CN209554298U - A kind of industrial robot tail end pick-up - Google Patents
A kind of industrial robot tail end pick-up Download PDFInfo
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- CN209554298U CN209554298U CN201821773297.5U CN201821773297U CN209554298U CN 209554298 U CN209554298 U CN 209554298U CN 201821773297 U CN201821773297 U CN 201821773297U CN 209554298 U CN209554298 U CN 209554298U
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- column
- clamping manipulator
- clamping
- manipulator
- manipulator column
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Abstract
The utility model provides a kind of industrial robot tail end pick-up, belong to industrial robot field, including installing big bottom plate, first clamping manipulator column, second clamping manipulator column and third clamping manipulator column and the 4th clamping manipulator column, first clamping manipulator column is equipped with L-shaped pad, manipulator claw and rotary shaft, backing plate is fixed at the side of the first clamping manipulator column, rotary shaft is vertically fixed on backing plate bottom, manipulator claw is disposed in parallel in rotating shaft terminal, first clamping manipulator column it is opposite before installing on big bottom plate after move left and right, third clamping manipulator column is identical as the first clamping manipulator pillar construction, third clamping manipulator column is fixed on the second manipulator column mounting plate.The utility model has the advantages of simple structure, and design rationally, carries out packing counting to cargo, increases substantially production and transport efficiency.
Description
Technical field
The utility model belongs to industrial robot field, is related to a kind of industry park robot end grabber.
Background technique
Robot is to automatically control being commonly called as machine, and " Industrial robots Mechanical's arm auxiliary assembly system " is solving industrially
In occupation of status more and more prominent in big weight equipment installation task, robot arm end effector is mechanical arm auxiliary assembly system
It unites indispensable component part.End effector is directly contacted with pieces of equipment, is executed the operations such as corresponding clamping, carrying and is appointed
The mechanization and automation of production are realized in business, and existing pneumatic grabber, there are easy gas leakage, and crawl loading capacity is small, and positioning accuracy is low
The disadvantages of, keep working efficiency low.
Summary of the invention
Problem to be solved in the utility model is to be to provide a kind of industrial robot tail end pick-up, can make industrial life
The efficiency of production greatly improves, and this industrial robot tail end pick-up grab at work it is more accurate.
In order to achieve the above objectives, the technical solution of the utility model is achieved in that a kind of industrial robot tail end picks up
Take device, including the big bottom plate of installation, the first clamping manipulator column, the second clamping manipulator column and third clamping manipulator column
With the 4th clamping manipulator column, the first clamping manipulator column is equipped with L-shaped pad, manipulator claw and rotary shaft,
The backing plate is fixed at the side of the first clamping manipulator column, and the rotary shaft is vertically fixed on backing plate bottom, institute
It states manipulator claw and is disposed in parallel in rotating shaft terminal, before the opposite big bottom plate of installation of the first clamping manipulator column can carry out
After move left and right, the third clamping manipulator column is identical as the first clamping manipulator pillar construction, the third clamping machine
Tool hand column is fixed on the second manipulator column mounting plate.
Further, the rotating shaft terminal is equipped with tight split nut, and the tight split nut is located in the manipulator claw of both ends
Side passes through vertical range between screw thread adjusting in rotary shaft simultaneously solid mechanical hand claw.
Further, the first clamping manipulator column is fixed on the first sliding block, and first sliding block and first is directly
Line mould group is slidably connected, and the first straight line mould group is fixed on the first manipulator column mounting plate, the installation outsole
Board ends are equipped with the parallel sliding track vertical with the first manipulator column mounting plate, and centre is equipped with sliding screw, the second servo motor
It is connect with sliding screw, and the first manipulator column mounting plate is driven to move on the slide rail.
