CN212736047U - Manipulator suitable for grabbing workpieces of different shapes - Google Patents
Manipulator suitable for grabbing workpieces of different shapes Download PDFInfo
- Publication number
- CN212736047U CN212736047U CN202021657085.8U CN202021657085U CN212736047U CN 212736047 U CN212736047 U CN 212736047U CN 202021657085 U CN202021657085 U CN 202021657085U CN 212736047 U CN212736047 U CN 212736047U
- Authority
- CN
- China
- Prior art keywords
- clamping jaw
- cylinder
- different shapes
- different
- manipulator
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model relates to a be suitable for to snatch manipulator of different shape work pieces, including a clamping jaw cylinder, two swing cylinder and two clamping jaws, one is respectively connected to two fingers of clamping jaw cylinder swing cylinder, every one is all connected in swing cylinder's pivot the clamping jaw, the shape of the left and right sides terminal surface of clamping jaw is different, two the shape of clamping jaw is the same or different, the clamping jaw is connected with the sucking disc. The utility model discloses a manipulator can realize snatching and carrying the work piece of different shapes (including regular shape and irregularly shaped work piece), compare in traditional technique, owing to left out industrial robot and picked up the process of different manipulators (the work piece that corresponds different shapes) to the orbit of industrial robot has been simplified, the time of switching different manipulators has been saved, the whole efficiency of industrial robot transport has been promoted, the quantity and the tool rest of manipulator still can be saved, practice thrift the cost.
Description
Technical Field
The utility model relates to a manipulator especially relates to a be suitable for the manipulator that snatchs different shape work pieces.
Background
In the field of industrial robot transportation, the transportation tasks are complex and various, and the shapes and the types of the corresponding transported objects are also various, so that the industrial robot is provided with a corresponding transportation tool. At present, in the industrial robot handling tool scheme, to the work piece of carrying different shapes, the mode that an industrial robot end is equipped with a plurality of manipulators (be suitable for respectively grabbing the work piece of different shapes) is adopted more, a plurality of manipulators are placed on the tool rest, industrial robot picks up corresponding manipulator earlier according to different shapes work piece, then implement the transport respectively to the work piece of different shapes, this kind of mode has caused the complexity of industrial robot orbit to a certain extent, and spent too much time and switched over the instrument, the whole efficiency of industrial robot transport has been influenced.
SUMMERY OF THE UTILITY MODEL
For overcoming the above-mentioned defect of prior art, the utility model provides a be suitable for the manipulator that snatchs different shape work pieces, it can snatch and carry the work piece of different shapes, can effectively improve handling efficiency.
The utility model discloses realize above-mentioned purpose's technical scheme is: the utility model provides a be suitable for snatch manipulator of different shape work pieces, includes a clamping jaw cylinder (or called pneumatic finger), two swing cylinders and two clamping jaws, one is respectively connected to two fingers (mobilizable clamping jaw seat) of clamping jaw cylinder swing cylinder, every swing cylinder's pivot all connects one the clamping jaw, the shape of the left and right sides terminal surface of clamping jaw is different, two the shape of clamping jaw is the same or different.
Preferably, the swing cylinder is a vane type swing cylinder with a swing angle of 180 °.
Preferably, the clamping jaw cylinder is provided with two parallel clamping jaws.
Preferably, one end face of the left and right end faces of the clamping jaw is a plane, and the other end face of the clamping jaw is an arc face.
Preferably, the swing cylinder with the finger can be dismantled and be connected, and the link is equipped with matched with spliced pole and adapter sleeve respectively, the spliced pole inserts the adapter sleeve, and the two is through screw or round pin fixed connection, perhaps the spliced pole with the adapter sleeve is equipped with matched with external screw thread and internal thread, two threaded connection.
Preferably, the clamping jaw with swing cylinder can dismantle the connection, be equipped with on the clamping jaw and be suitable for pivot male shaft sleeve, the pivot is inserted the shaft sleeve, the two is through screw or round pin fixed connection, perhaps be equipped with the shaft hole on the clamping jaw, the pivot with the shaft hole is equipped with matched with external screw thread and internal thread, both threaded connection.
Preferably, a flange adapted to be connected to the end of the industrial robot is connected to the gripper cylinder.
