CN208880727U - A kind of explosion-proof enabling gripper of spray robot - Google Patents
A kind of explosion-proof enabling gripper of spray robot Download PDFInfo
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- CN208880727U CN208880727U CN201821323651.4U CN201821323651U CN208880727U CN 208880727 U CN208880727 U CN 208880727U CN 201821323651 U CN201821323651 U CN 201821323651U CN 208880727 U CN208880727 U CN 208880727U
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- guide rod
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- gripper
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Abstract
The utility model provides a kind of explosion-proof enabling gripper of spray robot, belongs to the technical field of automobile manufacture.A kind of explosion-proof enabling gripper of spray robot includes adapter flange, telescopic unit, finger unit and the detection unit being attached on telescopic unit；The utility model passes through setting adapter flange, realize the installation realization opening door operation for both meeting enabling gripper, spraying operation is realized in the installation for being also able to satisfy rotation cup, realize the operation that can meet the two without specific robotic, and the gripper that opens the door carries the detection that detection unit realizes each stage of opening the door, eliminate the limitation of robot, to reduce the arrangement quantity of robot, improve the service efficiency of robot, cost is lower, adaptability is higher, simultaneously, also save arrangement space, to increase vehicle body tolerance, meet use demand when body contour size differs by more than robot adjusting stroke, further increase adaptability, the more conducively development of enterprise.
Description
Technical field
The utility model relates to the technical fields of automobile manufacture, are specifically related to a kind of explosion-proof enabling hand of spray robot
Pawl.
Background technique
In automobile manufacturing process, spraying operation need to be carried out, meanwhile, it needs to carry out opening door operation, by the car door opening of automobile.
Traditional, spraying operation is completed by the spray robot with rotation cup, and opening door operation is equipped with by enabling robot
Enabling hand is grabbed to be completed on enabling track.Not only wasting space also needs the robot for arranging more number of units, and overall cost is higher,
It is unfavorable for the development of enterprise.Meanwhile robot is smaller with respect to vehicle body position adjustable extent, when body contour size differs by more than machine
When device people adjusts stroke, this traditional structure cannot be used, and limitation is larger, and adaptability is poor, also, existing enabling hand
Pawl uses electromagnetic actuation, is confirmed whether to realize switch gate, the dependence to robot by the sensor carried in robot
Property is larger, is unfavorable for the replacement of equipment, adaptability is low.
Summary of the invention
For the above-mentioned problems in the prior art, it is now intended to provide a kind of explosion-proof enabling gripper of spray robot, with
An adapter flange is provided on robot arm capable of spraying, rotation cup can be installed for spraying operation by realizing, moreover it is possible to which installation is opened
Door gripper realizes opening door operation, eliminates the limitation to robot, and adaptability is higher, to reduce the use platform of robot
Number, improves the service efficiency of robot, saves arrangement space, to increase vehicle body tolerance, improve adaptability, more
Cost is saved, and is provided with enabling detection unit on enabling gripper, is realized by self structure to whether car door has drawn
Or completely open detection, the dependence to robot is eliminated, the robot of different model type is suitable for, adaptability is higher,
The more conducively development of enterprise.
Specific technical solution is as follows:
A kind of explosion-proof enabling gripper of spray robot, has the feature that, comprising: adapter flange, stretches finger unit
Unit and detection unit, wherein
Adapter flange side is connected on robot arm, and the other side is connected with telescopic unit；
Telescopic unit includes mounting box and guide rod guidance set, and mounting box is provided with the first cavity, and one end of mounting box is solid
Due on adapter flange, the other end offers pilot hole, and guide rod guidance set is set in the first cavity, guide rod guidance set packet
Guide rod and deflector apron are included, deflector apron is arranged along the axial direction of pilot hole, and one end of guide rod is slidedly arranged on deflector apron, leads
It is stretched out outside pilot hole to the other end of bar and is connected with finger unit, meanwhile, guide rod is set on the intracorporal one end of the first chamber
It is additionally provided with the first elastic component；
Detection unit is set in the first cavity, detection unit include enabling detection sensor, transfinite level sensor and
Sensor sensing plate, sensor sensing plate are set to guide rod and are slidedly arranged on one end of deflector apron, enabling detection sensor and
The level sensor that transfinites is respectively arranged at the both ends of deflector apron, and the level sensor that transfinites is located at close to one end of pilot hole；
Finger unit includes mounting base, car door compact heap, enabling finger, compresses guide rod and compress guide holder, mounting base
It is fixed on guide rod to stretch out on one end of pilot hole, is set side by side in mounting base and compresses guide holder and compress guide rod, also, pressed
Tight guide holder and compression guide rod are each perpendicular to guide rod setting, meanwhile, it compresses in guide holder and is provided with the second cavity, the second cavity
On offer telescopic hole, the one end for compressing guide rod is inserted in the second cavity, and the other end stretches out out of telescopic hole and is fixed with vehicle
Door compact heap, and the side of car door compact heap is slidedly arranged on enabling finger, meanwhile, on compressing guide rod and it is located in the second cavity
It is provided with the second elastic component.
