CN109551454A - A kind of industrial robot grabbing device - Google Patents
A kind of industrial robot grabbing device Download PDFInfo
- Publication number
- CN109551454A CN109551454A CN201811314696.XA CN201811314696A CN109551454A CN 109551454 A CN109551454 A CN 109551454A CN 201811314696 A CN201811314696 A CN 201811314696A CN 109551454 A CN109551454 A CN 109551454A
- Authority
- CN
- China
- Prior art keywords
- fixed
- mechanical arm
- grabbing device
- industrial robot
- servo motor
- 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
- 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
- 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
- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to Industrial Robot Technology fields, in particular a kind of industrial robot grabbing device, including bearing base, revolving wormgear is fixed on the end face of the bearing base, hanging ring is fixed on the revolving wormgear, the left side of the hanging ring and be located at revolving wormgear end face on be fixed with the first mechanical arm, the junction of first mechanical arm and revolving wormgear is fixed with first servo motor, the fixed second mechanical arm in end of the first servo motor far from revolving wormgear, the second mechanical arm and the first mechanical arm junction are fixed with the second servo motor, the right part of the second mechanical arm is fixed with third servo motor, conducting wire mounting box is fixed at the left part of the second mechanical arm, the left part of the second mechanical arm is rotatably connected to turntable.The present invention can be avoided by setting and cause to damage to object when grabbing object, and ensure that working efficiency and work quality.
Description
Technical field
The present invention relates to Industrial Robot Technology field, specially a kind of industrial robot grabbing device.
Background technique
Mechanical arm is the automated machine device that most broad practice is obtained in robot technical field, is made in industry
It makes, therapeutic treatment, entertainment service, military affairs, the fields such as semiconductors manufacture and space probation can see its figure.Although it
Form have nothing in common with each other, but they have the characteristics that one it is common, be to receive instruction, be precisely positioned to three-dimensional
The certain point of (or two dimension) spatially carries out operation, and the application of miniature workpiece is also more and more extensive with the development of science and technology, micro-
Needing to use grabbing device when carrying or loading and unloading when type work pieces process, grabbing device in the prior art, structure is complicated,
Stability is poor, is difficult to control when manual operation, affects entire job schedule, causes production efficiency low and in the mistake of crawl
It is easy to cause the damage of object to cause the reduction of work quality in journey, while will also result in waste.
In conclusion the present invention propose a kind of industrial robot improved with grabbing device presently, there are the problem of.
Summary of the invention
The purpose of the present invention is to provide a kind of industrial robot grabbing devices, to solve to propose in above-mentioned background technique
The problem of.
To achieve the above object, the invention provides the following technical scheme:
A kind of industrial robot grabbing device, including bearing base are fixed with rotation whirlpool on the end face of the bearing base
Wheel, is fixed with hanging ring on the revolving wormgear, and the left side of the hanging ring and being located on the end face of revolving wormgear is fixed with
The junction of first mechanical arm, first mechanical arm and revolving wormgear is fixed with first servo motor, and described first
The fixed second mechanical arm in end of the servo motor far from revolving wormgear, the second mechanical arm and the first mechanical arm junction are solid
Surely it is equipped with the second servo motor, the right part of the second mechanical arm is fixed with third servo motor, the second mechanical arm
Left part at be fixed with conducting wire mounting box, the left part of the second mechanical arm is rotatably connected to turntable, the turntable
Bottom is fixedly connected with terminal pad, and the terminal pad is connected with grabbing device, and the grabbing device includes link block, the connection
The bottom symmetrical of block is fixed with two the first guide rails, and the two sidewalls that two first guide rails are away from each other are fixed with two
One L block is fixed with two support frames on two the first L blocks, is fixed with two cylinders on two support frames as described above, and two
The bottom at a first guide rail both ends is connected with two the second guide rails, two second guide rail both ends by the 2nd L block
The bottom in portion is fixed with fixed block respectively, and bull stick is rotatably connected on the fixed block, driving is fixed on the bull stick
Bar, the right side of the drive rod and be located at bull stick on be fixedly connected with connecting rod, one end of the drive rod is fixedly connected on
The driving end of cylinder, the other end of the drive rod are fixedly connected on connecting plate, and it is fixed to be fixed on the inside of the connecting plate
Position plate, the bottom of the connecting plate are fixed with several clamping jaws, and the center of two second guide rails bottom is fixed
Equipped with baffle.
Preferably, two cylinders are symmetrical arranged based on link block and driving direction is reversed, two gas
The driving end of cylinder passes through the 2nd L block respectively and is connected on two opposite side walls of the first guide rail, and the model of the cylinder is identical
For QGBJ320X500-75 SHLZPC and it is respectively connected with tracheae.
Preferably, two second guide rails and the first rail attachment point are equipped with two the 2nd L blocks.
Preferably, the fixed block is arranged four, and the positioning plate and connecting plate are respectively provided with two and based on baffles pair
Claim setting.
Preferably, rubber material is equipped on the positioning plate, baffle and clamping jaw.
Preferably, it is that axis is staggeredly symmetrical arranged that two and baffle, which are arranged, in the connecting plate and drive rod.
Preferably, first guide rail and the second guide rail are aluminum alloy materials.
Preferably, the terminal pad is to be clamped and can dismount with grabbing device connection type.
Preferably, the model SGMGV- of the first servo motor, the second servo motor and third servo motor
13ADC61,1.5KW ECMA-E31315PS and 110ST-M06030 and it is electrically connected control cabinet.
Compared with prior art, the beneficial effects of the present invention are:
1, in the present invention, be made up of that its stability of rectangle are high four guide rails of setting, thus ensure that crawl precision and
Stability, and performance simple and practical in structure is strong, ensure that working efficiency.
2, in the present invention, it can be avoided process in crawl by being equipped with rubber material on positioning plate, baffle and clamping jaw
In so that object is carried out damage reduction, ensure that work quality and saved cost.
3, in the present invention, the effect that can be fixed during grip by positioning plate, baffle, to ensure that
The precision and stability of its grip, can be simple according to whole device structure, easy to operate, using flexible, convenient for article
Clamping transhipment, improves work efficiency, practical.
Detailed description of the invention
Fig. 1 is overall structure of the present invention；
Fig. 2 is part isometric structural schematic diagram of the present invention；
Fig. 3 is grabbing device schematic perspective view of the present invention.
In figure: 1- bearing base, 2- revolving wormgear, 3- hanging ring, 4- first servo motor, the first mechanical arm of 5-, 6-
Two servo motors, 7- third servo motor, 8- second mechanical arm, 9- conducting wire mounting box, 10- turntable, 11- terminal pad, 12- crawl
Device, 13- link block, the first guide rail of 14-, 15- cylinder, the first L block of 16-, the 2nd L block of 17-, 18- support frame, 19- connecting rod,
20- drive rod, 21- bull stick, 22- positioning plate, 23- connecting plate, 24- clamping jaw, 25- baffle, 26- fixed block, the second guide rail of 27-.
Specific embodiment
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 description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments, is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Fig. 1-3 is please referred to, the present invention provides a kind of technical solution:
A kind of industrial robot grabbing device, including bearing base 1 are fixed with revolving wormgear on the end face of bearing base 1
2, it is fixed with hanging ring 3 on revolving wormgear 2, the left side of hanging ring 3 and is located on the end face of revolving wormgear 2 and is fixed with the first machine
The junction of tool arm 5, the first mechanical arm 5 and revolving wormgear 2 is fixed with first servo motor 4, and first servo motor 4 is remote
The fixed second mechanical arm 8 in end from revolving wormgear 2, second mechanical arm 8 and 5 junction of the first mechanical arm are fixed with second
Servo motor 6, the right part of second mechanical arm 8 are fixed with third servo motor 7, fix at the left part of second mechanical arm 8
Equipped with conducting wire mounting box 9, the left part of second mechanical arm 8 is rotatably connected to turntable 10, and the bottom of turntable 10 is fixedly connected with company
Disk 11 is connect, terminal pad 11 is connected with grabbing device 12, and grabbing device 12 includes link block 13, and the bottom symmetrical of link block 13 is fixed
Equipped with two the first guide rails 14, the two sidewalls that two the first guide rails 14 are away from each other are fixed with two the first L blocks 16, and two first
It is fixed with two support frames 18 on L block 16, two cylinders 15, two 14 liang of the first guide rails are fixed on two support frames 18
The bottom of end is connected with two the second guide rails 27 by the 2nd L block 17, and the bottom at two 27 both ends of the second guide rail is solid respectively
Surely it is equipped with fixed block 26, bull stick 21 is rotatably connected on fixed block 26, drive rod 20 is fixed on bull stick 21, drive rod 20
Right side and be located at bull stick 21 on be fixedly connected with connecting rod 19, one end of drive rod 20 is fixedly connected on the driving of cylinder 15
End, the other end of drive rod 20 are fixedly connected on connecting plate 23, and the inside of connecting plate 23 is fixed with positioning plate 22, connecting plate
23 bottom is fixed with several clamping jaws 24, and the center of two 27 bottoms of the second guide rail is fixed with baffle 25.
Workflow of the present invention: when grip, grabbing device 12 is connected to the tracheae in terminal pad 11 and cylinder 15 and is connected
It connects on the gas main inside control cabinet, equipment is powered at this time, to control the first servo electricity by control control cabinet
Machine 4, the second servo motor 6 and third servo motor 7 and in first servo motor 4, the second servo motor 6 and third servo electricity
Machine 7 provides promotes the movement mechanism inside the first mechanical arm 5 and second mechanical arm 8 to be moved under kinetic energy, to actuate the
One mechanical arm 5 and second mechanical arm 8 arrive the position of work, control control cabinet control control cylinder 15 at this time and stretch, from
And make the progress grip of grabbing device 12 and put part, this passes through four guide rails of setting in the process and constitutes its stability of rectangle height, from
And ensure that the precision and stability in crawl, and performance simple and practical in structure is strong, it ensure that working efficiency, pass through positioning plate
22, be equipped with rubber material on baffle 25 and clamping jaw 24 and can be avoided makes object carry out damage reduction during crawl, protects
It has demonstrate,proved the quality of work and has saved cost, the work that can be fixed during grip by positioning plate 22, baffle 25
With, thus ensure that the precision and stability of its grip, and it can be simple according to whole device structure, easy to operate, using flexible,
Convenient for the clamping transhipment to article, improve work efficiency, it is practical.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (9)
1. a kind of industrial robot grabbing device, including bearing base (1), it is characterised in that: the end of the bearing base (1)
It is fixed on face revolving wormgear (2), is fixed with hanging ring (3) on the revolving wormgear (2), the left side of the hanging ring (3) is simultaneously
And be located on the end face of revolving wormgear (2) and be fixed with the first mechanical arm (5), first mechanical arm (5) and rotation whirlpool
The junction of wheel (2) is fixed with first servo motor (4), end of the first servo motor (4) far from revolving wormgear (2)
Fixed second mechanical arm (8), the second mechanical arm (8) and the first mechanical arm (5) junction are fixed with the second servo electricity
The right part of machine (6), the second mechanical arm (8) is fixed with third servo motor (7), a left side for the second mechanical arm (8)
End is fixed with conducting wire mounting box (9), and the left part of the second mechanical arm (8) is rotatably connected to turntable (10), described
The bottom of turntable (10) is fixedly connected with terminal pad (11), and the terminal pad (11) is connected with grabbing device (12), the crawl
Device (12) includes link block (13), and the bottom symmetrical of the link block (13) is fixed with two the first guide rails (14), and two
The two sidewalls that first guide rail (14) is away from each other are fixed with two the first L blocks (16), consolidate on two the first L blocks (16)
Surely two support frames (18) are equipped with, are fixed with two cylinders (15) on two support frames as described above (18), two described first are led
The bottom at rail (14) both ends is connected with two the second guide rails (27), two second guide rails (27) by the 2nd L block (17)
The bottom at both ends is fixed with fixed block (26) respectively, is rotatably connected to bull stick (21) on the fixed block (26), described turn
Be fixed on bar (21) drive rod (20), the right side of the drive rod (20) and be located at bull stick (21) on the company of being fixedly connected with
Extension bar (19), one end of the drive rod (20) are fixedly connected on the driving end of cylinder (15), the drive rod (20) it is another
End is fixedly connected on connecting plate (23), is fixed with positioning plate (22), the connecting plate on the inside of the connecting plate (23)
(23) bottom is fixed with several clamping jaws (24), and the center of two the second guide rail (27) bottoms is fixed with
Baffle (25).
2. a kind of industrial robot grabbing device according to claim 1, it is characterised in that: two cylinders (15)
It is symmetrical arranged based on link block (13) and driving direction is reversed, the driving end of two cylinders (15) passes through respectively
2nd L block (17) is connected on two opposite side walls of the first guide rail (14), and the model of the cylinder (15) is mutually all
QGBJ320X500-75 SHLZPC is respectively connected with tracheae.
3. a kind of industrial robot grabbing device according to claim 1, it is characterised in that: two second guide rails
(27) two the 2nd L blocks (17) are equipped with the first guide rail (14) junction.
4. a kind of industrial robot grabbing device according to claim 1, it is characterised in that: the fixed block (26) sets
Four are set, the positioning plate (22) and connecting plate (23) are respectively provided with two and are symmetrical arranged based on baffle (25).
5. a kind of industrial robot grabbing device according to claim 1, it is characterised in that: the positioning plate (22),
Rubber material is equipped on baffle (25) and clamping jaw (24).
6. a kind of industrial robot grabbing device according to claim 1, it is characterised in that: the connecting plate (23) and
It is that axis is staggeredly symmetrical arranged that two and baffle (25), which are arranged, in drive rod (20).
7. a kind of industrial robot grabbing device according to claim 1, it is characterised in that: first guide rail (14)
It is aluminum alloy materials with the second guide rail (27).
8. a kind of industrial robot grabbing device according to claim 1, it is characterised in that: the terminal pad (11) with
Grabbing device (12) connection type is to be clamped and can dismount.
9. a kind of industrial robot grabbing device according to claim 1, it is characterised in that: the first servo motor
(4), model SGMGV-13ADC61, the 1.5KW ECMA-E31315PS of the second servo motor (6) and third servo motor (7)
With 110ST-M06030 and be electrically connected control cabinet.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811314696.XA CN109551454A (en) | 2018-11-06 | 2018-11-06 | A kind of industrial robot grabbing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811314696.XA CN109551454A (en) | 2018-11-06 | 2018-11-06 | A kind of industrial robot grabbing device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109551454A true CN109551454A (en) | 2019-04-02 |
Family
ID=65865776
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811314696.XA Pending CN109551454A (en) | 2018-11-06 | 2018-11-06 | A kind of industrial robot grabbing device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109551454A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110065048A (en) * | 2019-05-14 | 2019-07-30 | 徐州工业职业技术学院 | A kind of robot parts machining fixture with multi-angle fixed function |
| CN110666770A (en) * | 2019-08-15 | 2020-01-10 | 金华尤创自动化科技有限公司 | Automatic gluing robot and detection equipment for rubber materials |
| CN112192606A (en) * | 2020-10-09 | 2021-01-08 | 和县晶晶玻璃制品有限公司 | Claw-tooth grasping type robot for processing glass products and implementation method thereof |
| CN112537242A (en) * | 2020-12-16 | 2021-03-23 | 南京古洛环保工程有限公司 | Large-flow drainage emergency car |
-
2018
- 2018-11-06 CN CN201811314696.XA patent/CN109551454A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110065048A (en) * | 2019-05-14 | 2019-07-30 | 徐州工业职业技术学院 | A kind of robot parts machining fixture with multi-angle fixed function |
| CN110666770A (en) * | 2019-08-15 | 2020-01-10 | 金华尤创自动化科技有限公司 | Automatic gluing robot and detection equipment for rubber materials |
| CN112192606A (en) * | 2020-10-09 | 2021-01-08 | 和县晶晶玻璃制品有限公司 | Claw-tooth grasping type robot for processing glass products and implementation method thereof |
| CN112537242A (en) * | 2020-12-16 | 2021-03-23 | 南京古洛环保工程有限公司 | Large-flow drainage emergency car |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20190402 |