CN109551505A - A kind of robot gripper - Google Patents
A kind of robot gripper Download PDFInfo
- Publication number
- CN109551505A CN109551505A CN201811602856.0A CN201811602856A CN109551505A CN 109551505 A CN109551505 A CN 109551505A CN 201811602856 A CN201811602856 A CN 201811602856A CN 109551505 A CN109551505 A CN 109551505A
- Authority
- CN
- China
- Prior art keywords
- magnet steel
- robot gripper
- module
- handgrip
- mounting groove
- 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.)
- Granted
Links
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
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of robot grippers, the robot gripper is inserted into iron core for grabbing magnet steel, iron core is equipped with multiple magnet steel mounting grooves, robot gripper includes connector, mounting plate, handgrip module and compression module, mounting plate upper end connects robot arm by connector, handgrip module and compression module are separately mounted to the lower end of mounting plate, and handgrip module corresponds to the position of a quarter magnet steel mounting groove, and compression module corresponds to the position of a quarter magnet steel mounting groove；After robot gripper is rotated by 90 °, handgrip module corresponds to the position of another a quarter magnet steel mounting groove, and compression module equally corresponds to the position of another a quarter magnet steel mounting groove；Compared with prior art, the assembling process of an iron core can be made only to need 4 times back and forth through the invention, production efficiency can be effectively improved, the number of run and the method for operation of robot arm are all greatly simplified, and safety and operation ease are all improved.
Description
Technical field
The present invention relates to a kind of robotic asssembly fields, more particularly, to a kind of robot gripper.
Background technique
It is to the assembly method of magnet steel in iron core in existing equipment: magnet steel is individually grabbed, machine is then passed through
People's positioning, which is moved at iron core, installs, and single magnet steel is inserted into iron core, is then moved in circles, production efficiency is lower
Under, and need to carry out robot repeatedly complicated accurately automation control, manufacturing cost is high.
Summary of the invention
It is an object of the present invention to overcome the above-mentioned drawbacks of the prior art and provide a kind of robot grippers.
The purpose of the present invention can be achieved through the following technical solutions:
A kind of robot gripper, the robot gripper are inserted into iron core for grabbing magnet steel, and the iron core is equipped with
Multiple magnet steel mounting grooves, the robot gripper include connector, mounting plate, handgrip module and compression module, the peace
Loading board upper end connects robot arm by connector, and the handgrip module and compression module are separately mounted under mounting plate
End, the handgrip module correspond to the position of a quarter magnet steel mounting groove, and the compression module corresponds to a quarter magnet steel
The position of mounting groove；After robot gripper is rotated by 90 °, the handgrip module corresponds to another a quarter magnet steel mounting groove
Position, the compression module equally corresponds to the position of another a quarter magnet steel mounting groove；When robot gripper complete from
Initial position completes 3 90 degree of rotations, and 4 positions of the handgrip module cover the position of all magnet steel mounting grooves,
4 positions of the compression module cover the corresponding position of all magnet steel mounting grooves.
Further, the magnet steel mounting groove is 16, is evenly distributed on iron core in the octagonal that apex angle is 120 degree
It is interior.
Further, the handgrip module number is 4, and 4 in the corresponding 16 magnet steel mounting grooves in position, institute
The compression module quantity stated is 4, and 4 in the corresponding 16 magnet steel mounting grooves in position.
Further, the handgrip module number is 4, and installation site corresponds to four in magnet steel mounting groove octagonal
Parallel edges.
Further, the compression module quantity is 4, and every 2 are disposed side by side on 2 opposite and parallel handgrip moulds
Between block, meanwhile, the installation site of the compression module corresponds to octagonal two side opposite the angles of magnet steel mounting groove.
Further, the handgrip module includes cylinder and clamping jaw, and the cylinder upper end connection plate, lower end connects
Clamping jaw is connect, and controls clamping jaw open or close.
Further, mounting plate is bolted in the cylinder.
Further, the clamping end face of the clamping jaw is equipped with non-slip groove.
Further, the compression module includes bracket and pressure head, and the pedestal upper end connection plate, lower end connects
Connect pressure head.
Further, the bracket is equipped with strip hole.
