CN111673792A - Product grabbing device for industrial robot - Google Patents
Product grabbing device for industrial robot Download PDFInfo
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- CN111673792A CN111673792A CN202010567209.1A CN202010567209A CN111673792A CN 111673792 A CN111673792 A CN 111673792A CN 202010567209 A CN202010567209 A CN 202010567209A CN 111673792 A CN111673792 A CN 111673792A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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- 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
- B25J15/0023—Gripper surfaces directly activated by a fluid
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Abstract
The invention discloses a product grabbing device for an industrial robot, which comprises supporting legs, a carrying plate, a guide rail, a sliding seat, a first air cylinder, a clamping jaw and a lifting and pushing mechanism, wherein the lifting and pushing mechanism is arranged at the upper end of a moving block; through having set up cylinder elevating system in rotatory elevating system upper end, the fourth cylinder passes through the connection piece and drives the axis of rotation and move toward the upper end in the sliding seat inboard, makes the axis of rotation drive the diaphragm through the kicking block and move toward the upper end, makes diaphragm and product bottom contact, has reached the advantage that can lift the product bottom.
Description
Technical Field
The invention relates to the field of industrial robots, in particular to a product gripping device for an industrial robot.
Background
Industrial robots are multi-joint manipulators widely used in the industrial field or multi-degree-of-freedom machine devices, have a certain degree of automation, can realize various industrial processing and manufacturing functions by means of self power energy and control capability, and are widely applied to various industrial fields such as electronics, logistics, chemical industry and the like.
Present industrial robot grabbing device adopts vacuum chuck or electronic, pneumatic clamping jaw roughly, but in the grabbing process, often the centre gripping is unstable, the phenomenon that drops, and current industrial robot is difficult for lifting the product bottom after grabbing with product grabbing device to be difficult for carrying out the propelling movement to the product after placing, lead to the product to drop the damage.
Disclosure of Invention
Accordingly, to address the above-described deficiencies, the present invention provides a product gripping device for an industrial robot.
The invention is realized in such a way that a product grabbing device for an industrial robot is constructed, the device comprises supporting legs, a carrying plate, a guide rail, a sliding seat, a first air cylinder, a clamping jaw and a lifting and pushing mechanism, the supporting legs are welded and fixed with four corners of the bottom of the carrying plate, the right end of the carrying plate is provided with a control panel, the front end of the control panel is provided with a button, the right end of the carrying plate is provided with a power supply lead, the carrying plate is connected with the bottom of the guide rail through a bolt, the guide rail is in sliding fit with the bottom of the sliding seat, the carrying plate is locked and fixed with the bottom of the first air cylinder through a screw, the lifting and pushing mechanism is installed and fixed at the lower side of the front end of a moving block, the lifting and pushing mechanism comprises a rotary lifting mechanism, a supporting plate mechanism, a pushing mechanism and a buffer mechanism, the rotary lifting, the front end of the rotary lifting mechanism is provided with a pushing mechanism, and the pushing mechanism is fixedly connected with the rear end of the buffer mechanism.
Preferably, the output end of the first cylinder is fixedly connected with the rear end of the sliding seat, the sliding seat is connected with the rear end of the fixed seat through a bolt, the right side of the front end of the fixed seat is provided with a second cylinder, the second cylinder is fixedly locked with the right end of the push block through a screw, the left end of the push block is provided with a third cylinder, the bottom of the third cylinder is provided with a moving block, and the bottom of the moving block is provided with a clamping jaw.
Preferably, the rotary lifting mechanism comprises a bottom plate, a motor, a supporting seat, a first belt pulley, a belt, a second belt pulley and a cylinder lifting mechanism, the bottom plate is welded and fixed to the lower side of the front end of the moving block, the bottom of the supporting seat is connected with the bottom plate through a bolt, the motor is fixedly connected with the bottom of the supporting seat, the output end of the motor is rotatably connected with the middle of the first belt pulley, the first belt pulley is in transmission connection with the second belt pulley through the belt, the cylinder lifting mechanism is fixedly connected with the left front end of the bottom plate, the second belt pulley is rotatably connected with the output end of the cylinder lifting mechanism, and the motor is electrically connected with the control.
