CN112917484A - Positioning and clamping device for sorting robot clamp - Google Patents
Positioning and clamping device for sorting robot clamp Download PDFInfo
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- CN112917484A CN112917484A CN202110077372.4A CN202110077372A CN112917484A CN 112917484 A CN112917484 A CN 112917484A CN 202110077372 A CN202110077372 A CN 202110077372A CN 112917484 A CN112917484 A CN 112917484A
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- positioning
- piece
- clamping device
- welded
- sorting robot
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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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
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
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- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automatic Assembly (AREA)
Abstract
The invention discloses a positioning and clamping device for a sorting robot clamp, and relates to the technical field of robots. The invention comprises a bearing table, a photoelectric monitor, a three-axis driving mechanism, a transmission mechanism, a positioning mechanism, a clamp and detection sheets, wherein the lower surfaces of a plurality of bases are welded with the upper surface of a support ring, one ends of a plurality of fixing rods are welded with the upper surface of the support ring, a plurality of inner spiral blocks are respectively in rotating fit with a plurality of spiral rods, a plurality of sliding pipes are respectively in sliding fit with the fixing rods, one ends of a plurality of positioning strips are respectively in rotating fit with a plurality of first rotating blocks, one end of a hydraulic cylinder is welded with the lower surface of a positioning mechanism body, and a plurality of detection sheet bodies are respectively arranged on. When the clamp clamps a workpiece, the strength of the workpiece is detected, the workpiece presses the contact piece, the contact piece presses the pressure cap and the pressure spring, the pressure cap and the pressure spring press the resistance sensing piece to generate electric signals, the electric signals are transmitted to the reading screen, and the reading screen reads the detection result.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a positioning and clamping device for a sorting robot clamp.
Background
The robot is an intelligent machine capable of working semi-autonomously or fully autonomously, has basic characteristics of perception, decision, execution and the like, can assist or even replace human beings to finish dangerous, heavy and complex work, improves the working efficiency and quality, serves human life, and expands or extends the activity and capacity range of the human beings. A robot is an automated machine, except that it has some intelligent capabilities similar to human or biological, such as perception capability, planning capability, action capability, and coordination capability, and is an automated machine with a high degree of flexibility. The jig is a device for fixing a processing object to a correct position for receiving construction or inspection in a machine manufacturing process, and in a broad sense, a device for quickly, conveniently and safely mounting a workpiece in any process is called a jig.
The positioning and clamping device for the robot clamp in the prior art has the defects that a workpiece cannot be freely and movably positioned, workpieces with different sizes and volumes cannot be clamped, the workpiece cannot be detected while being clamped, and the like, and therefore the positioning and clamping device for the robot clamp for sorting is provided.
Disclosure of Invention
The invention aims to provide a positioning and clamping device for a sorting robot clamp, which solves the problems that workpieces cannot be positioned freely and movably, workpieces with different sizes and volumes cannot be clamped and the workpieces cannot be detected while being clamped in the prior art.
In order to solve the technical problems, the invention is realized by the following technical scheme:
the invention relates to a positioning and clamping device for a sorting robot clamp, which comprises a bearing platform, a photoelectric monitor, a three-axis driving mechanism, a transmission mechanism, a positioning mechanism, a clamp and a detection sheet, wherein the bearing platform comprises a support ring, the photoelectric monitor comprises a base, the three-axis driving mechanism comprises fixed rods and screw rods, the transmission mechanism comprises inner screw blocks, sliding pipes and first rotating blocks, the positioning mechanism comprises a positioning mechanism body and positioning strips, the clamp comprises a hydraulic cylinder and clamping claws, the detection sheet comprises a detection sheet body, the lower surfaces of a plurality of bases are welded with the upper surface of the support ring, one ends of a plurality of fixed rods are welded with the upper surface of the support ring, a plurality of inner screw blocks are respectively in rotating fit with a plurality of screw rods, a plurality of sliding pipes are respectively in sliding fit with a plurality of fixed rods, one ends of a plurality of positioning strips are respectively in rotating fit with a plurality of first rotating blocks, one end of the hydraulic cylinder is welded with the lower surface of the positioning mechanism body, and the plurality of detection piece bodies are respectively arranged on one side surface of the plurality of clamping jaws.