Compared with prior art, the invention has the following advantages that
1, the present invention makes the assembly of an iron core by the redesign to robot gripper and iron core upper magnetic steel mounting groove
Process only needs 4 times back and forth, can effectively improve production efficiency, meanwhile, robot gripper only needs to adjust work during installation
Position, carries out 90 degree of rotations and assembly can be completed in up and down motion, and the number of run and the method for operation for making robot arm are all greatly
Simplify, safety and operation ease are all improved.
2, the present invention can synchronize the fastening realized to magnet steel by compression module during installation, in handgrip module
While being inserted into a part of magnet steel up and down in the core, the mounted magnet steel of another part can be just compacted by compression module,
Improve the quality of production assembly.
3, the handgrip module that the present invention is arranged by two pairs of Parallel Symmetrics abreast can clamp magnetic from stocking mechanism simultaneously
Then steel is moved at iron core and is assembled, mobile and control mode is simple, and the crawl of magnet steel is high-efficient.
4, clamping jaw of the invention, which is equipped with non-slip groove, so that clamping jaw is more firmly grabbed magnet steel.
5, the bracket of compression module is equipped with strip hole can mitigate the total amount of robot gripper entirety to a certain degree, reduce
The burden of robot arm can also play certain energy absorption and buffer function when contacting with magnet steel.
Detailed description of the invention
Fig. 1 is schematic perspective view of the invention；
Fig. 2 is the schematic top plan view of iron core；
Fig. 3 is the schematic perspective view of robot gripper；
Fig. 4 is the schematic view of the front view of robot gripper；
Fig. 5 is the present invention looks up structural representation of robot gripper；
Appended drawing reference: 1, robot gripper, 11, connector, 12, mounting plate, 13, cylinder, 14, clamping jaw, 15, bracket,
151, strip hole, 16, pressure head, 2, iron core, 21, magnet steel mounting groove, 3, magnet steel.
Specific embodiment
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.The present embodiment is with technical solution of the present invention
Premised on implemented, the detailed implementation method and specific operation process are given, but protection scope of the present invention is not limited to
Following embodiments.
As shown in Figure 1, present embodiments provide a kind of robot gripper, including iron core 2 and robot gripper 1, when assembly,
It is installed the top that the crawl magnet steel 3 of robot gripper 1 is moved to iron core 2.
As shown in Fig. 2, the iron core 2 is disc, iron core 2 is equipped with 16 magnet steel mounting grooves 21, magnet steel mounting groove
21 are evenly distributed on the disk surrounding of iron core 2 in the octagonal shape that apex angle is 120 degree.
As shown in Fig. 3~Fig. 5, robot gripper 1 includes connector 11, mounting plate 12, handgrip module and compression module.Institute
12 upper end of mounting plate stated connects robot arm by connector 11.Wherein, handgrip module includes cylinder 13 and clamping jaw 14, institute
The 13 upper end connection plate 12 of cylinder stated, lower end connect clamping jaw 14, and cylinder 13 controls 14 open or close of clamping jaw, and clamping jaw
14 clamping end face is equipped with non-slip groove；Compression module includes bracket 15 and pressure head 16, and 15 upper end of bracket connects installation
Plate 12, lower end connect pressure head 16, and bracket 15 is equipped with strip hole 151.Bracket 15 and cylinder 13 pass through bolt arrangement and installation
Plate 12 connects.
Handgrip module number is 4, and installation site corresponds to four parallel edges in 21 octagonal of magnet steel mounting groove.It compresses
Module number is similarly 4, and every 2 compression modules are disposed side by side on 2 relatively and between parallel handgrip module, clamping jaw 14
It is parallel with the long side of magnet steel mounting groove 21 to open and close direction.The installation site of compression module corresponds to magnet steel mounting groove 21 octagonal two
A side opposite the angle.