Preferably, cylinder elevating system includes fourth cylinder, connection piece, axis of rotation, sliding seat and kicking block, the fourth cylinder runs through in bottom plate left side front end, fourth cylinder and the left lower extreme fixed connection of connection piece, the connection piece right-hand member is provided with the axis of rotation, the axis of rotation rotates along with second belt pulley middle part is synchronous, the axis of rotation adopts clearance fit's mode to run through in the sliding seat middle part, axis of rotation and kicking block upper end fixed connection.
Preferably, layer board mechanism includes diaphragm, recess, installing frame, buffer spring and pulley, diaphragm and kicking block lower extreme fixed connection, diaphragm right-hand member equidistance distributes flutedly, the installing frame adopts clearance fit's mode to imbed in recess upper end inboard, the installing frame passes through buffer spring and the inside lower extreme elastic connection of recess, the installing frame rotates with the pulley middle part to be connected.
Preferably, pushing mechanism includes riser, fixed frame, fifth cylinder, bearing block, guided way, apical wheel, push rod, pressure spring and sliding chamber, the riser is fixed as an organic whole with the bottom plate front end, riser and fixed frame rear end fixed connection, fixed frame passes through the screw and is fixed with the locking of fifth cylinder right-hand member, fifth cylinder output is fixed mutually with the bearing block, bearing block and guided way front end sliding fit, the bearing block contacts with the apical wheel lower extreme, the apical wheel passes through the hinge pin and is connected with the push rod lower extreme rotation, the push rod passes through pressure spring and sliding chamber lower extreme elastic connection, push rod and the inboard sliding fit of sliding chamber.
Preferably, buffer gear includes the solid fixed ring of first solid fixed ring, second, reset spring, first down tube and second down tube, the solid fixed ring rear end hinged joint of first solid fixed ring and second, first solid fixed ring passes through reset spring and the solid fixed ring left front end elastic connection of second, first solid fixed ring and first down tube rear end fixed connection, the second down tube is fixed with the solid fixed ring front end of second, first solid fixed ring and the solid fixed ring of second all with push rod front end fixed connection.
Preferably, the first diagonal rod and the second diagonal rod are the same in size, and rubber sleeves are arranged at the upper ends of the first diagonal rod and the second diagonal rod.
Preferably, the cross section of the bearing block is trapezoidal, and the right upper end of the bearing block is provided with an arc surface.
Preferably, the number of the grooves is three, and the mounting frame, the buffer spring and the pulley are arranged in the three grooves.
Preferably, the pulley is made of polyurethane, and has excellent wear resistance and corrosion resistance.
Preferably, the buffer spring is made of spring steel and has excellent elastic potential energy.
The invention has the following advantages: the invention provides a product grabbing device for an industrial robot through improvement, and compared with the same type of equipment, the product grabbing device has the following improvement:
the method has the advantages that: according to the product grabbing device for the industrial robot, the lifting and pushing mechanism is arranged at the upper end of the moving block, when the clamping jaw clamps a product, the motor drives the first belt pulley to rotate, the first belt pulley drives the second belt pulley to rotate through the belt, and therefore the rotating shaft drives the transverse plate to swing, the transverse plate is located at the lower end of the product, and the advantage that the product can be prevented from falling is achieved.
The method has the advantages that: according to the product grabbing device for the industrial robot, the cylinder lifting mechanism is arranged at the upper end of the rotary lifting mechanism, the fourth cylinder drives the rotating shaft to move upwards at the inner side of the movable seat through the connecting piece, the rotating shaft drives the transverse plate to move upwards through the jacking block, the transverse plate is in contact with the bottom of a product, and the advantage that the bottom of the product can be lifted is achieved.
The method has the advantages that: according to the product grabbing device for the industrial robot, the pushing mechanism is arranged at the upper end of the lifting and pushing mechanism, the fifth cylinder drives the bearing block to move left and right towards the guide roller, the bearing block drives the push rod to move towards the front end through the top wheel, and therefore the push rod drives the first inclined rod and the second inclined rod to move towards the front end to push products, and the advantage that the products can be pushed to a processing area quickly is achieved.