Preferably, the plummer still includes plummer body, control panel, reads screen, control button and support column, the control panel is installed in plummer body side surface, it all installs in control panel side surface, a plurality of to read screen and a plurality of control button support column one end all with plummer body upper surface welded, a plurality of the support column other end all with support ring lower surface welded, wherein, the support column has six, and the effect of support column bears the weight of the device above that, and the effect of control button is controlling means's operation, reads the effect of screen and reads the numerical value that monitors.
Preferably, the photoelectric monitor still includes photoelectric monitor body, bracing piece, monitoring motor and roating seat, and is a plurality of bracing piece one end respectively with a plurality of base upper surface welding, a plurality of monitoring motor side surface and roating seat side surface respectively with a plurality of bracing piece other end welding, a plurality of monitoring motor one end is equipped with a plurality of axis of rotation, and is a plurality of photoelectric monitor body side surface respectively with a plurality of axis of rotation normal running fit, a plurality of photoelectric monitor body side surface respectively with a plurality of roating seat one end normal running fit, wherein, photoelectric monitor body, base, monitoring motor and roating seat all have threely, the bracing piece has six, the effect of monitoring motor and roating seat drives the photoelectric monitor body rotatory, the effect of photoelectric monitor body is fixed a position and is monitored each work piece.
Preferably, triaxial actuating mechanism still includes triaxial actuating mechanism body and driving motor, and is a plurality of driving motor installs respectively in a plurality of triaxial actuating mechanism body upper surface, and is a plurality of driving motor one end is equipped with a plurality of rotation axes respectively, and is a plurality of triaxial actuating mechanism body is equipped with a plurality of first through-holes respectively, and is a plurality of hob one end is passed a plurality of first through-holes respectively and is rotated with a plurality of rotation axes and cooperate, and is a plurality of the dead lever other end respectively with a plurality of triaxial actuating mechanism body lower surface welding, wherein, triaxial actuating mechanism body, driving motor and hob all have threely, and the dead lever has six, and triaxial actuating mechanism body, driving motor and hob all have threely, and driving motor's effect is that it is rotatory to drive the.
Preferably, the transmission mechanism further comprises a transmission mechanism body, fixed blocks and rotating pipes, the side surfaces of the plurality of inner rotating blocks and the side surfaces of the plurality of sliding pipes are respectively welded with the surface of one side of the plurality of transmission mechanism bodies, one ends of the plurality of fixed blocks are respectively welded with the surface of the other side of the plurality of transmission mechanism bodies, the plurality of fixed blocks are respectively provided with a plurality of second through holes, the plurality of rotating pipes are respectively in rotating fit with the plurality of second through holes, two ends of the plurality of rotating pipes are respectively welded with one ends of the plurality of first rotating blocks, wherein, sliding tube, fixed block and first rotatory piece all have six, and drive mechanism body, interior spiral piece and rotatory pipe all have three, and the effect of interior spiral piece is the up-and-down motion of being converted into with the rotary motion of hob, and the effect of sliding tube is that the cooperation interior spiral piece carries out the up-and-down motion together, and the effect of rotatory pipe is that to drive first rotatory piece rotatory.
Preferably, positioning mechanism still includes connecting block, pipe and the rotatory piece of second, and is a plurality of the location strip other end respectively with the rotatory piece normal running fit of a plurality of second, it is a plurality of the rotatory piece one end of second welds with a plurality of pipe one end respectively, a plurality of the pipe other end respectively with a plurality of connecting block both sides surface normal running fit, a plurality of connecting block one end all with positioning mechanism body side surface welding, wherein, connecting block and pipe all have threely, the rotatory piece of second and location strip all have six, the effect of the rotatory piece of first rotatory piece and second is that it is rotatory to drive the location strip, and the effect of location strip is that the rotary motion at both ends converts into at X axle and the epaxial free motion of Y.
