CN110027006A - A kind of intelligent robot crawl structure - Google Patents
A kind of intelligent robot crawl structure Download PDFInfo
- Publication number
- CN110027006A CN110027006A CN201910406934.8A CN201910406934A CN110027006A CN 110027006 A CN110027006 A CN 110027006A CN 201910406934 A CN201910406934 A CN 201910406934A CN 110027006 A CN110027006 A CN 110027006A
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- Prior art keywords
- clamping jaw
- hand rotation
- plate
- push rod
- rotation bar
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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
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
-
- 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)
- Manipulator (AREA)
Abstract
The invention discloses a kind of intelligent robots to grab structure, including chassis, intermediate plate and support plate, the medium position of the chassis is set side by side there are two crossbeam, intermediate plate is fixedly installed at the top of two crossbeams, elastic bar is respectively welded in the top corner location of intermediate plate, the top of intermediate plate is equipped with support plate, after object top surface is sucked by sucker, second piston push rod is controlled by second hydraulic cylinder to move outward, so that strut rotates clockwise, when strut rotates, so that right-hand rotation bar rotates, the bottom end of first right clamping jaw is rotated to object direction, first right clamping jaw pushes first connecting rod mobile to the direction of the first left clamping jaw, so that the bottom end of the first left clamping jaw is also mobile to object direction, the bottom end of the second right clamping jaw is rotated to the direction of object simultaneously, the top of second right clamping jaw pulls second connecting rod to move outward, so that the Two connecting rods pull the bottom end of the second left clamping jaw to rotate to object direction, and object is picked up, easy to carry, complete the adjusting of article position.
Description
Technical field
The present invention relates to robot device field, specially a kind of intelligent robot grabs structure.
Background technique
Robot is the automatic installations for executing work.It can not only receive mankind commander, but also can run preparatory volume
The program of row, can also be according to principle program action formulated with artificial intelligence technology.The roboticist of China is from using ring
Border is set out, and robot is divided into two major classes, i.e. industrial robot and specialized robot.So-called industrial robot is exactly towards industry
The multi-joint manipulator or multi-freedom robot in field.
The Chinese patent of Publication No. CN208275797U discloses sorting machine people and grabs structure and sorting machine people, relates to
And sorting machine people's technical field.Sorting machine people provided by the utility model grab structure include connection component, driving assembly,
First grippers and the second grippers；Driving assembly includes installation part and driving equipment, and driving equipment is installed in installation part, the
One grippers and the second grippers are mounted on institute's installation part and are rotatablely connected with installation part, and the first grippers are set with driving
Standby transmission connection, the second grippers and the first grippers are sequentially connected；One end of connection component is fixedly connected with installation part, connection
The other end of component with stretching structure for being fixedly connected.It includes that sorting machine people grabs knot that the utility model, which additionally provides a kind of,
The sorting machine people of structure.Sorting machine people crawl structure provided by the utility model and sorting machine people are simple with structure, make
With convenience and secured feature is grabbed, can be grabbed for the cargo of sorting machine people and good support be provided.The patent and this hair
Bright to compare, when article quality is heavier, workers carry is difficult, and object is easy to be damaged, when carrying, since object only passes through a set of folder
The fixation of tool, the problem of being easy to happen landing.
Using pipelining in processing factory mostly at present, most factory uses worker, but duplicate labor operation,
Work task efficiency is low, and especially object needs to carry out the carrying of object from a procedure to when the processing of another process,
When article quality is heavier, workers carry is difficult, and in the handling process, object is easy to be damaged existing handling machinery, and is carrying
When, since object only passes through the fixation of a sleeve clamp, it is easy to happen landing, object is caused to collide with damage.
Summary of the invention
The purpose of the present invention is to provide a kind of intelligent robots to grab structure, to solve to make mostly in current processing factory
With pipelining, most factory uses worker, but duplicate labor operation, and work task efficiency is low, especially object
From a procedure to when the processing of another process, need to carry out the carrying of object, when article quality is heavier, workers carry is tired
Difficulty, in the handling process, object is easy to be damaged existing handling machinery, and when carrying, since object only passes through a sleeve clamp
Fixation, be easy to happen landing, object caused to collide with the problem of damaging.