The working process of this embodiment is as follows:
The iron core 2 that step 1, robot arm control robot gripper 1 grab 4 magnet steel 3, and install needed for being moved to
Top, robot gripper 1, which moves down, is inserted into magnet steel 3 in 4 corresponding magnet steel mounting grooves 21, unclamps clamping jaw 14, robot
Handgrip 1 moves up；
Step 2, robot gripper 1 grab the top that 4 magnet steel 3 are moved to same iron core 2 again, and robot arm is by machine
Device people handgrip 1 rotates clockwise 90 degree, then moves down and magnet steel 3 is inserted into other 4 corresponding magnet steel mounting grooves 21, pine
Clamping jaw 14 is opened, robot gripper moves up；
Step 3 repeats step 2 twice again, and robot gripper 1 is while being inserted into magnet steel 3 at this time, and two pressure head 16
3 position of magnet steel being inserted into step 1 and step 2 can just be corresponded to by setting, and magnet steel 3 is compacted in iron core 2；
Step 4, when robot arm lift after, continue two more times and rotate clockwise 90 degree, every time rotation move down backward
It is dynamic, the magnet steel 3 being inserted into step 3 is compacted, complete the installation of all magnet steel 3 in cored 2.
The preferred embodiment of the present invention has been described in detail above.It should be appreciated that those skilled in the art without
It needs creative work according to the present invention can conceive and makes many modifications and variations.Therefore, all technologies in the art
Personnel are available by logical analysis, reasoning, or a limited experiment on the basis of existing technology under this invention's idea
Technical solution, all should be within the scope of protection determined by the claims.
Claims (10)
1. a kind of robot gripper, which is inserted into iron core (2) for grabbing magnet steel (3), and feature exists
In the iron core (2) is equipped with multiple magnet steel mounting grooves (21), and the robot gripper (1) includes connector (11), peace
Loading board (12), handgrip module and compression module, the mounting plate (12) upper end connect robot arm by connector (11),
The handgrip module and compression module are separately mounted to the lower end of mounting plate (12), and the handgrip module corresponds to a quarter
The position of magnet steel mounting groove (21), the compression module correspond to the position of a quarter magnet steel mounting groove (21)；Work as robot
After handgrip (1) is rotated by 90 °, the handgrip module corresponds to the position of another a quarter magnet steel mounting groove (21), the pressure
Tight module equally corresponds to the position of another a quarter magnet steel mounting groove (21)；When robot gripper (1) is completed from initial position
3 90 degree of rotations are completed, 4 positions of the handgrip module cover the position of all magnet steel mounting grooves (21), described
4 positions of compression module cover the corresponding positions of all magnet steel mounting grooves (21).
2. robot gripper according to claim 1, which is characterized in that the magnet steel mounting groove (21) is 16, is in
The octagonal that apex angle is 120 degree is evenly distributed in iron core (2).
3. robot gripper according to claim 2, which is characterized in that the handgrip module number is 4, and position
4 in corresponding 16 magnet steel mounting grooves (21) are set, the compression module quantity is 4, and corresponding 16 magnet steel in position
4 in mounting groove (21).
4. robot gripper according to claim 2, which is characterized in that the handgrip module number is 4, installation
Position corresponds to four parallel edges in magnet steel mounting groove (21) octagonal.
5. robot gripper according to claim 4, which is characterized in that the compression module quantity is 4, every 2
2 are disposed side by side on relatively and between parallel handgrip module, meanwhile, the installation site of the compression module corresponds to magnet steel installation
Octagonal two side opposite the angles of slot (21).
6. robot gripper according to claim 1, which is characterized in that the handgrip module includes cylinder (13) and folder
Pawl (14), the cylinder (13) upper end connection plate (12), lower end connect clamping jaw (14), and control clamping jaw (14) opening
Or closure.
7. robot gripper according to claim 6, which is characterized in that installation is bolted in the cylinder (13)
Plate (12).
8. robot gripper according to claim 6, which is characterized in that the clamping end face of the clamping jaw (14) is equipped with anti-
Sliding slot.
9. robot gripper according to claim 1, which is characterized in that the compression module includes bracket (15) and pressure
Head (16), the bracket (15) upper end connection plate (12), lower end connect pressure head (16).