The explosion-proof enabling gripper of above-mentioned a kind of spray robot, wherein bushing, axis are provided in pilot hole and telescopic hole
Lining is sheathed on guide rod respectively and compresses on guide rod.
The explosion-proof enabling gripper of above-mentioned a kind of spray robot, wherein bushing is oil-free bushing.
The explosion-proof enabling gripper of above-mentioned a kind of spray robot, wherein one end of the first elastic component is resisted against on bushing, separately
One end is fixed on guide rod and is located on the intracorporal one end of the first chamber.
The explosion-proof enabling gripper of above-mentioned a kind of spray robot, wherein compression guide rod is fixed in one end of the second elastic component
Middle part, the other end is resisted against in mounting base.
The explosion-proof enabling gripper of above-mentioned a kind of spray robot, wherein be positioning pin connection between mounting base and guide rod
It is fixed.
The explosion-proof enabling gripper of above-mentioned a kind of spray robot, wherein enabling finger is set in mounting base far from guiding
The side of bar compresses guide holder and is set to side of the mounting base close to guide rod.
The explosion-proof enabling gripper of above-mentioned a kind of spray robot, wherein enabling detection sensor, the level sensor that transfinites are
Explosion-proof sensor.
A kind of explosion-proof enabling gripper of above-mentioned spray robot, wherein be additionally provided with rotation cup on adapter flange, and revolve cup and
Telescopic unit is set side by side.
The explosion-proof enabling gripper of above-mentioned a kind of spray robot, wherein the first elastic component and the second elastic component are compression
Spring.
The good effect of above-mentioned technical proposal is:
The explosion-proof enabling gripper of above-mentioned spray robot, be arranged adapter flange, realize can install enabling gripper and
The purpose of installation rotation cup, to can guarantee that spray robot both can be suitably used for spraying operation, moreover it is possible to opening door operation is carried out, meanwhile,
Enabling gripper also comes with detection unit, it can be achieved that sliding door, detection of opening the door, eliminate spraying and enabling needs the machine of specific structure
The use of device people limits, and adaptability is higher, to reduce the arrangement quantity of robot, reduces costs, improves robot
Service efficiency, while space can also be saved, increase vehicle body tolerance, further increase adaptability, the more conducively development of enterprise.
Detailed description of the invention
Fig. 1 is a kind of structure chart of the embodiment of the explosion-proof enabling gripper of spray robot of the utility model；
Structure chart when Fig. 2 is the original state of one preferred embodiment of the utility model；
Fig. 3 is the structure chart when car door of one preferred embodiment of the utility model fully opens；
Fig. 4 is the structure chart at a visual angle of the finger unit of one preferred embodiment of the utility model；
Fig. 5 is the structure chart at another visual angle of the finger unit of one preferred embodiment of the utility model；
Fig. 6 is the telescopic unit of one preferred embodiment of the utility model and the structure chart of detection unit.
In attached drawing: 1, adapter flange；2, telescopic unit；21, mounting box；22, guide rod；23, deflector apron；24, first
Elastic component；3, finger unit；31, mounting base；32, car door compact heap；33, enabling finger；34, guide rod is compressed；35, guiding is compressed
Seat；36, the second elastic component；4, detection unit；41, enabling detection sensor；42, transfinite level sensor；43, sensor sensing
Plate；5, robot；6, bushing；7, car door；8, cup is revolved.
Specific embodiment
In order to be easy to understand the technical means, creative features, achievement of purpose, and effectiveness of the utility model, with
Lower embodiment combination attached drawing 1 is specifically addressed technical solution provided by the utility model to attached drawing 6, but the following contents not as
The restriction of the utility model.
Fig. 1 is a kind of structure chart of the embodiment of the explosion-proof enabling gripper of spray robot of the utility model；Fig. 2 is this reality
Structure chart when with the original state of a novel preferred embodiment；Fig. 3 is that the car door of one preferred embodiment of the utility model is complete
Structure chart when opening；Fig. 4 is the structure chart at a visual angle of the finger unit of one preferred embodiment of the utility model；Fig. 5 is this
The structure chart at another visual angle of the finger unit of one preferred embodiment of utility model；Fig. 6 is one preferred embodiment of the utility model
Telescopic unit and detection unit structure chart.As shown in Figure 1, Figure 2, provided in this embodiment shown in Fig. 3, Fig. 4, Fig. 5 and Fig. 6
The explosion-proof enabling gripper of spray robot includes: adapter flange 1, finger unit 3, telescopic unit 2 and detection unit 4, method of transferring
The side of orchid 1 is connected on 5 arm of robot, and the other side of adapter flange 1 is provided with telescopic unit 2, and carries on the back in telescopic unit 2
One end from adapter flange 1 is provided with finger unit 3, to realize the opening to car door 7, also, can be simultaneously on adapter flange 1
Column installation rotation cup 8, realizes spraying operation, avoids enabling and the problem of spraying is required to specific robot 5, improves adaptation
Property, to reduce the arrangement quantity of robot 5, the service efficiency of robot 5 is improved, and arrangement space can also be saved, increased
Big vehicle body tolerance is remained to when robot 5 adjusts stroke so that body contour size differs by more than using further increasing adaptation
Property, meanwhile, in being provided with detection unit 4 on telescopic unit 2 and positioned at one end of connection adapter flange 1, so that enabling gripper is certainly
Whether body has detection function, realized and drawn car door 7 or completely open detection by self structure, eliminated to machine
The dependence of device people 5 is suitable for the robot 5 of different model type, and adaptability is higher.
Specifically, the telescopic unit 2 being set on adapter flange 1 includes mounting box 21 and guide rod guidance set, mounting box
21 are arranged in cuboid, the first cavity are provided in mounting box 21, one end of mounting box 21 is fixed on adapter flange 1, separately
One end offers pilot hole, and boss is added at pilot hole, extends the axial length of pilot hole, and guide rod guidance set is set to
In first cavity, guide rod guidance set includes guide rod 22 and deflector apron 23, and deflector apron 23 is arranged along the axial direction of pilot hole,
One end of guide rod 22 is slidedly arranged on deflector apron 23, and the other end of guide rod 22 stretches out outside pilot hole and is connected with finger unit
3, since the axial length of pilot hole extends, so that stability is higher when guide rod 22 slides in pilot hole, and tie
Sliding of the guide rod 22 on deflector apron 23 is closed, prevents guide rod 22 from turning round during the motion, to ensure that out
The quality of door, meanwhile, guide rod 22, which is set on the intracorporal one end of the first chamber, is additionally provided with the first elastic component 24, and in pilot hole
It is inside provided with bushing 6, bushing 6 is sheathed on guide rod 22, carries a degree of axial force and radial force, and the first elastic component
24 one end is resisted against on bushing 6, and the other end is fixed on guide rod 22 and is located on the intracorporal one end of the first chamber, so that in initial shape
Under state, guide rod 22 is in indentation state, and when finger unit 3 touches car door 7 and opens car door 7, guide rod 22 is by outer
Power is stretched out.
Specifically, the finger unit 3 being set on telescopic unit 2 includes mounting base 31, car door compact heap 32, enabling finger
33, it compresses guide rod 34 and compresses guide holder 35, mounting base 31 is fixed on guide rod 22 and stretches out on one end of pilot hole, mounting base
It is set side by side on 31 and compresses guide holder 35 and compress guide rod 34, also, compressed guide holder 35 and compress guide rod 34 and be each perpendicular to
Guide rod 22 is arranged, and enabling finger 33 is set to the side in mounting base 31 far from guide rod 22, compresses guide holder 35 and is set to
Mounting base 31 is close to the side of guide rod 22, the angle of car door 7 when more adaptation car door 7 is opened, convenient for the opening of car door 7, structure
More rationally, it meanwhile, compressing in guide holder 35 and is provided with the second cavity, the side of the second cavity is resisted against in mounting base 31, and second
Cavity offers telescopic hole on the side far from mounting base 31, and telescopic hole is flexible by the wall thickness realization for increasing by the second cavity
The length of hole in the axial direction, the one end for compressing guide rod 34 are inserted in the second cavity, and the other end is stretched out and fixed out of telescopic hole
There is car door compact heap 32, and the side of car door compact heap 32 is slidedly arranged on enabling finger 33, so that compressing guide rod 34 when flexible
Rotary motion will not occur, protection is higher, also, bushing 6 is again provided in telescopic hole, a degree of for carrying
Axial force and radial force, meanwhile, the second elastic component 36, and second are provided on compressing guide rod 34 and in the second cavity
The middle part for compressing guide rod 34 is fixed in one end of elastic component 36, and the other end is resisted against in mounting base 31, so that in the initial state,
Compression guide rod 34 is stretching state, when touching car door 7 and opening car door 7, compresses guide rod 34 and is overcome the second bullet by external force
Property part 36 elastic force and do retraction movement.
More specifically, detection unit 4 is additionally provided in the first cavity of mounting box 21, detection unit 4 includes inspection of opening the door
Survey sensor 41, transfinite level sensor 42 and sensor sensing plate 43, and sensor sensing plate 43 is set to the cunning of guide rod 22 and sets
In on one end of deflector apron 23, enabling detection sensor 41 and the level sensor 42 that transfinites are respectively arranged at the two of deflector apron 23
End, and the level sensor 42 that transfinites is located at close to one end of pilot hole, so that when guide rod 22 stretches, 43 meeting of sensor sensing plate
Follow the flexible of guide rod 22 and close to or far from enabling detection sensor 41 and the level sensor 42 that transfinites, thus realize sliding door,
It opens the door and detects.
When being in original state, no external force, guide rod 22 is in indentation state, at this time at sensor sensing plate 43
In the end point of enabling detection sensor 41；When car door compact heap 32 being depressed on 7 upper ledge of car door after the movement of robot 5, pressure
Tight guide rod 34 detects external force and is retracted that the enabling detection sensor 41 in detection unit 4 triggers, and guide rod 22 stretches out, sensing
Device tablet 43 follows guide rod 22 to 42 1 Slideslip of level sensor that transfinites, to be fed back according to different external forces different
Signal in place, to detect whether to have drawn whether car door 7 or car door 7 are completely open, after car door 7 fully opens, at this point,
Door remains motionless when reaching enabling tooling defined position, and the external force that finger unit 3 is subject at this time increases, and guide rod 22 extend out to it
End of travel, sensor sensing plate 43 are moved to the end point for the level sensor 42 that transfinites, and the level sensor 42 that transfinites at this time is triggered,
And realize the completely open feedback of car door 7, convenient for the progress of subsequent spraying operation.
It as preferred embodiment, is connected and fixed between mounting base 31 and guide rod 22 for positioning pin, finger can be prevented
Relative to telescopic unit 2 rotary motion occurs for unit 3, maintains the stability of structure, safety is higher, and using effect is more preferable.
As preferred embodiment, bushing 6 is oil-free bushing, it is ensured that the cleanliness of structure, moreover it is possible to be promoted to radial direction
The support effect of power and axial force.
As preferred embodiment, enabling detection sensor 41, the level sensor 42 that transfinites are explosion-proof sensor, can be fitted
Explosion-proof environment is answered, adaptability is further promoted.
As preferred embodiment, the first elastic component 24 and the second elastic component 36 are compressed spring, can be sheathed on and lead
It to bar 22 and compresses on guide rod 34, guarantees the stability of two elastic components.
The explosion-proof enabling gripper of spray robot provided in this embodiment, including adapter flange 1, telescopic unit 2, finger unit
3 and the detection unit 4 that is attached on telescopic unit 2；By the way that adapter flange 1 is arranged, the peace for both meeting enabling gripper is realized
Dress realizes opening door operation, moreover it is possible to which spraying operation is realized in the installation for meeting rotation cup 8, and realizing can meet without specific robotic 5
The operation of the two, and the gripper that opens the door carries the detection that detection unit 4 realizes each stage of opening the door, and eliminates the limitation of robot 5,
To reduce the arrangement quantity of robot 5, the service efficiency of robot 5 is improved, cost is lower, and adaptability is higher, meanwhile, also
Arrangement space is saved, to increase vehicle body tolerance, meets body contour size and differs by more than when robot 5 adjusts stroke
Use demand further increases adaptability, the more conducively development of enterprise.
The above is only the utility model preferred embodiments, are not intended to limit the embodiments of the present invention and protection
Range should can appreciate that all with the utility model specification and diagramatic content institute to those skilled in the art
The equivalent replacement made and obviously change obtained scheme, the protection scope of the utility model should all be included in
It is interior.
Claims (10)
1. a kind of explosion-proof enabling gripper of spray robot characterized by comprising adapter flange, finger unit, telescopic unit with
And detection unit, wherein
The adapter flange side is connected on robot arm, and the other side is connected with the telescopic unit；
The telescopic unit includes mounting box and guide rod guidance set, and the mounting box is provided with the first cavity, the mounting box
One end be fixed on the adapter flange, the other end offers pilot hole, and the guide rod guidance set is set to described first
In cavity, the guide rod guidance set includes guide rod and deflector apron, and the deflector apron is set along the axial direction of the pilot hole
It sets, one end of the guide rod is slidedly arranged on the deflector apron, and the other end of the guide rod stretches out outside the pilot hole simultaneously
It is connected with the finger unit, meanwhile, the guide rod, which is set on described intracorporal one end of first chamber, is additionally provided with the first elasticity
Part；
The detection unit is set in first cavity, and the detection unit includes enabling detection sensor, transfinite position biography
Sensor and sensor sensing plate, the sensor sensing plate are set to one end that the guide rod is slidedly arranged on the deflector apron
On, the enabling detection sensor and the level sensor that transfinites are respectively arranged at the both ends of the deflector apron, and described super
Limit sensors are located at close to one end of the pilot hole；
The finger unit includes mounting base, car door compact heap, enabling finger, compresses guide rod and compress guide holder, the peace
Dress seat is fixed on the guide rod and stretches out on one end of the pilot hole, and the compression guiding is set side by side in the mounting base
Seat and the compression guide rod, also, the compression guide holder and the compression guide rod are each perpendicular to the guide rod setting, together
When, the second cavity is provided in the compression guide holder, and telescopic hole is offered on second cavity, it is described to compress the one of guide rod
End is inserted in second cavity, and the other end stretches out out of described telescopic hole and is fixed with the car door compact heap, and described
The side of car door compact heap is slidedly arranged on the enabling finger, meanwhile, on the compression guide rod and it is located at second cavity
In be provided with the second elastic component.
2. the explosion-proof enabling gripper of spray robot according to claim 1, which is characterized in that the pilot hole and described stretch
Bushing is provided in shrinkage cavity, the bushing is sheathed on respectively on the guide rod and the compression guide rod.
3. the explosion-proof enabling gripper of spray robot according to claim 2, which is characterized in that the bushing is oil-free axis
Lining.
4. the explosion-proof enabling gripper of spray robot according to claim 2, which is characterized in that the one of first elastic component
End is resisted against on the bushing, and the other end is fixed on the guide rod and is located on described intracorporal one end of first chamber.
5. the explosion-proof enabling gripper of spray robot according to claim 2, which is characterized in that the one of second elastic component
The middle part for compressing guide rod is fixed at end, and the other end is resisted against in the mounting base.
6. the explosion-proof enabling gripper of spray robot according to claim 1, which is characterized in that the mounting base and described lead
It is connected and fixed between bar for positioning pin.
7. the explosion-proof enabling gripper of spray robot according to claim 1, which is characterized in that the enabling finger is set to
Far from the side of the guide rod in the mounting base, the compression guide holder is set to the mounting base close to the guide rod
Side.
8. the explosion-proof enabling gripper of spray robot according to claim 1, which is characterized in that the enabling detection sensing
Device, the level sensor that transfinites are explosion-proof sensor.
9. the explosion-proof enabling gripper of spray robot according to claim 1, which is characterized in that also set on the adapter flange
It is equipped with rotation cup, and the rotation cup and the telescopic unit are set side by side.
10. the explosion-proof enabling gripper of spray robot according to claim 1, which is characterized in that first elastic component and
Second elastic component is compressed spring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821323651.4U CN208880727U (en) | 2018-08-16 | 2018-08-16 | A kind of explosion-proof enabling gripper of spray robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821323651.4U CN208880727U (en) | 2018-08-16 | 2018-08-16 | A kind of explosion-proof enabling gripper of spray robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208880727U true CN208880727U (en) | 2019-05-21 |
Family
ID=66509016
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821323651.4U Active CN208880727U (en) | 2018-08-16 | 2018-08-16 | A kind of explosion-proof enabling gripper of spray robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208880727U (en) |
-
2018
- 2018-08-16 CN CN201821323651.4U patent/CN208880727U/en active Active
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