Further, the second clamping manipulator column is fixed on the second sliding block, and second sliding block and second is directly
Line mould group is slidably connected, and the second straight line mould group is fixed on the second mechanical column mounting plate, the second straight line mould
Group is fixed on the second manipulator column mounting plate, and the second manipulator column mounting plate is fixed at the big bottom plate of installation
On.
Further, the first clamping manipulator column, the second clamping manipulator column, third clamping manipulator column
It is identical with the 4th clamping manipulator pillar construction, and the first clamping manipulator of computer drives column, the second clamping manipulator are vertical
Column and the 4th clamping manipulator column are mobile towards third clamping manipulator column direction.
Further, in first servo motor one end insertion first straight line mould group, and drive the first sliding block first
It is moved forward and backward in straight line mould group, third servo motor one end is inserted into second straight line mould group, and drives the second sliding block the
It is moved in two straight line mould groups.
Further, force snesor and vision system, the force snesor and vision system are equipped in the manipulator claw
System is separately connected computer.
Further, the both ends of the first straight line mould group and second straight line mould group two sides are equipped with limited block, and described
One sliding block and the second sliding block two sides are equipped with journey stop gear, and the journey stop gear is located in parallel between two limited blocks.
Further, the computer drives first servo motor, the second servo motor and third by motion control card
Servo motor.
Further, first sliding block is equipped with rotating pick-up head, and the camera connects vision system, the view
Feel system connects computer.
Compared with prior art, the utility model has the advantage that and good effect are as follows:
1, the utility model can according to chucking device size, adjusting lock nut change between manipulator clamping jaw it is vertical away from
From control servo motor feeds different displacements and realizes that different size model number equipment clamp.
2, greatly improve industrial efficiency, and this industrial robot tail end pick-up grabs at work
More accurate, the exclusive function of cutting off self-lock keeps it more safe and reliable at work.
3, the utility model electric gripper has the characteristics that loading capacity is big, positioning accuracy is high, fast response time, is applied to
The position money that big weight equipment may be implemented in industrial robot assembly keeps adjusting with precision.
4, the utility model has real time monitoring mechanical arm working condition, prevents industrial accident, while the monitoring
Device have certain intelligence, easy to operate in practical applications, easy to use and structurally reasonable, characteristics of compact layout, especially
It is practically applicable in industrial production.
Detailed description of the invention
The attached drawing for constituting a part of the utility model is used to provide a further understanding of the present invention, this is practical new
The illustrative embodiments and their description of type are not constituteed improper limits to the present invention for explaining the utility model.In
In attached drawing:
Fig. 1 is a kind of structural schematic diagram of industrial robot tail end pick-up of the utility model；
Fig. 2 is a kind of enlarged diagram of industrial robot tail end pick-up of the utility model；
Fig. 3 is a kind of computer schematic diagram of industrial robot tail end pick-up of the utility model.
Description of symbols:
1- the 4th accommodates manipulator column；The tight split nut of 2-；3- manipulator claw；4- backing plate；5- rotary shaft；7- first is pressed from both sides
Hold mechanical column；The first sliding block of 8-；The second servo motor of 9-；10- first straight line mould group；11- first servo motor；12- sliding rail；
13- installs big bottom plate；14- sliding screw；16- third servo motor；17- the second clamping manipulator column；The second manipulator of 18-
Column mounting plate；19- stroke limit structure；The second sliding block of 20-；21- second straight line mould group；22- limited block；The clamping of 24- third
Manipulator column；25- camera；26- the first manipulator column mounting plate；61- computer；64- vision system；68- is firmly grasped
System；70- force snesor；72- motion control card.
Specific embodiment
It should be noted that in the absence of conflict, the feature in the embodiments of the present invention and embodiment can
To be combined with each other.