10. robot gripper according to claim 9, which is characterized in that the bracket (15) is equipped with strip hole
(151)。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811602856.0A CN109551505B (en) | 2018-12-26 | 2018-12-26 | Robot gripper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811602856.0A CN109551505B (en) | 2018-12-26 | 2018-12-26 | Robot gripper |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109551505A true CN109551505A (en) | 2019-04-02 |
| CN109551505B CN109551505B (en) | 2020-08-18 |
Family
ID=65871373
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811602856.0A Expired - Fee Related CN109551505B (en) | 2018-12-26 | 2018-12-26 | Robot gripper |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109551505B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5867892A (en) * | 1995-08-17 | 1999-02-09 | Globe Products Inc. | Method and apparatus for rotationally orienting an armature shaft |
| US20070050970A1 (en) * | 2003-09-29 | 2007-03-08 | Peresada Gary L | Method and apparatus for mounting a plurality of magnet segments on a back ring |
| CN106078157A (en) * | 2016-08-30 | 2016-11-09 | 吴中区横泾嘉运模具厂 | The block rubber feeding manipulator of core assembly assemble mechanism |
| CN107979249A (en) * | 2018-01-22 | 2018-05-01 | 电子科技大学中山学院 | Automatic magnetic steel assembling device |
| CN207578399U (en) * | 2017-10-26 | 2018-07-06 | 苏州贸贝特自动化科技有限公司 | A kind of 2 axis of compressor motor rotor feeds mechanical arm |
-
2018
- 2018-12-26 CN CN201811602856.0A patent/CN109551505B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5867892A (en) * | 1995-08-17 | 1999-02-09 | Globe Products Inc. | Method and apparatus for rotationally orienting an armature shaft |
| US20070050970A1 (en) * | 2003-09-29 | 2007-03-08 | Peresada Gary L | Method and apparatus for mounting a plurality of magnet segments on a back ring |
| CN106078157A (en) * | 2016-08-30 | 2016-11-09 | 吴中区横泾嘉运模具厂 | The block rubber feeding manipulator of core assembly assemble mechanism |
| CN207578399U (en) * | 2017-10-26 | 2018-07-06 | 苏州贸贝特自动化科技有限公司 | A kind of 2 axis of compressor motor rotor feeds mechanical arm |
| CN107979249A (en) * | 2018-01-22 | 2018-05-01 | 电子科技大学中山学院 | Automatic magnetic steel assembling device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109551505B (en) | 2020-08-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106112529B (en) | Solenoid valve block installing is standby | |
| CN205920318U (en) | Mechanism is got to module clamp | |
| CN203679718U (en) | Fully-automatic rivet magnetic circuit assembling machine | |
| CN106102326A (en) | A kind of cam clamping mechanism | |
| CN208930238U (en) | Gearbox differential mechanism assembly system | |
| CN205415659U (en) | Snatch mechanism, grabbing device and robot | |
| CN208196822U (en) | A kind of Pneumatic paw with adsorption function | |
| CN209668124U (en) | A kind of headphone cavernous body automatic charging device | |
| CN205847738U (en) | A kind of cam clamping mechanism | |
| CN206982724U (en) | A kind of robot gripper | |
| CN109551505A (en) | A kind of robot gripper | |
| CN108706361A (en) | Container cage knob clamp device and its application method | |
| CN208916020U (en) | A kind of discharging device of plugging into of lifting reflux | |
| CN111994631A (en) | Blowing device is got to robot bender | |
| CN207616213U (en) | A kind of manipulator | |
| CN207434543U (en) | A kind of position-movable adsorption module of more absorption points for driving of restricting | |
| CN206878660U (en) | A kind of multiple target rotor parts grasping mechanism | |
| CN206702582U (en) | Damp hinge assembly machine and there is its damp hinge assembly system | |
| CN109660080A (en) | A kind of small machine component automatic setup system | |
| CN108838636A (en) | A kind of LED lamp bead assembly equipment | |
| CN108817892A (en) | A kind of LED lamp bead assembly equipment | |
| CN105751144B (en) | The installation system of pallet and turntable | |
| CN108470970A (en) | Filter cavity and cover board backman's wiring | |
| CN105823326B (en) | A kind of vacuum drying oven and vacuum tank | |
| CN208644481U (en) | A kind of welding fixture |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200818 Termination date: 20201226 |