The purpose of the present invention can be achieved through the following technical solutions:
A kind of intelligent robot crawl structure, including chassis, intermediate plate and support plate, the medium position of the chassis is side by side
If being fixedly installed intermediate plate at the top of two crossbeams, the top corner location of intermediate plate is respectively welded bullet there are two crossbeam
Power bar, the top of intermediate plate are equipped with support plate, are equipped with spring on four elastic force bars, and the medium position of support plate top surface is equipped with the
One hydraulic cylinder, the bottom of first hydraulic cylinder are equipped with first piston push rod, and the top of first piston push rod is arranged in first hydraulic cylinder
Inside, the bottom end of first piston push rod passes through the bottom that intermediate plate reaches intermediate plate, and the bottom end of first piston push rod is fixed
It is arranged on bottom plate, bottom plate is fixed on crossbeam, and the lower section of bottom plate is equipped with suction disc, sets that there are three straight between suction disc and bottom plate
Bar, the top of each straight-bar are fixedly connected on the bottom surface of suction disc, and the bottom end of each straight-bar is welded with cover for seat, three cover for seat
It being arranged on the top surface of suction disc, the bottom of suction disc is set side by side there are two bellows, and top one end of two bellows is equipped with air pump,
The bottom of two bellows is equipped with sucker.
The crossbeam of the bottom plate side is equipped with pedestal, and the top of pedestal is welded on the top surface of crossbeam, and the side of pedestal is solid
Surely it is equipped with clamping plate, clamping plate is equipped with shaft, and the side of clamping plate is equipped with second hydraulic cylinder, one end welding and rotation of second hydraulic cylinder
The side of block, second hydraulic cylinder is equipped with second piston push rod, and two sides are respectively equipped with right-hand rotation bar and left-hand rotation bar, right-hand rotation bar at the top of chassis
The side of second piston push rod is set, strut is equipped between right-hand rotation bar and second piston push rod, one end of strut is living with second
The one end for filling in push rod is hinged, and the other end of strut is socketed on right-hand rotation bar, and the two sides of right-hand rotation bar and left-hand rotation bar are equipped with bearing block,
Four bearing blocks are arranged on the top surface of chassis, and the both ends of right-hand rotation bar and left-hand rotation bar are socketed with axle sleeve, right-hand rotation bar one end
It is fixedly connected with the first right clamping jaw on axle sleeve, the second right clamping jaw, left-hand rotation bar one are fixedly connected on the axle sleeve of the right-hand rotation bar other end
It is fixedly connected with the first left clamping jaw on the axle sleeve at end, is fixedly connected with the second left clamping jaw on the axle sleeve of the left-hand rotation bar other end, first
First connecting rod is equipped between right clamping jaw and the first left clamping jaw, one end of first connecting rod is arranged in the top of the first left clamping jaw, and first
The other end of connecting rod is arranged in the medium position of the first right clamping jaw, and the two the second are equipped with second between right clamping jaw and the second left clamping jaw
The top of the second right clamping jaw is arranged in connecting rod, one end of second connecting rod, and the second left clamping jaw is arranged in the other end of second connecting rod
Medium position.
As a further solution of the present invention: rectangular channel, the setting of first piston push rod are offered in the middle part of the intermediate plate
The inside of rectangular channel on intermediate plate can control first piston push rod by first hydraulic cylinder and upwardly or downwardly move, right
The position of suction disc is adjusted.
As a further solution of the present invention: the corner location of the support plate offers slide opening, four elastic force bars respectively
Top be separately positioned on the inside of slide opening, the top of each elastic force bar is welded with fixture block, during clamping jaw grabs object, by
The surface of object is sucked in sucker, object can shake, so that support plate generates shaking, spring applies elastic force to support plate,
So that support plate is able to carry out small radian and shakes, sucker is avoided to fall off with object surface.
As a further solution of the present invention: offering through-hole in the cover for seat, the suction with through-hole corresponding position in cover for seat
The top surface of plate offers threaded hole, cover for seat can be fixed on suction disc by bolt, completes the fixation between bottom plate and suction disc
Work.
As a further solution of the present invention: one end of the rotating block offers through-hole, and shaft is arranged in through-hole
Portion, and it is smooth with shaft contacts face inside the through-hole on rotating block, frictional force when shaft rotation can be reduced, be convenient for the second liquid
Cylinder pressure work.
As a further solution of the present invention: the two sides of the bearing block are equipped with connecting plate, open up on each connecting plate
There is through-hole, be equipped with threaded hole with the top surface of the chassis of connecting plate through-hole corresponding position, can be fixed connecting plate by bolt,
So that right-hand rotation bar and left-hand rotation bar are fixed on chassis by bearing block.