In the description of the present invention, it should be understood that term " center ", " longitudinal direction ", " transverse direction ", "upper", "lower",
The orientation or positional relationship of the instructions such as "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside" is
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of describing the present invention and simplifying the description, rather than indicate
Or imply that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore cannot understand
For limitations of the present invention.In addition, term " first ", " second " etc. are used for description purposes only, and should not be understood as indicating
Or it implies relative importance or implicitly indicates the quantity of indicated technical characteristic." first ", " second " etc. are defined as a result,
Feature can explicitly or implicitly include one or more of the features.It is in the description of the present invention, unless another
It is described, the meaning of " plurality " is two or more.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " is pacified
Dress ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally
Connection；It can be mechanical connection, be also possible to be electrically connected；Can be directly connected, can also indirectly connected through an intermediary,
It can be the connection inside two elements.For the ordinary skill in the art, on being understood by concrete condition
State the concrete meaning of term in the present invention.
The utility model will be described in detail below with reference to the accompanying drawings and embodiments.
As shown in Figure 1, Figure 2 and Figure 3, a kind of industrial robot tail end pick-up, including the big bottom plate 13 of installation, the first clamping
Manipulator column 7, the second clamping manipulator column 17 and third clamping manipulator column 24 and the 4th clamping manipulator column 1,
First clamping manipulator column 7 is equipped with L-shaped pad 4, manipulator claw 3 and rotary shaft 5, and backing plate 4 is fixed at the first folder
The side of manipulator column 7 is held, rotary shaft 5 is vertically fixed on 4 bottom of backing plate, and manipulator claw 3 is disposed in parallel in rotary shaft 5
Both ends, the first clamping manipulator column 7 it is opposite before installing on big bottom plate 13 after move left and right, third clamping manipulator column 24
Identical as 7 structure of the first clamping manipulator column, third clamping manipulator column 24 is fixed on the second manipulator column mounting plate
On 18, design rationally, effectively carries out dividing counting to cargo.
Preferably, 5 both ends of rotary shaft are equipped with tight split nut 2, and tight split nut 2 is located at 3 inside of both ends manipulator claw, passes through
Screw thread adjusts simultaneously 3 vertical ranges of solid mechanical hand claw in rotary shaft 5, according to different sizes, the chucking device of Different Rule
Distance between adjusting manipulator claw 3.
Preferably, the first clamping manipulator column 7 is fixed on the first sliding block 8, the first sliding block 8 and first straight line mould group 10
It is slidably connected, first straight line mould group 10 is fixed on the first manipulator column mounting plate 26, is installed big 13 both ends of bottom plate and is set
Have a parallel sliding track 12 vertical with the first manipulator column mounting plate 26, centre is equipped with sliding screw 14, the second servo motor 9 with
Sliding screw 14 connects, and the first manipulator column mounting plate 26 is driven to move on sliding rail 12, and manipulator claw 3 is being grabbed
The length and distance for changing him when movement are taken, just can be carried out better capture apparatus in this way, and more efficient.
Preferably, the second clamping manipulator column 17 is fixed on the second sliding block 20, the insertion of 16 one end of third servo motor
In second straight line mould group 21, and the second sliding block 20 is driven to move in second straight line mould group 21, second straight line mould group 21 is fixed on
On second manipulator column mounting plate 18, the second manipulator column mounting plate 18 is fixed on the big bottom plate 13 of installation, is passed through
Computer controls third servo motor to adjust the second clamping manipulator stud, more accurate crawl equipment to be held.
Preferably, the first clamping manipulator column 7, the second clamping manipulator column 17, third clamping manipulator column 24
It is identical with 1 structure of the 4th clamping manipulator column, and computer 61 drives the first clamping manipulator column 7, the second clamping machine
Hand column 17 and the 4th clamping manipulator column 1 are mobile towards 24 direction of third clamping manipulator column, prevent clamping dynamics inadequate
Make to be clamped object landing.
Preferably, in 11 one end of first servo motor insertion first straight line mould group 10, and drive the first sliding block 8 straight first
It is moved in line mould group 10, the position for grabbing equipment to be held convenient for manipulator claw is adjusted.