The advantages are that: according to the product grabbing device for the industrial robot, the buffer mechanism is arranged at the front end of the pushing mechanism, when the first inclined rod and the second inclined rod push, the reset spring is driven to deform and extend, so that the distance between the first inclined rod and the second inclined rod is increased, the left side and the right side of a product are limited, and the advantage that the product can be prevented from toppling over is achieved.
The advantages are that: according to the product grabbing device for the industrial robot, the supporting plate mechanism is arranged at the upper end of the lifting and pushing mechanism, when a product is located at the upper end of the transverse plate, the buffer spring is pressed through the pulley to deform and contract, so that the vibration force at the upper end of the product is absorbed, and the advantage that the product can stably move is achieved.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of a partial cross-sectional structure of a grasping apparatus according to the present invention;
FIG. 3 is a schematic side view of the lift and push mechanism of the present invention;
FIG. 4 is a schematic side view of the rotary lift mechanism of the present invention;
FIG. 5 is a schematic cross-sectional view of the cylinder lifting mechanism of the present invention;
FIG. 6 is a schematic cross-sectional view of the pallet mechanism of the present invention;
FIG. 7 is a schematic side view of the pushing mechanism of the present invention;
FIG. 8 is a schematic cross-sectional view of the pushing mechanism of the present invention;
FIG. 9 is a side view of the buffering mechanism of the present invention.
Wherein: supporting foot-1, carrying board-2, control panel-3, button-4, power supply lead-5, guide rail-6, slide carriage-7, first cylinder-8, fixed seat-9, second cylinder-10, push block-11, third cylinder-12, moving block-13, clamping jaw-14, lifting and pushing mechanism-15, rotary lifting mechanism-151, supporting board mechanism-152, pushing mechanism-153, buffer mechanism-154, bottom board-1511, motor-1512, supporting seat-1513, first belt pulley-1514, belt-1515, second belt pulley-1516, cylinder lifting mechanism-1517, fourth cylinder-15171, connecting sheet-15172, rotating shaft-15173, movable seat-15174, top block-15175, The device comprises a transverse plate-1521, a groove-1522, a mounting frame-1523, a buffer spring-1524, a pulley-1525, a vertical plate-1531, a fixed frame-1532, a fifth cylinder-1533, a bearing block-1534, a guide rail-1535, a top wheel-1536, a push rod-1537, a pressure spring-1538, a sliding cavity-1539, a first fixing ring-1541, a second fixing ring-1542, a return spring-1543, a first inclined rod-1544, a second inclined rod-1545, a rubber sleeve-1546 and a limiting groove-151731.
Detailed Description
The present invention will be described in detail below with reference to fig. 1 to 9, and the technical solutions in the embodiments of the present invention will be clearly and completely described, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The first embodiment is as follows:
referring to fig. 1 and 2, the invention provides a product grabbing device for an industrial robot through improvement, which comprises supporting legs 1, a carrying plate 2, a guide rail 6, a sliding seat 7, a first air cylinder 8, a clamping jaw 14 and a lifting and pushing mechanism 15, wherein the supporting legs 1 and four corners of the bottom of the carrying plate 2 are welded and fixed, the right end of the carrying plate 2 is provided with a control panel 3, the front end of the control panel 3 is provided with a button 4, the right end of the carrying plate 2 is provided with a power supply lead 5, the carrying plate 2 is connected with the bottom of the guide rail 6 through a bolt, the guide rail 6 is in sliding fit with the bottom of the sliding seat 7, the carrying plate 2 is locked and fixed with the bottom of the first air cylinder 8 through a screw, the lifting and pushing mechanism 15 is fixed on the lower side of the front end of a moving block 13, the output end of the first air cylinder 8 is fixedly connected with, the second cylinder 10 is locked and fixed with the right end of the push block 11 through a screw, the left end of the push block 11 is provided with a third cylinder 12, the bottom of the third cylinder 12 is provided with a moving block 13, and the bottom of the moving block 13 is provided with a clamping jaw 14.
Referring to fig. 3, the present invention provides a product grabbing device for an industrial robot through improvement, the lifting and pushing mechanism 15 includes a rotary lifting mechanism 151, a supporting plate mechanism 152, a pushing mechanism 153, and a buffering mechanism 154, the rotary lifting mechanism 151 is fixedly connected to the lower side of the front end of the moving block 13, the supporting plate mechanism 152 is disposed at the bottom of the rotary lifting mechanism 151, the pushing mechanism 153 is disposed at the front end of the rotary lifting mechanism 151, and the pushing mechanism 153 is fixedly connected to the rear end of the buffering mechanism 154.
Referring to fig. 4, the present invention provides a product grabbing device for an industrial robot through improvement, wherein the rotary lifting mechanism 151 includes a bottom plate 1511, a motor 1512, a supporting seat 1513, a first belt pulley 1514, a belt 1515, a second belt pulley 1516 and a cylinder lifting mechanism 1517, the bottom plate 1511 is welded and fixed to the lower side of the front end of the moving block 13, the bottom of the supporting seat 1513 is bolted to the bottom plate 1511, the motor 1512 is fixedly connected to the bottom of the supporting seat 1513, the output end of the motor 1512 is rotatably connected to the middle of the first belt pulley 1514, the first belt pulley 1514 is in transmission connection with the second belt pulley 1516 through the belt 1515, so as to drive the second belt pulley 1514 to rotate, the cylinder lifting mechanism 1517 is fixedly connected to the left front end of the bottom plate 1511, the second belt pulley 1516 is rotatably connected to the output end of the cylinder lifting mechanism 1517, and the motor 1512 is.
Referring to fig. 5, the present invention provides a product grabbing device for an industrial robot through improvement, wherein the cylinder lifting mechanism 1517 includes a fourth cylinder 15171, a connecting piece 15172, a rotating shaft 15173, a movable seat 15174 and a top block 15175, the fourth cylinder 15171 penetrates through the left front end of the bottom plate 1511, the fourth cylinder 15171 is fixedly connected with the left lower end of the connecting piece 15172, the right end of the connecting piece 15172 is provided with a rotating shaft 15173, the rotating shaft 15173 synchronously rotates along with the middle of the second pulley 1516, the rotating shaft 15173 penetrates through the middle of the movable seat 15174 in a clearance fit manner, and the rotating shaft 15173 is fixedly connected with the upper end of the top block 15175.
Referring to fig. 6, the invention provides a product grabbing device for an industrial robot through improvement, a supporting plate mechanism 152 includes a transverse plate 1521, grooves 1522, a mounting frame 1523, buffer springs 1524 and pulleys 1525, the transverse plate 1521 is fixedly connected with the lower end of a top block 15175, the grooves 1522 are equidistantly distributed at the right end of the transverse plate 1521, the mounting frame 1523 is embedded into the inner side of the upper end of the groove 1522 in a clearance fit manner, the mounting frame 1523 is elastically connected with the lower end inside the groove 1522 through the buffer springs 1524, the mounting frame 1523 is rotatably connected with the middle of the pulleys 1525, the number of the grooves 1522 is three, the mounting frame 1523, the buffer springs 1524 and the pulleys 1525 are arranged inside the three grooves 1522, so that a buffering effect is facilitated, the pulleys 5 are made of polyurethane, the wear resistance and the corrosion resistance are excellent, the buffer springs 1524 are made of spring steel, and the elastic potential.
Referring to fig. 7 and 8, the present invention provides a product grabbing device for an industrial robot by improving a pushing mechanism 153 including a vertical plate 1531, a fixing frame 1532, a fifth cylinder 1533, a receiving block 1534, a guide rail 1535, a top wheel 1536, a push rod 1537, a compression spring 1538 and a sliding cavity 1539, the vertical plate 1531 is fixed to the front end of a base plate 1511, the vertical plate 1531 is fixedly connected to the rear end of the fixing frame 1532, the fixing frame 1532 is fixed to the right end of the fifth cylinder 1533 by a screw, the output end of the fifth cylinder 1533 is fixed to the receiving block 1534, the receiving block 1534 is in sliding fit with the front end of the guide rail 1535, the receiving block 1534 is in contact with the lower end of the top wheel 1536, the top wheel 1536 is rotatably connected to the lower end of the push rod 1537 by a hinge shaft, the push rod 1537 is elastically connected to the lower end of the sliding cavity 1539 by the compression spring 1538, the push rod 1537 is in sliding fit with the inner side of the sliding cavity 153, it is advantageous to act as a pushing action for the top wheel 1536.
Referring to fig. 9, the present invention provides a product grabbing device for an industrial robot by improving the structure, in which a buffering mechanism 154 includes a first fixing ring 1541, a second fixing ring 1542, a return spring 1543, a first slant bar 1544 and a second slant bar 1545, the first fixing ring 1541 is hinged to a rear end of the second fixing ring 1542, the first fixing ring 1541 is elastically connected to a left front end of the second fixing ring 1542 through the return spring 1543, the first fixing ring 1541 is fixedly connected to a rear end of the first slant bar 1544, the second slant bar 1545 is fixed to a front end of the second fixing ring 1542, the first fixing ring 1541 and the second fixing ring 1542 are both fixedly connected to a front end of a push rod 1537, the first slant bar 1544 and the second slant bar 1545 have the same size, and upper ends of the first slant bar 1544 and the second slant bar 1545 are both provided with rubber sleeves 1546, which are beneficial for buffering.
Example two:
the invention provides a product grabbing device for an industrial robot, which is characterized in that a first belt pulley 1514 and a second belt pulley 1516 are identical in size, the first belt pulley 1514 and the second belt pulley 1516 are distributed in parallel, so that the effect of enabling the first belt pulley 1514 and the second belt pulley 1516 to rotate stably is facilitated, and a limiting groove 151731 is formed in the upper end of a rotating shaft 15173, so that the effect of enabling the second belt pulley 1516 to drive the rotating shaft 15173 to rotate is facilitated.
The invention provides a product grabbing device for an industrial robot through improvement, and the working principle is as follows;
firstly, before use, the product gripping device for the industrial robot is horizontally placed, so that the supporting legs 1 can fixedly support the device, and are connected with air pipes at the upper ends of a first air cylinder 8, a second air cylinder 10, a third air cylinder 12, a fourth air cylinder 15171 and a fifth air cylinder 1533 through external pneumatic equipment;
secondly, when the device is used, an external power supply is connected through a power supply lead 5 to provide power for the device, then a button 4 at the upper end of a control panel 3 is pressed to start the device, a first air cylinder 8 can drive a sliding seat 7 to move front and back at the upper end of a guide rail 6, a second air cylinder can drive a clamping jaw 14 to move left and right, and a third air cylinder 12 can drive the clamping jaw 14 to move up and down, so that the clamping jaw 14 can grab a product;
thirdly, when the product is grabbed by the clamping jaws 14, the motor 1512 is powered on to work, the rotor arranged at the front end drives the first belt pulley 1514 to rotate, so that the first belt pulley 1514 drives the second belt pulley 1516 to rotate through the belt 1515, and the rotating shaft 15173 drives the transverse plate 1521 to swing, so that the transverse plate 1521 is located at the lower end of the product;
fourthly, then the fourth air cylinder 15171 drives the rotating shaft 15173 to move upwards on the inner side of the movable seat 15174 through the connecting piece 15172, so that the rotating shaft 15173 drives the transverse plate 1521 to move upwards through the top block 15175, the transverse plate 1521 is in contact with the bottom of the product, and the bottom of the product can be lifted;
fifthly, after the product is moved to a proper position, the transverse plate 1521 is lifted, then the pushing mechanism 153 is started, the fifth air cylinder 1533 drives the bearing block 1534 to move left and right towards the guide roller 1535, the bearing block 1534 drives the push rod 1537 to move towards the front end through the top wheel 1536, so that the push rod 1537 drives the first inclined rod 1544 and the second inclined rod 1545 to move towards the front end, the product is pushed, and the product can be pushed to the processing area quickly;
sixth, and through having set up buffer gear 154 at pushing mechanism 153 front end, when first down tube 1544 and second down tube 1545 promote, can drive reset spring 1543 and produce the deformation extension, make interval increase between first down tube 1544 and the second down tube 1545, it is spacing to carry out the product left and right sides, it can prevent that the product from empting to have reached, simultaneously through lifting pushing mechanism 15 upper end and having set up layer board mechanism 152, when the product is located the diaphragm 1521 upper end, can press buffer spring 1524 through pulley 1525 and produce the deformation shrink, thereby absorb product upper end vibrating force, can make the product even movement.
According to the product grabbing device for the industrial robot, the lifting and pushing mechanism 15 is arranged at the upper end of the moving block 13, when the clamping jaw 14 clamps a product, the motor 1512 is electrified to work, the rotor arranged at the front end drives the first belt pulley 1514 to rotate, the first belt pulley 1514 drives the second belt pulley 1516 to rotate through the belt 1515, and therefore the rotating shaft 15173 drives the transverse plate 1521 to swing, the transverse plate 1521 is located at the right lower end of the product, and the advantage that the product can be prevented from falling is achieved; the cylinder lifting mechanism 1517 is arranged at the upper end of the rotary lifting mechanism 151, the fourth cylinder 15171 drives the rotating shaft 15173 to move upwards on the inner side of the movable seat 15174 through the connecting piece 15172, so that the rotating shaft 15173 drives the transverse plate 1521 to move upwards through the top block 15175, the transverse plate 1521 is in contact with the bottom of a product, and the advantage of lifting the bottom of the product is achieved; by arranging the pushing mechanism 153 at the upper end of the lifting and pushing mechanism 15, the fifth cylinder 1533 drives the receiving block 1534 to move left and right towards the guide roller 1535, so that the receiving block 1534 drives the push rod 1537 to move towards the front end through the top wheel 1536, and the push rod 1537 drives the first inclined rod 1544 and the second inclined rod 1545 to move towards the front end, so as to push the product, thereby achieving the advantage of pushing the product to the processing area quickly; by arranging the buffer mechanism 154 at the front end of the pushing mechanism 153, when the first inclined rod 1544 and the second inclined rod 1545 are pushed, the reset spring 1543 is driven to deform and extend, so that the distance between the first inclined rod 1544 and the second inclined rod 1545 is increased, the left side and the right side of the product are limited, and the advantage of preventing the product from toppling over is achieved; through having set up layer board mechanism 152 in lifting push mechanism 15 upper end, when the product was located diaphragm 1521 upper end, can press through pulley 1525 and move buffer spring 1524 and produce the shrink of deformation to absorb product upper end vibrating force, reached the advantage that can make the product steadily remove.
The basic principles and main features of the present invention and the advantages of the present invention have been shown and described, and the standard parts used in the present invention are all available on the market, the special-shaped parts can be customized according to the description and the accompanying drawings, the specific connection mode of each part adopts the conventional means of bolt and rivet, welding and the like mature in the prior art, the machinery, parts and equipment adopt the conventional type in the prior art, and the circuit connection adopts the conventional connection mode in the prior art, and the details are not described herein.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A product grabbing device for an industrial robot comprises supporting legs (1), a carrying plate (2), a guide rail (6), a sliding seat (7), a first air cylinder (8) and clamping jaws (14), wherein the supporting legs (1) are welded and fixed with four corners of the bottom of the carrying plate (2), a control panel (3) is arranged at the right end of the carrying plate (2), a button (4) is installed at the front end of the control panel (3), a power supply lead (5) is arranged at the right end of the carrying plate (2), the carrying plate (2) is connected with the bottom of the guide rail (6) through bolts, the guide rail (6) is in sliding fit with the bottom of the sliding seat (7), and the carrying plate (2) is locked and fixed with the bottom of the first air cylinder (8) through screws;
the method is characterized in that: still include lifting push mechanism (15), lifting push mechanism (15) installation is fixed in movable block (13) front end downside, lifting push mechanism (15) is including rotatory elevating system (151), layer board mechanism (152), pushing mechanism (153) and buffer gear (154), rotatory elevating system (151) and movable block (13) front end downside fixed connection, rotatory elevating system (151) bottom is provided with layer board mechanism (152), rotatory elevating system (151) front end is provided with pushing mechanism (153), pushing mechanism (153) and buffer gear (154) rear end fixed connection.
2. The product gripping device for an industrial robot according to claim 1, wherein: the improved pneumatic clamping device is characterized in that the output end of the first air cylinder (8) is fixedly connected with the rear end of the sliding seat (7), the sliding seat (7) is connected with the rear end of the fixing seat (9) through bolts, the second air cylinder (10) is arranged on the right side of the front end of the fixing seat (9), the second air cylinder (10) is fixed with the right end of the pushing block (11) through screws in a locking mode, the left end of the pushing block (11) is provided with a third air cylinder (12), the bottom of the third air cylinder (12) is provided with a moving block (13), and the bottom of the moving block (13) is.
3. The product gripping device for an industrial robot according to claim 1, wherein: the rotary lifting mechanism (151) comprises a bottom plate (1511), a motor (1512), a supporting seat (1513), a first belt pulley (1514), a belt (1515), a second belt pulley (1516) and an air cylinder lifting mechanism (1517), the bottom plate (1511) is welded and fixed with the lower side of the front end of the moving block (13), the bottom of the supporting seat (1513) is connected with the bottom plate (1511) through bolts, the motor (1512) is fixedly connected with the bottom of the supporting seat (1513), the output end of the motor (1512) is rotatably connected with the middle part of the first belt pulley (1514), the first belt pulley (1514) is in transmission connection with a second belt pulley (1516) through a belt (1515), the cylinder lifting mechanism (1517) is fixedly connected with the left front end of the bottom plate (1511), the second belt pulley (1516) is rotatably connected with the output end of the air cylinder lifting mechanism (1517), and the motor (1512) is electrically connected with the control panel (3).
4. The product gripping device for an industrial robot according to claim 3, wherein: the cylinder lifting mechanism (1517) comprises a fourth cylinder (15171), a connecting piece (15172), a rotating shaft (15173), a movable seat (15174) and a top block (15175), wherein the fourth cylinder (15171) penetrates through the left front end of the bottom plate (1511), the fourth cylinder (15171) is fixedly connected with the left lower end of the connecting piece (15172), the right end of the connecting piece (15172) is provided with the rotating shaft (15173), the rotating shaft (15173) synchronously rotates along with the middle of the second belt pulley (1516), the rotating shaft (15173) penetrates through the middle of the movable seat (15174) in a clearance fit mode, and the rotating shaft (15173) is fixedly connected with the upper end of the top block (15175).
5. The product gripping device for an industrial robot according to claim 1, wherein: layer board mechanism (152) are including diaphragm (1521), recess (1522), installing frame (1523), buffer spring (1524) and pulley (1525), diaphragm (1521) and kicking block (15175) lower extreme fixed connection, diaphragm (1521) right-hand member equidistance distributes recess (1522), installing frame (1523) adopt clearance fit's mode to imbed in recess (1522) upper end inboard, installing frame (1523) are through buffer spring (1524) and recess (1522) inside lower extreme elastic connection, installing frame (1523) are connected with pulley (1525) middle part rotation.
6. The product gripping device for an industrial robot according to claim 1, wherein: the pushing mechanism (153) comprises a vertical plate (1531), a fixed frame (1532), a fifth air cylinder (1533), a bearing block (1534), a guide rail (1535), a top wheel (1536), a push rod (1537), a pressure spring (1538) and a sliding cavity (1539), the vertical plate (1531) is fixed with the front end of the bottom plate (1511) into a whole, the vertical plate (1531) is fixedly connected with the rear end of the fixed frame (1532), the fixed frame (1532) is locked and fixed with the right end of the fifth cylinder (1533) through a screw, the output end of the fifth cylinder (1533) is fixed with a bearing block (1534), the bearing block (1534) is in sliding fit with the front end of the guide rail (1535), the bearing block (1534) is contacted with the lower end of the top wheel (1536), the top wheel (1536) is rotatably connected with the lower end of the push rod (1537) through a hinge shaft, the push rod (1537) is elastically connected with the lower end of the sliding cavity (1539) through a pressure spring (1538), and the push rod (1537) is in sliding fit with the inner side of the sliding cavity (1539).
7. The product gripping device for an industrial robot according to claim 1, wherein: buffer gear (154) includes first solid fixed ring (1541), the solid fixed ring of second (1542), reset spring (1543), first down tube (1544) and second down tube (1545), first solid fixed ring (1541) is connected with the solid fixed ring of second (1542) rear end hinge, first solid fixed ring (1541) is through reset spring (1543) and the solid fixed ring of second (1542) left front end elastic connection, first solid fixed ring (1541) and first down tube (1544) rear end fixed connection, second down tube (1545) is fixed with the solid fixed ring of second (1542) front end, first solid fixed ring (1541) and the solid fixed ring of second (1542) all with push rod (1537) front end fixed connection.
8. The product gripping device for an industrial robot according to claim 7, wherein: the first inclined rod (1544) and the second inclined rod (1545) are identical in size, and rubber sleeves (1546) are arranged at the upper ends of the first inclined rod (1544) and the second inclined rod (1545).
9. The product gripping device for an industrial robot according to claim 6, wherein: the cross section of the bearing block (1534) is in a trapezoid shape, and the right upper end of the bearing block (1534) is provided with an arc surface.
10. The product gripping device for an industrial robot according to claim 5, wherein: the groove (1522) is provided with three in all, and three inside all being provided with installing frame (1523), buffer spring (1524) and pulley (1525) of groove (1522).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010567209.1A CN111673792A (en) | 2020-06-19 | 2020-06-19 | Product grabbing device for industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010567209.1A CN111673792A (en) | 2020-06-19 | 2020-06-19 | Product grabbing device for industrial robot |
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| Publication Number | Publication Date |
|---|---|
| CN111673792A true CN111673792A (en) | 2020-09-18 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010567209.1A Withdrawn CN111673792A (en) | 2020-06-19 | 2020-06-19 | Product grabbing device for industrial robot |
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| Country | Link |
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| CN (1) | CN111673792A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112518788A (en) * | 2020-12-21 | 2021-03-19 | 常州固高智能装备技术研究院有限公司 | A grabbing device for industrial robot |
| CN113246114A (en) * | 2021-06-03 | 2021-08-13 | 山东劳动职业技术学院（山东劳动技师学院） | Real standard equipment of mechatronic machinery tongs |
| CN114800595A (en) * | 2022-05-12 | 2022-07-29 | 哈尔滨理工大学 | Industrial robot |
| CN117506266A (en) * | 2024-01-08 | 2024-02-06 | 江苏龙英管道新材料有限公司 | Welding equipment for pipe bracket bottom plate and application method thereof |
-
2020
- 2020-06-19 CN CN202010567209.1A patent/CN111673792A/en not_active Withdrawn
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112518788A (en) * | 2020-12-21 | 2021-03-19 | 常州固高智能装备技术研究院有限公司 | A grabbing device for industrial robot |
| CN112518788B (en) * | 2020-12-21 | 2022-03-04 | 常州固高智能装备技术研究院有限公司 | A grabbing device for industrial robot |
| CN113246114A (en) * | 2021-06-03 | 2021-08-13 | 山东劳动职业技术学院（山东劳动技师学院） | Real standard equipment of mechatronic machinery tongs |
| CN114800595A (en) * | 2022-05-12 | 2022-07-29 | 哈尔滨理工大学 | Industrial robot |
| CN114800595B (en) * | 2022-05-12 | 2022-10-11 | 哈尔滨理工大学 | Industrial robot |
| CN117506266A (en) * | 2024-01-08 | 2024-02-06 | 江苏龙英管道新材料有限公司 | Welding equipment for pipe bracket bottom plate and application method thereof |
| CN117506266B (en) * | 2024-01-08 | 2024-03-19 | 江苏龙英管道新材料有限公司 | Welding equipment for pipe bracket bottom plate and application method thereof |
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Application publication date: 20200918 |