetrically provided with side arms at two sides, the upper ends of the side arms are fixedly connected with the top plate, the lower ends of the side arms are rotatably connected with sleeves, springs are arranged in the sleeves, telescopic rods are sleeved at the lower parts of the sleeves, the upper ends of the springs are abutted against the upper wall in the sleeves, the lower ends of the springs are abutted against the upper ends of the telescopic rods, the lower ends of the telescopic rods are rotatably connected with clamping plates, wear-resisting plates are fixedly connected to the inner; the upper part of the lower part of the sleeve is rotatably connected with the lower end of a connecting rod, the upper end of the connecting rod is rotatably connected with a lantern ring, the lantern ring is in threaded connection with a bidirectional screw rod, two ends of the bidirectional screw rod are respectively in bearing rotation connection with side arms, the middle part of the bidirectional screw rod is fixedly connected with a chain wheel, the middle part of a driving shaft is also fixedly connected with a chain wheel, and the two chain wheels; the lantern ring upper end fixed connection sliding foot, sliding foot sliding connection guide way, the guide way sets up in the roof lower surface, and two-way lead screw both sides all have the screw thread, and the screw thread revolves to opposite, and the roof middle part is provided with logical groove, and the chain passes logical groove.
As a further scheme of the invention: and fixing devices are symmetrically arranged on two sides of the upper end of the top plate.
As a still further scheme of the invention: the fixing device comprises a hydraulic cylinder, a piston rod, a driving rod and a clamping ring, the lower end of the hydraulic cylinder is fixedly connected with the upper surface of the top plate, the upper portion of the hydraulic cylinder is connected with the piston rod in a sealing and sliding mode, the clamping ring is symmetrically arranged on two sides of the upper end of the piston rod, and the lower end of the clamping ring is rotatably connected with the top of the.
As a still further scheme of the invention: the two sides above the hydraulic cylinder are symmetrically provided with driving rods, the lower ends of the driving rods are rotatably connected with the upper part of the hydraulic cylinder, and the upper ends of the driving rods are rotatably connected with the clamping ring.
As a still further scheme of the invention: the fixing device comprises a lock catch, a movable hinge and a lock pin.
As a still further scheme of the invention: the lower part of the movable hinge is fixedly connected with the top plate, the left side of the movable hinge is rotatably connected with the lock catch, the right side of the movable hinge is fixedly connected with the lock pin, and the lock pin is inserted into the lock catch.
As a still further scheme of the invention: and the servo motor is connected with the power supply and the switch through a lead.
Compared with the prior art, the invention has the beneficial effects that: the device utilizes two-way lead screw to drive the lantern ring and draws close to the centre along the guide way, and connecting rod pulling sleeve upwards swings, and two grip blocks are close to each other in step and upwards promote to the article centre gripping, and the in-process spring that promotes is compressed and is leaded to the clamping-force crescent, prevents that the article atress is not enough to fall, realizes the elastic pickup to the article through the spring, has overcome the shortcoming of traditional mechanical type rigidity centre gripping fragile article, greatly reduced the spoilage of picking up of vulnerable part.
Drawings
Fig. 1 is a schematic structural diagram of an elastic pickup device for an industrial automation assembly line.
Fig. 2 is a left side view of a snap ring and a driving rod in the elastic pick-up device for the industrial automation line.
Fig. 3 is a side view of a wear plate in an elastomeric pick-up apparatus for an industrial automation line.
In the figure: 1-a top plate; 2-a servo motor; 3-a motor base; 4-driving shaft; 5-a chain; 6-a scaffold; 7-side arm; 8-a sleeve; 9-a spring; 10-a telescopic rod; 11-a clamping plate; 12-a wear plate; 13-a connecting rod; 14-a collar; 15-a bidirectional screw rod; 16-a slipper; 17-a guide groove; 18-a hydraulic cylinder; 19-a piston rod; 20-a drive rod; 21-snap ring.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
Referring to fig. 1 to 3, in an embodiment of the present invention, an elastic pickup apparatus for an industrial automation production line includes a servo motor 2, a side arm 7, an expansion link 10, a clamping plate 11, and a bidirectional screw 15; the lower part of the driving motor 2 is fixedly connected with a motor base 3, the motor base 3 is fixedly connected with a top plate 1 through bolts, the left side of the servo motor 2 is rotatably connected with a driving shaft 4, a bearing at the left end of the driving shaft 4 is rotatably connected with the upper part of a support 6, and the lower end of the support 6 is fixedly connected with the top plate 1, wherein a lead of the servo motor 2 is connected with a power supply and a switch, the servo motor 2 can realize forward and reverse rotation, forward pressing starts to enable the servo motor 2 to work by electrifying to drive the driving shaft 4 to rotate forwards, and similarly, reverse pressing; the utility model discloses a wear-resisting plate, including roof 1, side arm 7 upper end fixed connection roof 1, side arm 7 lower extreme rotates connecting sleeve 8, be provided with spring 9 in the sleeve 8, wherein telescopic link 10 is established to 8 lower part covers of sleeve, wherein the inside upper wall of spring 9 upper end butt sleeve 8, spring 9 lower extreme butt telescopic link 10 upper ends, and telescopic link 10 lower extreme rotates and connects grip block 11, the inboard fixed connection antifriction plate 12 of grip block 11, the horizontal equidistance in antifriction plate 12 surface is provided with a plurality of racks, it needs to explain, spring 9 is pre-compressed by telescopic link 10 after packing into sleeve 8.
The upper part of the lower part of the sleeve 8 is rotatably connected with the lower end of a connecting rod 13, the upper end of the connecting rod 13 is rotatably connected with a lantern ring 14, the lantern ring 14 is in threaded connection with a bidirectional screw rod 15, two ends of the bidirectional screw rod 15 are respectively rotatably connected with a side arm 7 through bearings, the middle part of the bidirectional screw rod 15 is fixedly connected with a chain wheel, the middle part of a driving shaft 4 is also fixedly connected with a chain wheel, and the two chain wheels; the upper end of the lantern ring 14 is fixedly connected with a sliding foot 16, the sliding foot 16 is slidably connected with a guide groove 17, the guide groove 17 is arranged on the lower surface of the top plate 1, specifically, both sides of the bidirectional screw rod 15 are provided with threads, the rotating directions of the threads are opposite, the middle part of the top plate 1 is provided with a through groove, the chain 5 passes through the through groove, when an object on the production line needs to be picked up, the switch is pressed in the forward direction, so that the driving shaft 4 drives the bidirectional screw rod 15 to rotate forward through the chain 5, the bidirectional screw rod 15 drives the lantern ring 14 to move towards the middle along the guide groove 17, the connecting rod 13 pulls the sleeve 8 to swing upwards at the moment, the two clamping plates 11 are mutually and synchronously close to each other to clamp the object and lift upwards, the spring 9 is compressed in the lifting process to lead the clamping force to be gradually increased, the object is prevented from falling due to insufficient stress, the elastic pick-up of the object is realized through the spring 9, and the defect that the object is easy to damage by the traditional mechanical rigid clamping is overcome.
Fixing devices are symmetrically arranged on two sides of the upper end of the top plate 1, and specifically, the fixing devices comprise hydraulic cylinders 18, piston rods 19, driving rods 20 and clamping rings 21; the utility model discloses a hydraulic cylinder 18 lower extreme fixed connection roof 1 upper surface, the sealed sliding connection piston rod 19 in pneumatic cylinder 18 upper portion, piston rod 19 upper end bilateral symmetry is provided with snap ring 21, and snap ring 21 lower extreme rotates and connects piston rod 19 top, pneumatic cylinder 18 top bilateral symmetry is provided with actuating lever 20, wherein, actuating lever 20 lower extreme rotates and connects pneumatic cylinder 18 upper portion, actuating lever 20 upper end rotates and connects snap ring 21, it stretches out and draws back and then makes snap ring 21 realize the switching function under actuating lever 20 effect to drive piston rod 19 through pneumatic cylinder 18 drive, it can realize the removal function after the article centre gripping to utilize snap ring 21 to be connected with the guide rail, the degree of automation is high, the efficiency of picking up.
Example 2
Referring to fig. 1 to 3, in an embodiment of the present invention, an elastic pickup apparatus for an industrial automation production line includes a servo motor 2, a side arm 7, an expansion link 10, a clamping plate 11, and a bidirectional screw 15; the lower part of the driving motor 2 is fixedly connected with a motor base 3, the motor base 3 is fixedly connected with a top plate 1 through bolts, the left side of the servo motor 2 is rotatably connected with a driving shaft 4, a bearing at the left end of the driving shaft 4 is rotatably connected with the upper part of a support 6, and the lower end of the support 6 is fixedly connected with the top plate 1, wherein a lead of the servo motor 2 is connected with a power supply and a switch, the servo motor 2 can realize forward and reverse rotation, forward pressing starts to enable the servo motor 2 to work by electrifying to drive the driving shaft 4 to rotate forwards, and similarly, reverse pressing; the utility model discloses a wear-resisting plate, including roof 1, side arm 7 upper end fixed connection roof 1, side arm 7 lower extreme rotates connecting sleeve 8, be provided with spring 9 in the sleeve 8, wherein telescopic link 10 is established to 8 lower part covers of sleeve, wherein the inside upper wall of spring 9 upper end butt sleeve 8, spring 9 lower extreme butt telescopic link 10 upper ends, and telescopic link 10 lower extreme rotates and connects grip block 11, the inboard fixed connection antifriction plate 12 of grip block 11, the horizontal equidistance in antifriction plate 12 surface is provided with a plurality of racks, it needs to explain, spring 9 is pre-compressed by telescopic link 10 after packing into sleeve 8.
The upper part of the lower part of the sleeve 8 is rotatably connected with the lower end of a connecting rod 13, the upper end of the connecting rod 13 is rotatably connected with a lantern ring 14, the lantern ring 14 is in threaded connection with a bidirectional screw rod 15, two ends of the bidirectional screw rod 15 are respectively rotatably connected with a side arm 7 through bearings, the middle part of the bidirectional screw rod 15 is fixedly connected with a chain wheel, the middle part of a driving shaft 4 is also fixedly connected with a chain wheel, and the two chain wheels; the upper end of the lantern ring 14 is fixedly connected with a sliding foot 16, the sliding foot 16 is slidably connected with a guide groove 17, the guide groove 17 is arranged on the lower surface of the top plate 1, specifically, both sides of the bidirectional screw rod 15 are provided with threads, the rotating directions of the threads are opposite, the middle part of the top plate 1 is provided with a through groove, the chain 5 passes through the through groove, when an object on the production line needs to be picked up, the switch is pressed in the forward direction, so that the driving shaft 4 drives the bidirectional screw rod 15 to rotate forward through the chain 5, the bidirectional screw rod 15 drives the lantern ring 14 to move towards the middle along the guide groove 17, the connecting rod 13 pulls the sleeve 8 to swing upwards at the moment, the two clamping plates 11 are mutually and synchronously close to each other to clamp the object and lift upwards, the spring 9 is compressed in the lifting process to lead the clamping force to be gradually increased, the object is prevented from falling due to insufficient stress, the elastic pick-up of the object is realized through the spring 9, and the defect that the object is easy to damage by the traditional mechanical rigid clamping is overcome.
Fixing devices are symmetrically arranged on two sides of the upper end of the top plate 1, and specifically, the fixing devices comprise lock catches, movable hinges and lock pins; the lower portion of the movable hinge is fixedly connected with the top plate 1, the left side of the movable hinge is rotatably connected with the lock catch, the right side of the movable hinge is fixedly connected with the lock pin, the lock pin is inserted into the lock catch, the top plate 1 can be fixed on the guide rail through the lock catch, and the picked objects can be conveniently transported.
The working principle of the invention is as follows: the servo motor 2 can rotate in forward and reverse directions, the servo motor 2 is powered on to work to drive the driving shaft 4 to rotate forward when forward pressing starts, similarly, the driving shaft 4 rotates reversely when a switch is pressed reversely, the spring 9 is pre-pressed by the telescopic rod 10 after being installed in the sleeve 8, when an object on a production line needs to be picked up, the forward pressing switch enables the driving shaft 4 to drive the bidirectional screw rod 15 to follow forward rotation through the chain 5, the bidirectional screw rod 15 drives the lantern ring 14 to approach towards the middle along the guide groove 17, the connecting rod 13 pulls the sleeve 8 to swing upwards at the moment, the two clamping plates 11 are mutually synchronous, close to each other to clamp the object and lift upwards, the spring 9 is compressed in the lifting process to gradually increase the clamping force, the object is prevented from falling due to insufficient stress, elastic pickup of the object is achieved through the spring 9, the defect that the traditional mechanical rigid clamping easily damaged object is overcome, the piston rod 19 is driven to stretch by the hydraulic cylinder The clamping ring 21 is connected with the guide rail, so that the moving function of the clamped object can be realized, the automation degree is high, and the picking efficiency of the assembly line object is greatly improved.
It should explain very much in this application, the pneumatic cylinder, the piston rod, servo motor is prior art's application, two-way lead screw 15 drives lantern ring 14 and draws close to the centre along guide way 17, connecting rod 13 pulling sleeve 8 upswing, two grip blocks 11 are close to in step each other and are upwards promoted to the article centre gripping, in-process spring 9 that promotes is compressed and is leaded to the clamping-force to increase gradually, prevent that the article atress is not enough to fall, realize the elastic pickup to the article through spring 9, the shortcoming of having overcome traditional mechanical type rigidity centre gripping fragile article is the innovation point of this application, it has effectively solved current manipulator rigidity and has picked up the problem that the article easily caused the damage.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (2)
1. An elastic pickup device for an industrial automation assembly line comprises a servo motor (2), side arms (7), a telescopic rod (10), a clamping plate (11) and a bidirectional screw rod (15), and is characterized in that the lower part of the servo motor (2) is fixedly connected with a motor base (3), the motor base (3) is fixedly connected with a top plate (1) through a bolt, the left side of the servo motor (2) is rotatably connected with a driving shaft (4), a bearing at the left end of the driving shaft (4) is rotatably connected with the upper part of a support (6), and the lower end of the support (6) is fixedly connected with the top plate (1); the two sides of the lower end of the top plate (1) are symmetrically provided with side arms (7), the upper ends of the side arms (7) are fixedly connected with the top plate (1), the lower ends of the side arms (7) are rotatably connected with a sleeve (8), a spring (9) is arranged in the sleeve (8), a telescopic rod (10) is sleeved on the lower portion of the sleeve (8), the upper end of the spring (9) is abutted to the inner upper wall of the sleeve (8), the lower end of the spring (9) is abutted to the upper end of the telescopic rod (10), the lower end of the telescopic rod (10) is rotatably connected with a clamping plate (11), the inner side of the clamping plate (11) is fixedly connected; the upper part of the lower part of the sleeve (8) is rotatably connected with the lower end of a connecting rod (13), the upper end of the connecting rod (13) is rotatably connected with a lantern ring (14), the lantern ring (14) is in threaded connection with a bidirectional screw rod (15), two ends of the bidirectional screw rod (15) are respectively rotatably connected with a side arm (7) through bearings, the middle part of the bidirectional screw rod (15) is fixedly connected with a chain wheel, the middle part of the driving shaft (4) is also fixedly connected with a chain wheel, and the two chain wheels are connected; the upper end of the lantern ring (14) is fixedly connected with a sliding foot (16), the sliding foot (16) is connected with a guide groove (17) in a sliding mode, the guide groove (17) is formed in the lower surface of the top plate (1), threads are arranged on two sides of the bidirectional screw rod (15), the rotating directions of the threads are opposite, a through groove is formed in the middle of the top plate (1), and the chain (5) penetrates through the through groove; the device comprises a top plate (1), fixing devices and a clamping ring, wherein the two sides of the upper end of the top plate (1) are symmetrically provided with the fixing devices, each fixing device comprises a hydraulic cylinder (18), a piston rod (19), a driving rod (20) and the clamping ring (21), the lower end of each hydraulic cylinder (18) is fixedly connected with the upper surface of the top plate (1), the upper part of each hydraulic cylinder (18) is connected with the piston rod (19) in a sealing and sliding mode, the two sides of the upper end of each piston rod (19) are symmetrically provided with the clamping rings (21), the lower ends of the clamping rings (21) are rotatably connected with the tops of the piston rods (19), the driving rods (20) are symmetrically; the fixing device comprises a lock catch, a movable hinge and a lock pin; the lower part of the movable hinge is fixedly connected with a top plate (1), the left side of the movable hinge is rotatably connected with a lock catch, the right side of the movable hinge is fixedly connected with a lock pin, and the lock pin is inserted into the lock catch.
2. The elastic pick-up device for the industrial automation assembly line according to claim 1 is characterized in that the servo motor (2) is connected with a power supply and a switch through wires.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810756097.7A CN108890683B (en) | 2018-07-11 | 2018-07-11 | Elastic pickup device for industrial automation assembly line |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810756097.7A CN108890683B (en) | 2018-07-11 | 2018-07-11 | Elastic pickup device for industrial automation assembly line |
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| CN108890683A CN108890683A (en) | 2018-11-27 |
| CN108890683B true CN108890683B (en) | 2021-07-02 |
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| CN201810756097.7A Active CN108890683B (en) | 2018-07-11 | 2018-07-11 | Elastic pickup device for industrial automation assembly line |
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|---|---|
| CN108890683A (en) | 2018-11-27 |
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