Preferably, force snesor 70 and vision system 64, force snesor 70 and vision system are equipped in manipulator claw 3
64 are electrically connected with computer 61, and the force snesor 70 in manipulator claw 3 can be by the size of real-time detection power and feedback is in terms of
Calculation machine 61, the vision system 64 in manipulator claw 3 can sense then the position of equipment is fed back to computer 61, computer 61
Make the capture apparatus of 3 accuracy of manipulator claw by calculation processing.
Preferably, the both ends of 21 two sides of first straight line mould group 10 and second straight line mould group are equipped with limited block 22, and first is sliding
Block 8 and 20 two sides of the second sliding block are equipped with journey stop gear 19, journey stop gear 19 be located at both ends limited block 22 it
Between, realize limit of first sliding block 8 in first straight line mould group 10, limit of second sliding block 20 in second straight line mould group.
Preferably, computer 61 and label symbol above are inconsistent, drive the first servo electricity by motion control card 72
Machine 11, the second servo motor 9 and third servo motor 16 are watched by 61 programming Control first servo motor 11 of computer, second
Motor 9 and third servo motor 16 are taken, different displacements is fed, the equipment for realizing different size model numbers clamps.
Preferably, the first sliding block 8 is equipped with rotating pick-up head 25, and camera 25 connects vision system 64, vision system
64 connection computers 61 acquire the position of equipment to be held according to camera 25, and are set by the rotation observation clamping of camera 25
The standby position for needing to put.
In practical work process, the size, shape and position of equipment to be held are acquired by camera 25, and by information
Computer 61 is passed to, tight split nut 2 is adjusted according to equipment size to be held, by 61 programming Control servo motor of computer,
Second servo motor 9 drives the first manipulator column mounting plate 26 by sliding screw 14, and first servo motor 11 and third are watched
Motor 16 is taken with the first clamping manipulator column 7 and the second clamping manipulator column 17 on movable slider, makes the first clamping machine
Hand column 7, second clamps hand column 17 and the 4th clamping mobile phone tool column 1 is moved to 24 direction of third clamping manipulator column simultaneously
It is dynamic, and equipment to be held is clamped, clamping force is tested out by the force snesor 70 in manipulator claw 3, judges manipulator claw 3
Whether uniform force, and when clamping it is whether stable, if any wild effect, adjust power size and power active position after implement
Crawl.
The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this
Within the spirit and principle of utility model, any modification, equivalent replacement, improvement and so on should be included in the utility model
Protection scope within.
Claims (10)
1. a kind of industrial robot tail end pick-up, it is characterised in that: including installing big bottom plate (13), the first clamping manipulator is vertical
Column (7), the second clamping manipulator column (17), third clamping manipulator column (24) and the 4th clamping manipulator column (1), institute
The first clamping manipulator column (7) is stated equipped with L-shaped pad (4), manipulator claw (3) and rotary shaft (5), the backing plate (4)
It is fixed at the side of the first clamping manipulator column (7), the rotary shaft (5) is vertically fixed on backing plate (4) bottom, institute
It states manipulator claw (3) and is disposed in parallel in rotary shaft (5) both ends, the opposite installation outsole of the first clamping manipulator column (7)
Plate (13) can be moved all around, and the third clamping manipulator column (24) and the first clamping manipulator column (7) are tied
Structure is identical, and the third clamping manipulator column (24) is fixed on the second manipulator column mounting plate (18).
2. a kind of industrial robot tail end pick-up according to claim 1, it is characterised in that: the rotary shaft (5) two
End is equipped with tight split nut (2), and the tight split nut (2) is located on the inside of both ends manipulator claw (3), passes through spiral shell on rotary shaft (5)
Line adjusts and vertical range between solid mechanical hand claw (3).