Preferably, anchor clamps still include anchor clamps body, biography liquid pipe, piston rod and rotary rod, and are a plurality of biography liquid pipe one end all is connected with the pneumatic cylinder side surface, and is a plurality of the biography liquid pipe other end is connected with a plurality of piston rod one end respectively, and is a plurality of the piston rod respectively with the welding of anchor clamps body week side surface, anchor clamps body one end and the welding of the pneumatic cylinder other end, a plurality of the piston rod other end respectively with a plurality of rotary rod normal running fit, a plurality of gripper jaw one end respectively with a plurality of rotary rod normal running fit, wherein, biography liquid pipe, piston rod, rotary rod and gripper jaw all have four, and the effect of biography liquid pipe is transmission hydraulic pressure, and the effect of pneumatic cylinder promotes the piston rod motion, and the effect of.
Preferably, the detection piece still includes resistance induction piece, pressure cap, pressure spring and contact piece, and is a plurality of the resistance induction piece is installed respectively in a plurality of detection piece body opposite side surfaces, and is a plurality of pressure spring one end is connected with a plurality of resistance induction piece side surface respectively, and is a plurality of the pressure spring other end is connected with a plurality of pressure cap one end respectively, and is a plurality of the pressure cap other end respectively with a plurality of contact piece one side surface weld, wherein, resistance induction piece, pressure cap and pressure spring all have twelve, detect piece body and contact piece and all have four, and pressure cap and pressure spring's effect is that extrusion resistance induction piece produces the signal of telecommunication, and the effect of resistance induction piece is the signal of receiving telecommunication.
The invention has the following beneficial effects:
1. the photoelectric monitor body is driven to rotate by the monitoring motor and the rotating seat, and each workpiece is positioned and monitored by the photoelectric monitor body. The driving motor drives the screw rod to rotate, the internal spiral block converts the rotary motion of the screw rod into up-and-down motion, the sliding pipe slides on the fixed rod, the internal spiral block is matched to move up and down together, the device can freely move and position the workpiece in the Z-axis direction, the rotating pipe drives the first rotating block to rotate, the second rotating block and the positioning strip are all six, the first rotating block and the second rotating block both drive the positioning strip to rotate, the positioning strip converts the rotary motion at the two ends into free motion on an X axis and a Y axis, and the device is enabled to realize the X axis and the three-axis freely moving and positioning workpiece of the Y axis and the Z axis.
2. According to the invention, the hydraulic pressure is transmitted through the liquid transmission pipe, the hydraulic cylinder pushes the piston rod to move, the piston rod pushes the clamping claw, and the clamping claw is opened and closed under the action of the rotating rod, so that the device can clamp workpieces with different sizes and volumes.
3. According to the invention, when the clamp clamps the workpiece, the workpiece is extruded, the maximum pressure which can be borne by the workpiece is tested, the strength of the workpiece is detected, the workpiece extrudes the contact piece, the contact piece extrudes the pressure cap and the pressure spring, the pressure cap and the pressure spring extrude the resistance sensing piece to generate an electric signal, the magnitude of the electric signal is in direct proportion to the magnitude of the applied pressure, and the reading screen reads and displays the magnitude of the detected electric signal.
Of course, it is not necessary for any product in which the invention is practiced to achieve all of the above-described advantages at the same time.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic view of the overall structure of a positioning and clamping device for a sorting robot clamp according to the present invention;
FIG. 2 is a schematic structural diagram of a positioning and clamping device for a sorting robot clamp according to another embodiment of the present invention;
FIG. 3 is an enlarged view of a portion of FIG. 1;
FIG. 4 is an enlarged view of a portion of FIG. 1 at B in accordance with the present invention;
FIG. 5 is an enlarged view of a portion of FIG. 1 at C in accordance with the present invention;
FIG. 6 is an enlarged view of a portion of FIG. 2 in accordance with the present invention;
fig. 7 is a schematic structural view of a detection sheet of a positioning and clamping device for a sorting robot clamp according to the present invention.
In the drawings, the components represented by the respective reference numerals are listed below:
100. a bearing table; 110. a control panel; 120. reading a screen; 130. a control button; 140. a support pillar; 150. a support ring; 200. a photoelectric monitor; 210. a base; 220. a support bar; 230. monitoring the motor; 240. a rotating base; 300. a three-axis drive mechanism; 310. a drive motor; 320. fixing the rod; 330. a screw rod; 400. a transmission mechanism; 410. an inner spiral block; 420. a sliding tube; 430. a fixed block; 440. rotating the tube; 450. a first rotating block; 500. a positioning mechanism; 510. connecting blocks; 520. a circular tube; 530. a second rotating block; 540. a positioning bar; 600. a clamp; 610. a hydraulic cylinder; 620. a liquid transfer pipe; 630. a piston rod; 640. rotating the rod; 650. a gripper jaw; 700. detecting a sheet; 710. a resistance sensing piece; 720. a pressure cap; 730. a pressure spring; 740. and a contact sheet.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the 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.
In the description of the present invention, it is to be understood that the terms "upper", "middle", "outer", "inner", "lower", "around", and the like, indicate orientations or positional relationships, are used merely to facilitate the description of the present invention and to simplify the description, and do not indicate or imply that the referenced components or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be taken as limiting the present invention.
Referring to fig. 1-7, the present invention relates to a positioning and clamping device for a sorting robot clamp, including a carrier 100, a photo-electric monitor 200, a three-axis driving mechanism 300, a transmission mechanism 400, a positioning mechanism 500, a clamp 600 and a detection plate 700, wherein the carrier 100 includes a support ring 150, the photo-electric monitor 200 includes a base 210, the three-axis driving mechanism 300 includes a fixing rod 320 and a screw 330, the transmission mechanism 400 includes an inner screw 410, a sliding tube 420 and a first rotating block 450, the positioning mechanism 500 includes a positioning mechanism body and a positioning bar 540, the clamp 600 includes a hydraulic cylinder 610 and a clamping claw 650, the detection plate 700 includes a detection plate body, the lower surfaces of the bases 210 are welded to the upper surface of the support ring 150, one end of the fixing rods 320 are welded to the upper surface of the support ring 150, the inner screw blocks 410 are respectively rotatably engaged with the screw 330, the sliding tubes 420 are respectively slidably engaged with the fixing rods 320, one end of each of the plurality of positioning bars 540 is rotatably engaged with the plurality of first rotating blocks 450, one end of the hydraulic cylinder 610 is welded to the lower surface of the positioning mechanism body, and the plurality of detection piece bodies are mounted on one side surface of the plurality of clamping claws 650.
Further, the carrier 100 further includes a carrier body, a control board 110, a reading screen 120, a control button 130 and a plurality of support columns 140, the control board 110 is installed on a side surface of the carrier body, the reading screen 120 and the plurality of control buttons 130 are all installed on a side surface of the control board 110, one ends of the plurality of support columns 140 are all welded to an upper surface of the carrier body, the other ends of the plurality of support columns 140 are all welded to a lower surface of the support ring 150, wherein the number of the support columns 140 is six, the support columns 140 are used for bearing the weight of the device thereon, the control buttons 130 are used for controlling the operation of the device, and the reading screen 120 is used for reading the monitored.
Further, the monitor 200 further comprises a monitor body, support rods 220, a plurality of monitor motors 230 and a rotary base 240, wherein one end of each of the plurality of support rods 220 is welded to the upper surface of the plurality of bases 210, the side surfaces of the plurality of monitor motors 230 and the side surfaces of the rotary base 240 are welded to the other ends of the plurality of support rods 220, one end of each of the plurality of monitor motors 230 is provided with a plurality of rotation shafts, the side surfaces of the plurality of monitor bodies are rotatably engaged with the plurality of rotation shafts, the side surfaces of the plurality of monitor bodies are rotatably engaged with one end of the plurality of, wherein, photoelectric monitor body, base 210, monitoring motor 230 and roating seat 240 all have three, and bracing piece 220 has six, and monitoring motor 230 and roating seat 240's effect drives the photoelectric monitor body rotation, and the effect of photoelectric monitor body is to every work piece location and monitoring.
Further, triaxial actuating mechanism 300 still includes triaxial actuating mechanism body and driving motor 310, a plurality of driving motor 310 install respectively in a plurality of triaxial actuating mechanism body upper surfaces, a plurality of driving motor 310 one end is equipped with a plurality of rotation axes respectively, a plurality of triaxial actuating mechanism bodies are equipped with a plurality of first through-holes respectively, a plurality of hob 330 one end is passed a plurality of first through-holes respectively and is rotated with a plurality of rotation axes and be coordinated, a plurality of dead lever 320 other end respectively with a plurality of triaxial actuating mechanism body lower surface welding, wherein, triaxial actuating mechanism body, driving motor 310 and hob 330 all have threely, dead lever 320 has six, triaxial actuating mechanism body, driving motor 310 and hob 330 all have threely, driving motor 310's effect is that to drive hob 330 rotatory.
Further, the transmission mechanism 400 further includes a transmission mechanism body, fixed blocks 430 and rotating pipes 440, a side surface of the plurality of inner spiral blocks 410 and a side surface of the plurality of sliding pipes 420 are respectively welded to a side surface of the plurality of transmission mechanism bodies, one ends of the plurality of fixed blocks 430 are respectively welded to another side surface of the plurality of transmission mechanism bodies, the plurality of fixed blocks 430 are respectively provided with a plurality of second through holes, the plurality of rotating pipes 440 are respectively in rotating fit with the plurality of second through holes, two ends of the plurality of rotating pipes 440 are respectively welded to one ends of the plurality of first rotating blocks 450, wherein the number of sliding pipes 420, the number of fixed blocks 430 and the number of first rotating blocks 450 are six, the number of transmission mechanism bodies, the number of inner spiral blocks 410 and the number of rotating pipes 440 are three, the inner spiral blocks 410 function to convert the rotating motion of the spiral rods 330 into the up-down motion, the sliding pipes 420 function to, the rotating pipe 440 serves to rotate the first rotating block 450.
Further, positioning mechanism 500 still includes connecting block 510, pipe 520 and the rotatory piece 530 of second, a plurality of location strip 540 other ends respectively with the rotatory piece 530 swivelling fit of a plurality of second, a plurality of rotatory piece 530 one end of second respectively with a plurality of pipe 520 one end welding, a plurality of pipe 520 other ends respectively with the rotatory cooperation of a plurality of connecting block 510 both sides surface, a plurality of connecting block 510 one end all with positioning mechanism body side surface welding, wherein, connecting block 510 and pipe 520 all have threely, the rotatory piece 530 of second and location strip 540 all have six, the effect of the rotatory piece 450 of first and second 530 drives location strip 540 rotatory, the effect of location strip 540 is that the rotary motion at both ends converts into at the epaxial free motion of X axle and Y.
Further, the fixture 600 further comprises a fixture body, a liquid delivery pipe 620, a piston rod 630 and a rotating rod 640, one end of each of the liquid delivery pipes 620 is connected with the side surface of the hydraulic cylinder 610, the other end of each of the liquid delivery pipes 620 is connected with one end of each of the piston rods 630, the piston rods 630 are welded with the circumferential side surface of the fixture body, one end of the fixture body is welded with the other end of the hydraulic cylinder 610, the other ends of the piston rods 630 are respectively in rotating fit with the rotating rods 640, one end of each of the clamping claws 650 is respectively in rotating fit with the rotating rods 640, wherein the liquid delivery pipe 620, the piston rod 630, the rotating rods 640 and the clamping claws 650 are four in number, the liquid delivery pipe 620 is used for transmitting hydraulic pressure, the hydraulic cylinder 610 is used for pushing the piston rod 630 to move, the piston rod 630 is.
Further, the detection sheet 700 further includes a resistance sensing sheet 710, pressure caps 720, pressure springs 730 and contact sheets 740, the resistance sensing sheets 710 are respectively installed on the surfaces of the other sides of the detection sheet bodies, one ends of the pressure springs 730 are respectively connected with the surfaces of one sides of the resistance sensing sheets 710, the other ends of the pressure springs 730 are respectively connected with one ends of the pressure caps 720, the other ends of the pressure caps 720 are respectively welded with the surfaces of one sides of the contact sheets 740, wherein the resistance sensing sheets 710, the pressure caps 720 and the pressure springs 730 are twelve, the detection sheet bodies and the contact sheets 740 are four, the pressure caps 720 and the pressure springs 730 are used for extruding the resistance sensing sheets 710 to generate electric signals, and the resistance sensing sheets 710 are used for receiving the electric signals.
The working principle of the invention is as follows:
referring to fig. 1 to 7, the present invention is a positioning and clamping device for a sorting robot clamp, wherein a model of a monitoring motor 230 is DS-25RS370, a model of a driving motor 310 is BN three-phase motor, a model of a hydraulic cylinder 610 is STA-63-1T, and a using method thereof is as follows: when the person uses, the monitoring motor 230 and the rotary base 240 drive the photoelectric monitor body to rotate, and the photoelectric monitor body positions and monitors each workpiece. The inner spiral block 410 converts the rotary motion of the spiral rod 330 into vertical motion, the sliding pipe 420 slides on the fixing rod 320, and the inner spiral block 410 is matched to move up and down together, so that the device can freely move and position workpieces in the Z-axis direction, the rotary pipe 440 drives the first rotary block 450 to rotate, the second rotary block 530 and the positioning strip 540 are six, the first rotary block 450 and the second rotary block 530 drive the positioning strip 540 to rotate, the positioning strip 540 converts the rotary motion at two ends into free motion on the X-axis and the Y-axis, and the device can freely move and position workpieces in the three axes of the X-axis, the Y-axis and the Z-axis. The liquid transmission pipe 620 transmits hydraulic pressure, the hydraulic cylinder 610 pushes the piston rod 630 to move, the piston rod 630 pushes the clamping claw 650, and the clamping claw 650 is opened and closed under the action of the rotating rod 640, so that the device can clamp workpieces with different sizes and volumes. When the clamp 600 clamps a workpiece, the workpiece is pressed, the maximum pressure which can be borne by the workpiece is tested, the strength of the workpiece is detected, the workpiece presses the contact piece 740, the contact piece 740 presses the pressure cap 720 and the pressure spring 730, the pressure cap 720 and the pressure spring 730 press the resistance sensing piece 710 to generate an electric signal, the magnitude of the electric signal is in direct proportion to the magnitude of the applied pressure, and the reading screen 120 reads and displays the magnitude of the detected electric signal.
In the description herein, references to the description of "one embodiment," "an example," "a specific example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.
Claims (8)
1. The utility model provides a sorting robot is positioning and clamping device for anchor clamps, includes plummer (100), photoelectric monitor (200), triaxial actuating mechanism (300), drive mechanism (400), positioning mechanism (500), anchor clamps (600) and detects piece (700), its characterized in that: the bearing table (100) comprises a supporting ring (150), the photoelectric monitor (200) comprises a base (210), the three-axis driving mechanism (300) comprises fixing rods (320) and spiral rods (330), the transmission mechanism (400) comprises inner spiral blocks (410), sliding pipes (420) and first rotating blocks (450), the positioning mechanism (500) comprises a positioning mechanism body and positioning strips (540), the clamp (600) comprises a hydraulic cylinder (610) and clamping claws (650), the detection sheet (700) comprises a detection sheet body, the lower surfaces of a plurality of bases (210) are welded with the upper surface of the supporting ring (150), one ends of the fixing rods (320) are welded with the upper surface of the supporting ring (150), the inner spiral blocks (410) are respectively in rotating fit with the spiral rods (330), and the sliding pipes (420) are respectively in sliding fit with the fixing rods (320), one end of each positioning strip (540) is in rotating fit with the corresponding first rotating block (450), one end of each hydraulic cylinder (610) is welded to the lower surface of the corresponding positioning mechanism body, and the corresponding detection piece bodies are installed on one side surfaces of the corresponding clamping claws (650).
2. The positioning and clamping device for the sorting robot clamp according to claim 1, wherein: plummer (100) still include plummer body, control panel (110), read screen (120), control button (130) and support column (140), install in plummer body side surface control panel (110), read screen (120) and a plurality of control button (130) and all install in control panel (110) side surface, and is a plurality of support column (140) one end all with plummer body upper surface welding, a plurality of support column (140) other end all with support ring (150) lower surface welding.
3. The positioning and clamping device for the sorting robot clamp according to claim 1, wherein: photoelectric monitor (200) still include photoelectric monitor body, bracing piece (220), monitoring motor (230) and roating seat (240), and is a plurality of bracing piece (220) one end respectively with a plurality of base (210) upper surface welded, a plurality of monitoring motor (230) side surface and roating seat (240) side surface respectively with a plurality of bracing piece (220) other end welded, a plurality of monitoring motor (230) one end is equipped with a plurality of axis of rotation, and is a plurality of photoelectric monitor body side surface respectively with a plurality of axis of rotation normal running fit, a plurality of photoelectric monitor body side surface respectively with a plurality of roating seat (240) one end normal running fit.
4. The positioning and clamping device for the sorting robot clamp according to claim 1, wherein: triaxial actuating mechanism (300) still includes triaxial actuating mechanism body and driving motor (310), and is a plurality of driving motor (310) is installed respectively in a plurality of triaxial actuating mechanism body upper surfaces, and is a plurality of driving motor (310) one end is equipped with a plurality of rotation axes respectively, and is a plurality of triaxial actuating mechanism body is equipped with a plurality of first through-holes respectively, and is a plurality of hob (330) one end is passed a plurality of first through-holes respectively and is rotated the cooperation with a plurality of rotation axes, and is a plurality of dead lever (320) other end respectively with a plurality of triaxial actuating mechanism body lower surface welding.
5. The positioning and clamping device for the sorting robot clamp according to claim 1, wherein: drive mechanism (400) still includes drive mechanism body, fixed block (430) and rotatory pipe (440), and is a plurality of interior spiral block (410) side surface and a plurality of slip pipe (420) side surface respectively with a plurality of drive mechanism body side surface weld, a plurality of fixed block (430) one end respectively with a plurality of drive mechanism body opposite side surface weld, a plurality of fixed block (430) is equipped with a plurality of second through-holes respectively, and is a plurality of rotatory pipe (440) respectively with a plurality of second through-holes normal running fit, it is a plurality of rotatory pipe (440) both ends respectively with a plurality of first rotatory block (450) one end weld.
6. The positioning and clamping device for the sorting robot clamp according to claim 1, wherein: positioning mechanism (500) still includes connecting block (510), pipe (520) and the rotatory piece of second (530), and is a plurality of location strip (540) other end respectively with the rotatory piece of a plurality of seconds (530) normal running fit, a plurality of the rotatory piece of second (530) one end welds with a plurality of pipes (520) one end respectively, and is a plurality of the pipe (520) other end respectively with a plurality of connecting block (510) both sides surface normal running fit, a plurality of connecting block (510) one end all with positioning mechanism body side surface welding.
7. The positioning and clamping device for the sorting robot clamp according to claim 1, wherein: anchor clamps (600) still include anchor clamps body, biography liquid pipe (620), piston rod (630) and rotary rod (640), and are a plurality of it all is connected with pneumatic cylinder (610) side surface to pass liquid pipe (620) one end, and is a plurality of it is connected with a plurality of piston rod (630) one end respectively to pass liquid pipe (620) other end, and is a plurality of piston rod (630) week side surface weld with anchor clamps body respectively, anchor clamps body one end and pneumatic cylinder (610) other end welding, a plurality of the piston rod (630) other end respectively with a plurality of rotary rod (640) rotation cooperation, a plurality of gripper jaw (650) one end respectively with a plurality of rotary rod (640) rotation cooperation.
8. The positioning and clamping device for the sorting robot clamp according to claim 1, wherein: detect piece (700) still includes resistance response piece (710), pressure cap (720), pressure spring (730) and contact piece (740), and is a plurality of install respectively in a plurality of detection piece body opposite side surfaces resistance response piece (710), and is a plurality of pressure spring (730) one end is connected with a plurality of resistance response piece (710) one side surface respectively, and is a plurality of pressure spring (730) other end is connected with a plurality of pressure cap (720) one end respectively, and is a plurality of pressure cap (720) other end respectively with a plurality of contact piece (740) one side surface weld.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110077372.4A CN112917484A (en) | 2021-01-20 | 2021-01-20 | Positioning and clamping device for sorting robot clamp |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110077372.4A CN112917484A (en) | 2021-01-20 | 2021-01-20 | Positioning and clamping device for sorting robot clamp |
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| Publication Number | Publication Date |
|---|---|
| CN112917484A true CN112917484A (en) | 2021-06-08 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110077372.4A Withdrawn CN112917484A (en) | 2021-01-20 | 2021-01-20 | Positioning and clamping device for sorting robot clamp |
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| Country | Link |
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| CN (1) | CN112917484A (en) |
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| JP2004358634A (en) * | 2003-06-06 | 2004-12-24 | Akito Sano | Soft finger with built-in tactile sensor |
| CN103624766A (en) * | 2013-04-27 | 2014-03-12 | 张家港诺信自动化设备有限公司 | Machine vision parallel sorting robot |
| CN206140542U (en) * | 2016-11-08 | 2017-05-03 | 安徽工程大学 | Elasticity manipulator |
| CN108908374A (en) * | 2018-09-20 | 2018-11-30 | 安徽理工大学 | A kind of express sorter device people and control system |
| CN109352627A (en) * | 2018-11-06 | 2019-02-19 | 昆明理工大学 | A kind of space three-dimensional parallel manipulator hand |
| US20200147783A1 (en) * | 2018-11-14 | 2020-05-14 | Battelle Energy Alliance, Llc | Linear delta systems with additional degrees of freedom and related methods |
| CN111230917A (en) * | 2020-02-21 | 2020-06-05 | 江苏工程职业技术学院 | Industrial robot clamping structure |
| CN111993407A (en) * | 2020-08-14 | 2020-11-27 | 郑州工业应用技术学院 | Mechanical arm of educational robot |
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2021
- 2021-01-20 CN CN202110077372.4A patent/CN112917484A/en not_active Withdrawn
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004358634A (en) * | 2003-06-06 | 2004-12-24 | Akito Sano | Soft finger with built-in tactile sensor |
| CN103624766A (en) * | 2013-04-27 | 2014-03-12 | 张家港诺信自动化设备有限公司 | Machine vision parallel sorting robot |
| CN206140542U (en) * | 2016-11-08 | 2017-05-03 | 安徽工程大学 | Elasticity manipulator |
| CN108908374A (en) * | 2018-09-20 | 2018-11-30 | 安徽理工大学 | A kind of express sorter device people and control system |
| CN109352627A (en) * | 2018-11-06 | 2019-02-19 | 昆明理工大学 | A kind of space three-dimensional parallel manipulator hand |
| US20200147783A1 (en) * | 2018-11-14 | 2020-05-14 | Battelle Energy Alliance, Llc | Linear delta systems with additional degrees of freedom and related methods |
| CN111230917A (en) * | 2020-02-21 | 2020-06-05 | 江苏工程职业技术学院 | Industrial robot clamping structure |
| CN111993407A (en) * | 2020-08-14 | 2020-11-27 | 郑州工业应用技术学院 | Mechanical arm of educational robot |
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Application publication date: 20210608 |