As a further solution of the present invention: the right-hand rotation bar and left-hand rotation bar and the axle sleeve at its both ends are rotatablely connected, and first
The both ends of connecting rod and second connecting rod are equipped with collet, and each collet is hinged with clamping jaw, when needing to grab object, strut rotation,
So that right-hand rotation bar rotates, the bottom end of the first right clamping jaw is rotated to object direction, and the first right clamping jaw pushes first connecting rod to the
The direction of one left clamping jaw is mobile, so that the bottom end of the first left clamping jaw is also mobile to object direction, while the bottom end of the second right clamping jaw
It is rotated to the direction of object, the top of the second right clamping jaw pulls second connecting rod to move outward, so that second connecting rod pulls second
The bottom end of left clamping jaw is rotated to object direction, and object is picked up, easy to carry, completes the adjusting of article position.
Grab structure application method specifically includes the following steps:
Step 1: when the object on production line is moved to the lower section of chassis, first piston is controlled by first hydraulic cylinder
Push rod moves downward, so that sucker is mobile to the top surface of object, when sucker is attached to the top surface of object, controls first piston push rod
Stop motion extracts the air in bellows by air pump, so that inner bellows air pressure reduces, object is convenient in the top surface that sucker is sucked
The clamping work of part avoids object landing in clamping, improves the stability of object；
Step 2: after object top surface is sucked by sucker, controlling second piston push rod by second hydraulic cylinder and move outward,
So that strut rotates clockwise, when strut rotates, so that right-hand rotation bar rotates, the bottom end of the first right clamping jaw is to object side
To rotation, the first right clamping jaw pushes first connecting rod mobile to the direction of the first left clamping jaw so that the bottom end of the first left clamping jaw also to
Object direction is mobile, while the bottom end of the second right clamping jaw is rotated to the direction of object, and the top of the second right clamping jaw pulls second to connect
Bar moves outward, so that second connecting rod pulls the bottom end of the second left clamping jaw to rotate to object direction, object is picked up, convenient for removing
Fortune, completes the adjusting of article position.
Beneficial effects of the present invention:
1, in the present invention, when the object on production line is moved to the lower section of chassis, pass through first hydraulic cylinder control first
Piston push rod moves downward, so that sucker is mobile to the top surface of object, when sucker is attached to the top surface of object, controls first piston
Push rod stop motion extracts the air in bellows by air pump, so that inner bellows air pressure reduces, the top surface that sucker is sucked, and just
In the clamping work of object, object landing in clamping is avoided, the stability of object is improved；
2, in the present invention, after object top surface is sucked by sucker, second piston push rod is controlled outward by second hydraulic cylinder
It is mobile so that strut rotates clockwise, when strut rotates so that right-hand rotation bar rotates, the bottom end of the first right clamping jaw to
Object direction rotation, the first right clamping jaw pushes first connecting rod mobile to the direction of the first left clamping jaw, so that the bottom of the first left clamping jaw
End is also mobile to object direction, while the bottom end of the second right clamping jaw is rotated to the direction of object, and the top of the second right clamping jaw pulls
Second connecting rod moves outward, so that second connecting rod pulls the bottom end of the second left clamping jaw to rotate to object direction, object is picked up,
It is easy to carry, complete the adjusting of article position；
3, in the present invention, the corner location of support plate offers slide opening respectively, and the top of four elastic force bars is separately positioned on
The inside of slide opening, the top of each elastic force bar is welded with fixture block, during clamping jaw grabs object, since object is sucked in sucker
Surface, object can shake so that support plate generate shaking, spring to support plate apply elastic force, enable support plate into
The small radian of row shakes, and sucker is avoided to fall off with object surface.
Detailed description of the invention
In order to facilitate the understanding of those skilled in the art, the present invention will be further described below with reference to the drawings.
Fig. 1 is the structural schematic diagram that a kind of intelligent robot of the present invention grabs structure；
Fig. 2 is top view of the invention；
Fig. 3 is top view of the invention；
Fig. 4 is the structural schematic diagram of the first left clamping jaw and the first right clamping jaw in the present invention；
Fig. 5 is the annexation figure of first connecting rod and second connecting rod in the present invention；
Fig. 6 is the structural schematic diagram of suction disc in the present invention；
In figure: 1, chassis；2, crossbeam；3, intermediate plate；4, elastic force bar；5, spring；6, first hydraulic cylinder；7, support plate；8,
Second hydraulic cylinder；9, second piston push rod；10, right-hand rotation bar；11, strut；12, bearing block；13, axle sleeve；14, the first right clamping jaw；
15, first connecting rod；16, the first left clamping jaw；17, first piston push rod；18, left-hand rotation bar；19, second connecting rod；20, the second right folder
Pawl；21, the second left clamping jaw；22, sucker；23, bottom plate；24, collet；25, connecting plate；26, pedestal；27, clamping plate；28, shaft；
29, rotating block；30, straight-bar；31, cover for seat；32, suction disc；33, bellows；34, air pump.
Specific embodiment
Technical solution of the present invention is clearly and completely described below in conjunction with embodiment, it is clear that described reality
Applying example is only a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, this field is general
Logical technical staff all other embodiment obtained without creative efforts belongs to what the present invention protected
Range.
As shown in figures 1 to 6, a kind of intelligent robot grabs structure, including chassis 1, intermediate plate 3 and support plate 7, the bottom
The medium position of frame 1 is set side by side there are two crossbeam 2, and the top of two crossbeams 2 is fixedly installed intermediate plate 3, the top of intermediate plate 3
Elastic bar 4 is respectively welded in corner location, and the top of intermediate plate 3 is equipped with support plate 7, is equipped with spring 5 on four elastic force bars 4,
The medium position of 7 top surface of support plate is equipped with first hydraulic cylinder 6, and the bottom of first hydraulic cylinder 6 is equipped with first piston push rod 17, and first
The inside of first hydraulic cylinder 6 is arranged in the top of piston push rod 17, and the bottom end of first piston push rod 17 passes through intermediate plate 3 and reaches
The bottom of intermediate plate 3, the bottom end of first piston push rod 17 are fixed on bottom plate 23, and bottom plate 23 is fixed on crossbeam 2,
The lower section of bottom plate 23 is equipped with suction disc 32, is set between suction disc 32 and bottom plate 23 there are three straight-bar 30, the top of each straight-bar 30 is solid
Surely it is connected on the bottom surface of suction disc 32, the bottom end of each straight-bar 30 is welded with cover for seat 31, and three cover for seat 31 are arranged at suction disc
On 32 top surface, the bottom of suction disc 32 is set side by side there are two bellows 33, and top one end of two bellows 33 is equipped with air pump 34, and two
The bottom of a bellows 33 is equipped with sucker 22；
The crossbeam 2 of 23 side of bottom plate is equipped with pedestal 26, and the top of pedestal 26 is welded on the top surface of crossbeam 2, pedestal
26 side is fixed with clamping plate 27, and clamping plate 27 is equipped with shaft 28, and the side of clamping plate 27 is equipped with second hydraulic cylinder 8, the second liquid
One end welding and the rotating block 29 of cylinder pressure 8, the side of second hydraulic cylinder 8 are equipped with second piston push rod 9,1 top two sides of chassis point
Not She You right-hand rotation bar 10 and left-hand rotation bar 18, the side of second piston push rod 9, right-hand rotation bar 10 and second piston is arranged in right-hand rotation bar 10
Strut 11 is equipped between push rod 9, one end of strut 11 and one end of second piston push rod 9 are hinged, the other end socket of strut 11
On right-hand rotation bar 10, the two sides of right-hand rotation bar 10 and left-hand rotation bar 18 are equipped with bearing block 12, and four bearing blocks 12 are arranged at chassis 1
Top surface on, the both ends of right-hand rotation bar 10 and left-hand rotation bar 18 are socketed with axle sleeve 13, fixed on the axle sleeve 13 of 10 one end of right-hand rotation bar to connect
It is connected to the first right clamping jaw 14, the second right clamping jaw 20,18 one end of left-hand rotation bar are fixedly connected on the axle sleeve 13 of 10 other end of right-hand rotation bar
Axle sleeve 13 on be fixedly connected with the first left clamping jaw 16, be fixedly connected with the second left clamping jaw on the axle sleeve 13 of 18 other end of left-hand rotation bar
21, first connecting rod 15 is equipped between the first right clamping jaw 14 and the first left clamping jaw 16, one end setting of first connecting rod 15 is on first left side
The top of clamping jaw 16, the other end of first connecting rod 15 are arranged in the medium position of the first right clamping jaw 14, the two the second right clamping jaws 20
Second connecting rod 19 is equipped between the second left clamping jaw 21, the top of the second right clamping jaw 20 is arranged in one end of second connecting rod 19, the
The medium position of the second left clamping jaw 21 is arranged in the other end of two connecting rods 19, in use, the object on production line is moved to bottom
When the lower section of frame 1, first piston push rod 17 is controlled by first hydraulic cylinder 6 and is moved downward, so that sucker 22 is to the top surface of object
It is mobile, when sucker 22 is attached to the top surface of object, 17 stop motion of first piston push rod is controlled, bellows 33 are extracted by air pump 34
Interior air, so that 33 air pressure inside of bellows reduces, the top surface that sucker 22 is sucked passes through after object top surface is sucked by sucker 22
Second hydraulic cylinder 8 controls second piston push rod 9 and moves outward, so that strut 11 rotates clockwise, when strut 11 rotates,
So that right-hand rotation bar 10 rotates, the bottom end of the first right clamping jaw 14 is rotated to object direction, and the first right clamping jaw 14 pushes first to connect
Bar 15 is mobile to the direction of the first left clamping jaw 16, so that the bottom end of the first left clamping jaw 16 is also mobile to object direction, while second
The bottom end of right clamping jaw 20 is rotated to the direction of object, and the top of the second right clamping jaw 20 pulls second connecting rod 19 to move outward, is made
Obtaining second connecting rod 19 pulls the bottom end of the second left clamping jaw 21 to rotate to object direction, and object is picked up, easy to carry, completes object
The adjusting of position.