3. a kind of industrial robot tail end pick-up according to claim 1, it is characterised in that: first clamping machine
Hand column (7) is fixed on the first sliding block (8), and first sliding block (8) is slidably connected with first straight line mould group (10), and described
One straight line mould group (10) is fixed on the first manipulator column mounting plate (26), and big bottom plate (13) both ends of installation are equipped with
The parallel sliding track (12) vertical with first manipulator column mounting plate (26), centre are equipped with sliding screw (14), the second servo electricity
Machine (9) is connect with sliding screw (14), and the first manipulator column mounting plate (26) is driven to move on sliding rail (12).
4. a kind of industrial robot tail end pick-up according to claim 1, it is characterised in that: second clamping machine
Hand column (17) is fixed on the second sliding block (20), and second sliding block (20) is slidably connected with second straight line mould group (21), institute
It states second straight line mould group to be fixed on the second mechanical column mounting plate, the second straight line mould group (21) is fixed on the second machine
On tool hand column mounting plate (18), the second manipulator column mounting plate (18) is fixed on the big bottom plate (13) of installation.
5. a kind of industrial robot tail end pick-up according to claim 1, it is characterised in that: first clamping machine
Hand column (7), the second clamping manipulator column (17), third clamping manipulator column (24) and the 4th clamping manipulator column
(1) structure is identical, and computer (61) drives the first clamping manipulator column (7), the second clamping manipulator column (17) and the
Four clamping manipulator columns (1) are mobile towards third clamping manipulator column (24) direction.
6. a kind of industrial robot tail end pick-up according to claim 2, it is characterised in that: first servo motor (11)
One end is inserted into first straight line mould group (10), and the first sliding block (8) is driven to move in first straight line mould group (10).
7. a kind of industrial robot tail end pick-up according to claim 1, it is characterised in that: the manipulator claw
(3) force snesor (70) and vision system (64) are equipped in, the force snesor (70) and vision system (64) are and computer
(61) it is electrically connected.
8. a kind of industrial robot tail end pick-up according to claim 3, it is characterised in that: the first straight line mould group
(10) it is equipped with limited block (22) with the both ends of second straight line mould group (21) two sides, first sliding block (8) and the second sliding block
(20) two sides are equipped with journey stop gear (19), and the journey stop gear (19) is located between both ends limited block (22).
9. a kind of industrial robot tail end pick-up according to claim 7, it is characterised in that: the computer (61) is logical
Cross motion control card (72) driving first servo motor (11), the second servo motor (9) and third servo motor (16).
10. a kind of industrial robot tail end pick-up according to claim 3, it is characterised in that: first sliding block (8)
It is equipped with rotating pick-up head (25), the camera (25) connects vision system (64), vision system (64) the connection meter
Calculation machine (61).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821773297.5U CN209554298U (en) | 2018-10-30 | 2018-10-30 | A kind of industrial robot tail end pick-up |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821773297.5U CN209554298U (en) | 2018-10-30 | 2018-10-30 | A kind of industrial robot tail end pick-up |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209554298U true CN209554298U (en) | 2019-10-29 |
Family
ID=68299378
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821773297.5U Expired - Fee Related CN209554298U (en) | 2018-10-30 | 2018-10-30 | A kind of industrial robot tail end pick-up |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209554298U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111674911A (en) * | 2020-06-17 | 2020-09-18 | 博众精工科技股份有限公司 | Grabbing device of carrier |
| CN113606815A (en) * | 2021-09-15 | 2021-11-05 | 河北纳森人工环境有限公司 | Environment-friendly ultra-low temperature air source heat pump |
-
2018
- 2018-10-30 CN CN201821773297.5U patent/CN209554298U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111674911A (en) * | 2020-06-17 | 2020-09-18 | 博众精工科技股份有限公司 | Grabbing device of carrier |
| CN113606815A (en) * | 2021-09-15 | 2021-11-05 | 河北纳森人工环境有限公司 | Environment-friendly ultra-low temperature air source heat pump |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20191029 Termination date: 20211030 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |