CN109465846B - Flexible tongs device for robot - Google Patents
Flexible tongs device for robot Download PDFInfo
- Publication number
- CN109465846B CN109465846B CN201811397329.0A CN201811397329A CN109465846B CN 109465846 B CN109465846 B CN 109465846B CN 201811397329 A CN201811397329 A CN 201811397329A CN 109465846 B CN109465846 B CN 109465846B
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- Prior art keywords
- plate
- mounting
- cylinder
- horizontal direction
- permanent magnet
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- 230000006835 compression Effects 0.000 claims 5
- 238000007906 compression Methods 0.000 claims 5
- 238000009434 installation Methods 0.000 description 20
- 210000000078 claw Anatomy 0.000 description 6
- 238000000034 method Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
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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
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
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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
-
- 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
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0608—Gripping heads and other end effectors with vacuum or magnetic holding means with magnetic holding means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The utility model provides a flexible tongs device for robot which characterized in that: the robot comprises a robot connecting plate, a U-shaped mounting block, a mechanical gripper mechanism and an electro-permanent magnet gripper mechanism, wherein the U-shaped mounting block is arranged along the left-right horizontal direction, the robot connecting plate is vertically fixed on the front side surface of the U-shaped mounting block, the mechanical gripper mechanism is clamped on the U-shaped mounting block, and the upper end of the electro-permanent magnet gripper mechanism is connected with the lower side surface of the U-shaped mounting block; in conclusion, the invention has the advantages of simple structure, convenient use and higher reliability of grabbing workpieces.
Description
Technical Field
The invention belongs to the technical field of robot equipment, and particularly relates to a flexible gripper device for a robot.
Background
In the use process of the existing transfer robot, the transfer robot is matched with a special gripper to ensure the grabbing reliability in the transfer process, and the problem that products suitable for the special gripper are single and product collision easily occurs if errors occur in the positioning process of a positioning tool of a workpiece in the use process is solved, so that a robot gripper device capable of accurately positioning the workpiece and reliably transferring the workpiece is urgently needed.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a flexible gripper device for a robot.
The invention is realized in the following way: the flexible gripper device for the robot comprises a robot connecting plate, a U-shaped mounting block, a mechanical gripper mechanism and an electro-permanent magnet gripper mechanism, wherein the U-shaped mounting block is arranged along the left-right horizontal direction, the robot connecting plate is vertically fixed on the front side surface of the U-shaped mounting block, the mechanical gripper mechanism is clamped on the U-shaped mounting block, and the upper end of the electro-permanent magnet gripper mechanism is connected with the lower side surface of the U-shaped mounting block;
The mechanical gripper mechanism comprises an installation base body, the installation base body is clamped in a U-shaped installation block along the left-right horizontal direction, the installation base body is fixed with the U-shaped installation block through bolts, the right end of the installation base body is connected with a triaxial air cylinder, the left end of the installation base body is fixed with a contact plate along the direction perpendicular to the ground, the middle part of the right side surface of the contact plate is provided with a locating pin, the triaxial air cylinder is arranged along the left-right horizontal direction, the telescopic rod of the triaxial air cylinder is horizontally arranged right, a pressing claw mounting plate is fixedly connected to the telescopic rod of the triaxial air cylinder, and a plurality of pressing claws are arranged on the pressing claw mounting plate along the left-right horizontal direction.
The electric permanent magnet gripper mechanism comprises an electric permanent magnet connecting plate, a compressing cylinder, a cylinder mounting plate, a limiting plate and two electric permanent magnets, wherein the two electric permanent magnets are perpendicular to the ground, the left end and the right end of the electric permanent magnet connecting plate are fixedly connected with the upper ends of the two electric permanent magnets respectively, the upper end of the electric permanent magnet connecting plate is connected with a lifting plate arranged along the left horizontal direction and the right horizontal direction, the left end and the right end of the lifting plate are respectively connected with a guide shaft which is vertically arranged, the lower end of the guide shaft is fixedly connected with the lifting plate, the cylinder mounting plate is arranged right above the lifting plate along the left horizontal direction and the right horizontal direction, the left end and the right end of the cylinder mounting plate are respectively provided with a first mounting hole along the upper horizontal direction and the lower horizontal direction, the upper end of the guide shaft penetrates through the linear bearing to be fixedly connected with the limiting plate arranged right above the cylinder mounting plate, the middle part of the rear side of the upper surface of the cylinder mounting plate is provided with a second mounting hole along the upper horizontal direction and lower horizontal direction, the compressing cylinder is vertically arranged on the second mounting hole, the telescopic rod of the compressing cylinder penetrates the second mounting hole to be arranged below the cylinder mounting plate, and the compressing cylinder is connected with a compressing block on the telescopic rod of the compressing cylinder.
The middle part of the upper surface rear side of lifter plate is fixed with the buffer block.
And a third mounting hole is formed in the middle of the limiting plate, an oil pressure buffer is mounted on the third mounting hole, and the lower end of the oil pressure buffer is in contact with the cylinder mounting plate.
The technical scheme adopted by the invention has the following beneficial effects: this device adopts mechanical gripper mechanism and electricity permanent magnet gripper mechanism cooperation to use, this mechanical gripper mechanism that makes this device can adapt to the snatch work of multiple work piece, and guarantee the reliability of snatching the process, the robot connecting plate of this device can be with this device wholly with robot connection cooperation use, U type installation piece links together the mechanical gripper mechanism of this device and the electricity permanent magnet gripper mechanism, the installation base member of this device links together mechanical gripper mechanism and U type installation piece, be connected with the pressing claw on the triaxial cylinder telescopic link, pressing claw and contact plate and locating pin cooperation use, can firmly fix the work piece on mechanical gripper, can also guarantee the reliability of transport work piece on the basis of location accuracy, required transport work piece only need reserve a hole of mutually supporting with the locating pin, this device's adaptability is big increase, this device can satisfy the transport iron type work piece side by side, be provided with the oil pressure buffer on the limiting plate, and oil pressure buffer makes lower extreme and U type installation piece link together, the permanent magnet on the lifting device is with the bearing plate, can be fixed at the permanent magnet on the lifting device after the lifting device, can be used in order to make the permanent magnet on the lifting device, the lifting device is contacted with the lifting cylinder bearing, the lifting device is fully to the lifting device, the life-stop plate is reached, the lifting device is convenient for lifting device is used, the permanent magnet can be fixed on the lifting device is in the lifting device.
Drawings
FIG. 1 is a schematic diagram of the structure of the present device;
FIG. 2 is a schematic structural view of the mechanical gripper mechanism of the device;
FIG. 3 is a schematic structural view of the electro-permanent magnet gripper mechanism of the device;
FIG. 4 is a schematic diagram of the structure at A;
Fig. 5 is a schematic structural diagram at B.
Detailed Description
As shown in the structures of fig. 1-5, the flexible gripper device for the robot comprises a robot connecting plate 1, a U-shaped mounting block 2, a mechanical gripper mechanism and an electro-permanent magnet gripper mechanism, wherein the U-shaped mounting block 2 is arranged in the left-right horizontal direction, the robot connecting plate 1 is vertically fixed on the front side surface of the U-shaped mounting block 2, the mechanical gripper mechanism is clamped on the U-shaped mounting block 2, and the upper end of the electro-permanent magnet gripper mechanism is connected with the lower side surface of the U-shaped mounting block 2;
The mechanical gripper mechanism comprises an installation base body 5, the installation base body 5 is clamped in a U-shaped installation block 2 along the left-right horizontal direction, the installation base body 5 is fixed with the U-shaped installation block 2 through bolts, the right end of the installation base body 5 is connected with a three-shaft air cylinder 4, the left end of the installation base body 5 is fixed with a contact plate 8 along the direction perpendicular to the ground, the middle part of the right side surface of the contact plate 8 is provided with a positioning pin 7, the three-shaft air cylinder 4 is arranged along the left-right horizontal direction, the telescopic rod of the three-shaft air cylinder 4 is horizontally arranged right, the telescopic rod of the three-shaft air cylinder 4 is fixedly connected with a gripper installation plate 3, and a plurality of grippers 6 are arranged on the gripper installation plate 3 along the left-right horizontal direction.
The electric permanent magnet gripper mechanism comprises an electric permanent magnet connecting plate 14, a compressing cylinder 9, a cylinder mounting plate 12, a limiting plate and two electric permanent magnets 15, wherein the two electric permanent magnets 15 are perpendicular to the ground, the left end and the right end of the electric permanent magnet connecting plate 14 are fixedly connected with the upper ends of the two electric permanent magnets 15 respectively, the upper end of the electric permanent magnet connecting plate 14 is connected with a lifting plate 19 arranged in the horizontal direction, the left end and the right end of the lifting plate 19 are both connected with a guide shaft 13 which is vertically arranged, the lower end of the guide shaft 13 is fixedly connected with the lifting plate 19, the cylinder mounting plate 12 is arranged right above the lifting plate 19 in the horizontal direction, the left end and the right end of the cylinder mounting plate 12 are both provided with a first mounting hole in the horizontal direction, a linear bearing 11 is vertically arranged on the first mounting hole, the upper end of the guide shaft 13 penetrates through the linear bearing 11 and is fixedly connected with the limiting plate arranged right above the cylinder mounting plate 12, the middle part of the rear side of the upper surface of the cylinder mounting plate 12 is provided with a second mounting hole in the horizontal direction, the compressing cylinder 9 is vertically arranged on the second mounting hole, the compressing cylinder 9 penetrates through the second mounting hole 12, and the compressing cylinder 16 is connected with a compressing cylinder 16.
A buffer block 18 is fixed to the middle of the rear side of the upper surface of the lifting plate 19.
A third mounting hole is formed in the middle of the limiting plate, a hydraulic buffer 17 is mounted on the third mounting hole, and the lower end of the hydraulic buffer 17 is in contact with the cylinder mounting plate 12.
When the device is used, the robot connecting plate 1 of the device is connected with a robot, when a mechanical gripper mechanism is used for grabbing a workpiece, the device is firstly moved to be right above the workpiece, then the device is slowly lowered, when the positioning pin 7 of the device and a positioning hole on the workpiece are positioned on the same plane, the telescopic rod of the triaxial cylinder 4 stretches out, the pressing claw 6 and the positioning pin 7 are matched to lock the workpiece, the workpiece can be carried, and when the workpiece is carried to a proper position, the telescopic rod of the triaxial cylinder 4 is retracted;
When the electric permanent magnet gripper mechanism grabs a workpiece, firstly, two electric permanent magnets 15 of the device are moved to be right above the workpiece, then the device descends, the matching surfaces of the two electric permanent magnets 15 and the workpiece are mutually tightly attached, then the electric permanent magnets 15 are magnetized instantly to adsorb the workpiece on the magnet, the transfer robot moves the workpiece away from the tool and then compresses the workpiece by the compressing cylinder 9, and the electric permanent magnets 15, the electric permanent magnet connecting plate 14 and the lifting plate 19 return to the original positions and continue to wait for grabbing the next workpiece.
The above description is not intended to limit the invention to the particular embodiments disclosed, but on the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (1)
1. The utility model provides a flexible tongs device for robot which characterized in that: the robot comprises a robot connecting plate, a U-shaped mounting block, a mechanical gripper mechanism and an electro-permanent magnet gripper mechanism, wherein the U-shaped mounting block is arranged along the left-right horizontal direction, the robot connecting plate is vertically fixed on the front side surface of the U-shaped mounting block, the mechanical gripper mechanism is clamped on the U-shaped mounting block, and the upper end of the electro-permanent magnet gripper mechanism is connected with the lower side surface of the U-shaped mounting block;
The mechanical gripper mechanism comprises a mounting base body, wherein the mounting base body is clamped in a U-shaped mounting block along the left-right horizontal direction, the mounting base body is fixed with the U-shaped mounting block through a bolt, the right end of the mounting base body is connected with a triaxial air cylinder, the left end of the mounting base body is fixedly provided with a contact plate along the direction vertical to the ground, the middle part of the right side surface of the contact plate is provided with a positioning pin, the triaxial air cylinder is arranged along the left-right horizontal direction, the telescopic rod of the triaxial air cylinder is horizontally arranged right, the telescopic rod of the triaxial air cylinder is fixedly connected with a gripper mounting plate, and a plurality of grippers are arranged on the gripper mounting plate along the left-right horizontal direction;
The electric permanent magnet gripper mechanism comprises an electric permanent magnet connecting plate, a compression cylinder, a cylinder mounting plate, a limiting plate and two electric permanent magnets, wherein the two electric permanent magnets are all perpendicular to the ground, the left end and the right end of the electric permanent magnet connecting plate are respectively fixedly connected with the upper ends of the two electric permanent magnets, the upper end of the electric permanent magnet connecting plate is connected with a lifting plate arranged along the left-right horizontal direction, the left end and the right end of the lifting plate are both connected with a guide shaft which is vertically arranged, the lower end of the guide shaft is fixedly connected with the lifting plate, the cylinder mounting plate is arranged right above the lifting plate along the left-right horizontal direction, the left end and the right end of the cylinder mounting plate are both provided with first mounting holes along the left-right horizontal direction, the first mounting holes are vertically provided with linear bearings, the upper end of the guide shaft penetrates through the linear bearings to be fixedly connected with the limiting plate arranged right above the cylinder mounting plate, the middle part of the rear side of the upper surface of the cylinder mounting plate is provided with a second mounting hole along the left-right horizontal direction, the compression cylinder is vertically arranged on the second mounting hole, the telescopic rod of the compression cylinder penetrates the second mounting hole to be arranged below the cylinder mounting plate, and the compression cylinder is connected with a compression block;
A buffer block is fixed in the middle of the rear side of the upper surface of the lifting plate; and a third mounting hole is formed in the middle of the limiting plate, an oil pressure buffer is mounted on the third mounting hole, and the lower end of the oil pressure buffer is in contact with the cylinder mounting plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811397329.0A CN109465846B (en) | 2018-11-22 | 2018-11-22 | Flexible tongs device for robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811397329.0A CN109465846B (en) | 2018-11-22 | 2018-11-22 | Flexible tongs device for robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109465846A CN109465846A (en) | 2019-03-15 |
| CN109465846B true CN109465846B (en) | 2024-06-04 |
Family
ID=65672937
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811397329.0A Active CN109465846B (en) | 2018-11-22 | 2018-11-22 | Flexible tongs device for robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109465846B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113681580A (en) * | 2021-08-18 | 2021-11-23 | 湖北大帆汽车零部件有限公司 | Automatic grabbing device of diaphragm spring |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE20108552U1 (en) * | 2001-05-22 | 2001-12-20 | Festo Ag & Co | Handling device |
| WO2011144876A1 (en) * | 2010-05-21 | 2011-11-24 | Rise Ba | System for gripping objects attached to a robotised unit comprising two gripping means |
| CN105619443A (en) * | 2016-03-11 | 2016-06-01 | 苏州博众精工科技有限公司 | Curved surface grabbing mechanism |
| CN206705228U (en) * | 2017-04-06 | 2017-12-05 | 上海盈领锐博科技发展有限公司 | A kind of Novel industrial robot handgrip |
| CN207616770U (en) * | 2017-11-16 | 2018-07-17 | 东莞市丽舍木业有限公司 | A kind of conveying mechanical arm structure of solid wood cutting machine |
| CN209380770U (en) * | 2018-11-22 | 2019-09-13 | 郑州科慧科技股份有限公司 | A kind of robot flexible grips device |
-
2018
- 2018-11-22 CN CN201811397329.0A patent/CN109465846B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE20108552U1 (en) * | 2001-05-22 | 2001-12-20 | Festo Ag & Co | Handling device |
| WO2011144876A1 (en) * | 2010-05-21 | 2011-11-24 | Rise Ba | System for gripping objects attached to a robotised unit comprising two gripping means |
| CN105619443A (en) * | 2016-03-11 | 2016-06-01 | 苏州博众精工科技有限公司 | Curved surface grabbing mechanism |
| CN206705228U (en) * | 2017-04-06 | 2017-12-05 | 上海盈领锐博科技发展有限公司 | A kind of Novel industrial robot handgrip |
| CN207616770U (en) * | 2017-11-16 | 2018-07-17 | 东莞市丽舍木业有限公司 | A kind of conveying mechanical arm structure of solid wood cutting machine |
| CN209380770U (en) * | 2018-11-22 | 2019-09-13 | 郑州科慧科技股份有限公司 | A kind of robot flexible grips device |
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| Publication number | Publication date |
|---|---|
| CN109465846A (en) | 2019-03-15 |
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