The middle part of intermediate plate 3 offers rectangular channel, and the inside of rectangular channel on intermediate plate 3 is arranged in first piston push rod 17,
First piston push rod 17 can be controlled by first hydraulic cylinder 6 upwardly or downwardly to move, the position of suction disc 32 is adjusted.
The corner location of support plate 7 offers slide opening respectively, and the top of four elastic force bars 4 is separately positioned on the interior of slide opening
Portion, the top of each elastic force bar 4 is welded with fixture block, during clamping jaw grabs object, since the surface of object is sucked in sucker 22,
Object can shake, so that support plate 7 generates shaking, spring 5 applies elastic force to support plate 7, so that support plate 7 is able to carry out
Small radian shakes, and sucker 22 is avoided to fall off with object surface.
Through-hole is offered in cover for seat 31, offers threaded hole with the top surface of the suction disc 32 of through-hole corresponding position in cover for seat 31,
Cover for seat 31 can be fixed on suction disc 32 by bolt, complete the fixation work between bottom plate 23 and suction disc 32.
One end of rotating block 29 offers through-hole, and the inside of through-hole is arranged in shaft 28, and in the through-hole on rotating block 29
Portion and 28 contact surface of shaft are smooth, can reduce frictional force when shaft 28 rotates, work convenient for second hydraulic cylinder 8.
The two sides of bearing block 12 are equipped with connecting plate 25, through-hole are offered on each connecting plate 25, with 25 through-hole of connecting plate
The top surface of the chassis 1 of corresponding position is equipped with threaded hole, can be fixed by connecting plate 25 by bolt, so that bearing block 12 will be right
Bull stick 10 and left-hand rotation bar 18 are fixed on chassis 1.
Right-hand rotation bar 10 and left-hand rotation bar 18 and the axle sleeve 13 at its both ends are rotatablely connected, and the two of first connecting rod 15 and second connecting rod 19
End is equipped with collet 24, and each collet 24 is hinged with clamping jaw, and when needing to grab object, strut 11 is rotated, so that right-hand rotation bar 10
It rotates, the bottom end of the first right clamping jaw 14 is rotated to object direction, and the first right clamping jaw 14 pushes first connecting rod 15 to first left side
The direction of clamping jaw 16 is mobile, so that the bottom end of the first left clamping jaw 16 is also mobile to object direction, while the bottom of the second right clamping jaw 20
It holds to the direction of object and rotates, the top of the second right clamping jaw 20 pulls second connecting rod 19 to move outward, so that second connecting rod 19
It pulls the bottom end of the second left clamping jaw 21 to rotate to object direction, object is picked up, it is easy to carry, complete the adjusting of article position.
Grab structure application method specifically includes the following steps:
Step 1: living by the control of first hydraulic cylinder 6 first when the object on production line is moved to the lower section of chassis 1
Plug push rod 17 moves downward, so that sucker 22 is mobile to the top surface of object, when sucker 22 is attached to the top surface of object, control first
17 stop motion of piston push rod extracts the air in bellows 33 by air pump 34, so that 33 air pressure inside of bellows reduces, sucker 22
The top surface being sucked avoids object landing in clamping, improves the stability of object convenient for the clamping work of object；
Step 2: after object top surface is sucked by sucker 22, second piston push rod 9 is controlled outward by second hydraulic cylinder 8
It is mobile, so that strut 11 rotates clockwise, when strut 11 rotates, so that right-hand rotation bar 10 rotates, the first right clamping jaw 14
Bottom end rotated to object direction, the first right clamping jaw 14 pushes first connecting rod 15 mobile to the direction of the first left clamping jaw 16 so that
The bottom end of first left clamping jaw 16 is also mobile to object direction, while the bottom end of the second right clamping jaw 20 is rotated to the direction of object, the
The top of two right clamping jaws 20 pulls second connecting rod 19 to move outward, so that second connecting rod 19 pulls the bottom end of the second left clamping jaw 21
It is rotated to object direction, object is picked up, it is easy to carry, complete the adjusting of article position.
Beneficial effects of the present invention:
1, in the present invention, when the object on production line is moved to the lower section of chassis 1, pass through the control of first hydraulic cylinder 6 the
One piston push rod 17 moves downward, so that sucker 22 is mobile to the top surface of object, when sucker 22 is attached to the top surface of object, control
17 stop motion of first piston push rod extracts the air in bellows 33 by air pump 34, so that 33 air pressure inside of bellows reduces, inhales
The top surface that disk 22 is sucked avoids object landing in clamping, improves the stability of object convenient for the clamping work of object；
2, the present invention in, after object top surface is sucked by sucker 22, by second hydraulic cylinder 8 control second piston push rod 9 to
Outside is mobile, so that strut 11 rotates clockwise, when strut 11 rotates, and so that right-hand rotation bar 10 rotates, the first right folder
The bottom end of pawl 14 is rotated to object direction, and the first right clamping jaw 14 pushes first connecting rod 15 mobile to the direction of the first left clamping jaw 16,
So that the bottom end of the first left clamping jaw 16 is also mobile to object direction, while the bottom end of the second right clamping jaw 20 turns to the direction of object
Dynamic, the top of the second right clamping jaw 20 pulls second connecting rod 19 to move outward, so that second connecting rod 19 pulls the second left clamping jaw 21
Bottom end to object direction rotate, object is picked up, it is easy to carry, complete the adjusting of article position；
3, in the present invention, the corner location of support plate 7 offers slide opening respectively, and the top of four elastic force bars 4 is respectively set
In the inside of slide opening, the top of each elastic force bar 4 is welded with fixture block, during clamping jaw grabs object, since sucker 22 is sucked
The surface of object, object can shake, so that support plate 7 generates shaking, spring 5 applies elastic force to support plate 7, so that support
Plate 7 is able to carry out small radian and shakes, and sucker 22 is avoided to fall off with object surface.
The working principle of the invention: the present invention is led in use, when the object on production line is moved to the lower section of chassis 1
It crosses the control first piston push rod 17 of first hydraulic cylinder 6 to move downward, so that sucker 22 is mobile to the top surface of object, when sucker 22 pastes
When to the top surface of object, 17 stop motion of first piston push rod is controlled, the air in bellows 33 is extracted by air pump 34, so that wind
33 air pressure inside of case reduces, and the top surface that sucker 22 is sucked after object top surface is sucked by sucker 22, is controlled by second hydraulic cylinder 8
Second piston push rod 9 moves outward, so that strut 11 rotates clockwise, when strut 11 rotates, so that right-hand rotation bar 10 is sent out
The bottom end of raw rotation, the first right clamping jaw 14 is rotated to object direction, and the first right clamping jaw 14 pushes first connecting rod 15 to the first left folder
The direction of pawl 16 is mobile, so that the bottom end of the first left clamping jaw 16 is also mobile to object direction, while the bottom end of the second right clamping jaw 20
It is rotated to the direction of object, the top of the second right clamping jaw 20 pulls second connecting rod 19 to move outward, so that second connecting rod 19 is drawn
The bottom end of dynamic second left clamping jaw 21 is rotated to object direction, and object is picked up, easy to carry, completes the adjusting of article position.
Present invention disclosed above preferred embodiment is only intended to help to illustrate the present invention.There is no detailed for preferred embodiment
All details are described, are not limited the invention to the specific embodiments described.Obviously, according to the content of this specification,
It can make many modifications and variations.These embodiments are chosen and specifically described to this specification, is in order to better explain the present invention
Principle and practical application, so that skilled artisan be enable to better understand and utilize the present invention.The present invention is only
It is limited by claims and its full scope and equivalent.
Claims (8)
1. a kind of intelligent robot grabs structure, which is characterized in that described including chassis (1), intermediate plate (3) and support plate (7)
The medium position of chassis (1) is set side by side there are two crossbeam (2), is fixedly installed intermediate plate (3) at the top of two crossbeams (2), in
Between the top corner location of plate (3) be respectively welded elastic bar (4), the top of intermediate plate (3) is equipped with support plate (7), four bullets
It is equipped on power bar (4) spring (5), the medium position of support plate (7) top surface is equipped with first hydraulic cylinder (6), first hydraulic cylinder (6)
Bottom be equipped with first piston push rod (17), the top setting of first piston push rod (17) is in the inside of first hydraulic cylinder (6), the
The bottom end of one piston push rod (17) passes through the bottom that intermediate plate (3) reach intermediate plate (3), the bottom end of first piston push rod (17)
It being fixed on bottom plate (23), bottom plate (23) is fixed on crossbeam (2), and the lower section of bottom plate (23) is equipped with suction disc (32),
There are three setting between suction disc (32) and bottom plate (23) straight-bar (30), the top of each straight-bar (30) is fixedly connected in suction disc (32)
Bottom surface on, the bottom end of each straight-bar (30) is welded with cover for seat (31), and three cover for seat (31) are arranged at the top of suction disc (32)
On face, the bottom of suction disc (32) is set side by side there are two bellows (33), and top one end of two bellows (33) is equipped with air pump (34),
The bottom of two bellows (33) is equipped with sucker (22)；
The crossbeam (2) of bottom plate (23) side is equipped with pedestal (26), and the top of pedestal (26) is welded on the top of crossbeam (2)
Face, the side of pedestal (26) are fixed with clamping plate (27), and clamping plate (27) is equipped with shaft (28), and the side of clamping plate (27) is equipped with the
Two hydraulic cylinders (8), one end welding and rotating block (29) of second hydraulic cylinder (8), it is living that the side of second hydraulic cylinder (8) is equipped with second
It fills in push rod (9), two sides are respectively equipped with right-hand rotation bar (10) and left-hand rotation bar (18) at the top of chassis (1), and right-hand rotation bar (10) is arranged second
The side of piston push rod (9) is equipped with strut (11) between right-hand rotation bar (10) and second piston push rod (9), one end of strut (11)
Hinged with one end of second piston push rod (9), the other end of strut (11) is socketed on right-hand rotation bar (10), right-hand rotation bar (10) and a left side
The two sides of bull stick (18) are equipped with bearing block (12), and four bearing blocks (12) are arranged on the top surface of chassis (1), right-hand rotation bar
(10) it is socketed with axle sleeve (13) with the both ends of left-hand rotation bar (18), is fixedly connected on the axle sleeve (13) of right-hand rotation bar (10) one end
One right clamping jaw (14) is fixedly connected with the second right clamping jaw (20), left-hand rotation bar (18) on the axle sleeve (13) of right-hand rotation bar (10) other end
It is fixedly connected with the first left clamping jaw (16) on the axle sleeve (13) of one end, is fixedly connected on the axle sleeve (13) of left-hand rotation bar (18) other end
There is the second left clamping jaw (21), is equipped with first connecting rod (15) between the first right clamping jaw (14) and the first left clamping jaw (16), first connecting rod
(15) one end setting is arranged in the top of the first left clamping jaw (16), the other end of first connecting rod (15) in the first right clamping jaw (14)
Medium position, the two the second are equipped with second connecting rod (19) between right clamping jaw (20) and the second left clamping jaw (21), second connecting rod
(19) one end setting is arranged in the top of the second right clamping jaw (20), the other end of second connecting rod (19) in the second left clamping jaw (21)
Medium position.
2. a kind of intelligent robot according to claim 1 grabs structure, which is characterized in that in the intermediate plate (3)
Portion offers rectangular channel, and the inside of rectangular channel is arranged on intermediate plate (3) in first piston push rod (17).
3. a kind of intelligent robot according to claim 1 grabs structure, which is characterized in that the quadrangle position of support plate (7)
It sets and offers slide opening respectively, the top of four elastic force bars (4) is separately positioned on the inside of slide opening, the top of each elastic force bar (4)
It is welded with fixture block.
4. a kind of intelligent robot according to claim 1 grabs structure, which is characterized in that opened up on the cover for seat (31)
There is through-hole, offers threaded hole with the top surface of the suction disc (32) of through-hole corresponding position on cover for seat (31).
5. a kind of intelligent robot according to claim 1 grabs structure, which is characterized in that the one of the rotating block (29)
End offers through-hole, and the inside of through-hole is arranged in shaft (28), and contacts inside the through-hole on rotating block (29) with shaft (28)
Face is smooth.
6. a kind of intelligent robot according to claim 1 grabs structure, which is characterized in that the two of the bearing block (12)
Side is equipped with connecting plate (25), offers through-hole on each connecting plate (25), the chassis with connecting plate (25) through-hole corresponding position
(1) top surface is equipped with threaded hole.
7. a kind of intelligent robot according to claim 1 grabs structure, which is characterized in that the right-hand rotation bar (10) and a left side
Bull stick (18) and the axle sleeve (13) at its both ends are rotatablely connected, and the both ends of first connecting rod (15) and second connecting rod (19) are equipped with collet
(24), each collet (24) is hinged with clamping jaw.
8. a kind of intelligent robot according to claim 1 grabs structure, which is characterized in that the use of the crawl structure
Method specifically includes the following steps:
Step 1: living by first hydraulic cylinder (6) control first when the object on production line is moved to the lower section of chassis (1)
Plug push rod (17) moves downward, so that sucker (22) is mobile to the top surface of object, when sucker (22) is attached to the top surface of object, control
First piston push rod (17) stop motion processed extracts the air in bellows (33) by air pump (34), so that bellows (33) are internal
Air pressure reduces, so that the top surface that sucker (22) is sucked；
Step 2: outside by second hydraulic cylinder (8) control second piston push rod (9) after object top surface is sucked by sucker (22)
Side is mobile, so that strut (11) rotates clockwise, when strut (11) rotates, and so that right-hand rotation bar (10) rotates, first
The bottom end of right clamping jaw (14) is rotated to object direction, and the first right clamping jaw (14) pushes first connecting rod (15) to the first left clamping jaw (16)
Direction it is mobile so that the bottom end of the first left clamping jaw (16) is also mobile to object direction, while the bottom end of the second right clamping jaw (20)
It is rotated to the direction of object, the top of the second right clamping jaw (20) pulls second connecting rod (19) to move outward, so that second connecting rod
(19) it pulls the bottom end of the second left clamping jaw (21) to rotate to object direction, object is picked up.
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| CN201910406934.8A CN110027006B (en) | 2019-05-16 | 2019-05-16 | Intelligent robot snatchs structure |
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|---|---|---|---|
| CN201910406934.8A CN110027006B (en) | 2019-05-16 | 2019-05-16 | Intelligent robot snatchs structure |
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| CN110027006B CN110027006B (en) | 2020-06-26 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110712691A (en) * | 2019-09-16 | 2020-01-21 | 杭州电子科技大学 | Climbing robot and climbing method thereof |
| CN110815279A (en) * | 2019-11-12 | 2020-02-21 | 天津大学 | Mechanism and system capable of realizing grabbing of annular parts with different inner diameters |
| CN111993405A (en) * | 2020-08-27 | 2020-11-27 | 马鞍山贺辉信息科技有限公司 | Grabbing equipment of industrial intelligent robot and grabbing method thereof |
| CN114343488A (en) * | 2021-12-16 | 2022-04-15 | 深圳市安杰信息科技有限公司 | Intelligent cleaning robot and intelligent cleaning system |
| CN115464365A (en) * | 2022-11-14 | 2022-12-13 | 吴江亿韦机电科技有限公司 | Loading attachment and automatic assembly system of scissors foot |
| CN116511775A (en) * | 2023-06-21 | 2023-08-01 | 成都广成科技有限公司 | Elevator sheet metal part welding and fixing device |
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| CN110712691A (en) * | 2019-09-16 | 2020-01-21 | 杭州电子科技大学 | Climbing robot and climbing method thereof |
| CN110815279A (en) * | 2019-11-12 | 2020-02-21 | 天津大学 | Mechanism and system capable of realizing grabbing of annular parts with different inner diameters |
| CN111993405A (en) * | 2020-08-27 | 2020-11-27 | 马鞍山贺辉信息科技有限公司 | Grabbing equipment of industrial intelligent robot and grabbing method thereof |
| CN114343488A (en) * | 2021-12-16 | 2022-04-15 | 深圳市安杰信息科技有限公司 | Intelligent cleaning robot and intelligent cleaning system |
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| CN115464365A (en) * | 2022-11-14 | 2022-12-13 | 吴江亿韦机电科技有限公司 | Loading attachment and automatic assembly system of scissors foot |
| CN116511775A (en) * | 2023-06-21 | 2023-08-01 | 成都广成科技有限公司 | Elevator sheet metal part welding and fixing device |
| CN116511775B (en) * | 2023-06-21 | 2023-08-25 | 成都广成科技有限公司 | Elevator sheet metal part welding and fixing device |
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|---|---|
| CN110027006B (en) | 2020-06-26 |
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