Preferably, the manipulator suitable for grabbing workpieces of different shapes further comprises two suckers, the number of the suckers is one, and the suckers are connected with the clamping jaws, or the number of the suckers is two, and the suckers are respectively connected with the clamping jaws.
Preferably, the sucker is detachably connected with the clamping jaw, and the connecting end is respectively provided with a stud and a screw hole which are matched with each other and in threaded connection with each other.
Preferably, the sucking disc is vacuum chuck, the body of clamping jaw the double-screw bolt with the screw is equipped with the gas circuit of intercommunication, the gas circuit with the absorption end intercommunication of sucking disc, be equipped with on the terminal surface of clamping jaw with the gas pocket of gas circuit intercommunication.
The utility model has the advantages that: the utility model discloses a manipulator can realize snatching and carrying the work piece of different shapes (including regular shape and irregularly shaped work piece), compare in traditional technique, owing to left out industrial robot and picked up the process of different manipulators (the work piece that corresponds different shapes) to the orbit of industrial robot has been simplified, the time of switching different manipulators has been saved, the whole efficiency of industrial robot transport has been promoted, the quantity and the tool rest of manipulator still can be saved, practice thrift the cost. Additionally, the utility model discloses an each component part all adopts detachable connected mode, but flexible combination assembly to adapt to different work condition and snatch and carry the work piece of different shapes.
Drawings
Fig. 1 is a schematic structural diagram of the present invention;
fig. 2 is a schematic structural view of the clamping jaw cylinder of the present invention;
fig. 3 is a schematic structural diagram of the oscillating cylinder of the present invention;
fig. 4 is a schematic structural view of the clamping jaw of the present invention;
fig. 5 is a schematic structural diagram of the suction cup of the present invention.
Detailed Description
Referring to fig. 1 to 5, the utility model discloses a be suitable for to snatch manipulator of different shape work pieces, including a clamping jaw cylinder 1, two swing cylinder 2 and two clamping jaws (indicate the execution clamping jaw who snatchs the work piece) 3, two fingers (or cylinder clamping jaw) 11 of clamping jaw cylinder are located its bottom and vertical downwardly extending, every the finger respectively with one the top of swing cylinder is connected, makes two horizontal interval between the swing cylinder is adjustable, swing cylinder's pivot 21 is located its bottom and vertical downwardly extending, every swing cylinder the pivot all with one the top of clamping jaw is connected, makes two the clamping jaw is rotatable along vertical direction, the clamping jaw can be the cubic of rectangular shape, and its length direction is vertical downwardly, the shape of its left and right sides terminal surface is different to snatch and the work piece of different shapes (the shape respectively with the corresponding work piece of the shape of the left and right sides terminal surface of clamping jaw) with the clamping jaw And (5) carrying. The two jaws may be of the same or different shape.
The swing cylinder is preferably a blade type swing cylinder with a swing angle of 180 degrees, the main body of the clamping jaw is parallel to or in the same plane with the blade of the swing cylinder, the rotating shaft can rotate for 180 degrees so as to drive the clamping jaws to rotate for 180 degrees, the shapes of the end faces of the two clamping jaws at the opposite sides are adjusted to be suitable for grabbing and carrying workpieces of different shapes, and the air inlet and outlet of the swing cylinder can be arranged on the side wall of the swing cylinder.
The clamping jaw air cylinder is preferably a clamping jaw air cylinder provided with two parallel clamping jaws, such as a flat clamping finger clamping jaw air cylinder, the horizontal distance between the two fingers can be flexibly adjusted, so that the horizontal distance between the two clamping jaws can be adjusted to be suitable for grabbing and carrying workpieces of different sizes, and air inlet and outlet ports of the clamping jaw air cylinder can be arranged on the side wall of the clamping jaw air cylinder.
One side end face of the left side end face and the right side end face of the clamping jaw can be a plane, the other side end face can be an arc face, and the clamping jaw is suitable for grabbing and carrying common columnar workpieces with square and circular cross sections respectively. The left and right end faces of the clamping jaw can also be arranged into other shapes, such as polygonal concave faces with different numbers of sides, so that the clamping jaw is suitable for grabbing and carrying cylindrical workpieces with regular polygonal cross sections.
The swing cylinder with the preferred connection of dismantling of finger, the link is equipped with matched with spliced pole and adapter sleeve respectively, if the top of swing cylinder is equipped with vertical upwards stretching out spliced pole 22, the bottom of finger is equipped with vertical downwardly extending the adapter sleeve 12, the spliced pole inserts the adapter sleeve, the two is through screw or round pin fixed connection, the spliced pole with be equipped with the matched with on the adapter sleeve and be suitable for screw or round pin male horizontally screw or pinhole, perhaps be equipped with the external screw thread on the spliced pole, be equipped with in the adapter sleeve with external screw thread matched with internal thread, the two threaded connection.
The clamping jaw with swing cylinder is preferred can dismantle the connection, the top of clamping jaw is equipped with vertical upwards stretching out be suitable for pivot male shaft sleeve, the pivot is inserted the shaft sleeve, the two is through screw or round pin fixed connection, the pivot with be equipped with the matched with on the shaft sleeve and be suitable for screw or round pin male horizontally screw or pinhole, perhaps the top of clamping jaw is equipped with vertical decurrent shaft hole 31, be equipped with the external screw thread in the pivot, be equipped with in the shaft hole with external screw thread matched with internal thread, the two threaded connection.
The top end of the clamping jaw cylinder can be detachably connected with a flange 4, such as a bolt connection, and the flange is used for being connected with a terminal flange of an industrial robot.
The manipulator can also include sucking disc 5, the quantity of sucking disc can be one, with one the clamping jaw is connected, the quantity of sucking disc also can be two, respectively with two the clamping jaw is connected, the absorption end of sucking disc is vertical downwards, the sucking disc is used for snatching and carrying irregularly shaped work piece, the quantity of sucking disc can be according to the shape and the size flexible selection of the work piece of snatching and carrying.
The sucking disc with the clamping jaw is preferred can dismantle the connection, and the link is equipped with matched with double-screw bolt and screw respectively, if the top of sucking disc is equipped with vertical upwards stretching out double-screw bolt 51, the bottom of clamping jaw is equipped with vertical ascending screw 32, both threaded connection. The sucker and the clamping jaw can also be connected in a shaft-shaft sleeve inserting mode, and the shaft sleeve can be fixedly connected by screws or pins. The detachable connection mode of the suction cup and the clamping jaw is preferably the same as that of the swinging cylinder and the finger, so that the suction cup can be directly installed on the finger for use (when no regular workpiece needs to be grabbed or carried, and the swinging cylinder and the clamping jaw are not needed).
The sucking disc is preferably a vacuum sucking disc, the body of the clamping jaw, the stud and the screw hole are provided with communicated gas paths, the gas paths are communicated with the adsorption end of the sucking disc, the end face (such as the top face) of the clamping jaw is provided with gas holes 33 communicated with the gas paths, and the gas holes are used for being connected with a vacuum generator so that the adsorption end of the sucking disc generates negative pressure to adsorb and carry workpieces after the vacuum generator is started.
Taking an assembly task of sequentially assembling columnar workpieces (hereinafter referred to as square, circular and triangular workpieces) with square, circular and triangular cross sections as an example, the operation and working process of the manipulator is as follows: firstly, the manipulator is mounted to the tail end of the industrial robot through the flange, and a corresponding air path is connected. Then, a square workpiece is firstly conveyed to an assembly platform, at the moment, the plane side end faces of the two clamping jaws are opposite (the two clamping jaws are applicable to the condition that the initial positions of the two clamping jaws are opposite to each other, if the initial positions of the two clamping jaws are opposite to each other, the rotating shafts of the two swing air cylinders are controlled to simultaneously rotate 180 degrees, so that the plane side end faces of the two swing air cylinders are opposite to each other), then, the distance between the two fingers of the clamping jaw air cylinder is adjusted, the two fingers are oppositely opened, an industrial robot drives the mechanical arm to move to the position of the square workpiece, and then, the two fingers are controlled to be relatively closed, so that the two clamping jaws grab the square workpiece and convey the square workpiece. And continuously carrying the round workpiece, controlling the rotating shafts of the two swing cylinders to rotate 180 degrees at the same time, enabling the side end faces of the arc surfaces of the two clamping jaws to be opposite, then enabling the two fingers to be opened oppositely, driving the mechanical arm to move to the position of the round workpiece by the industrial robot, then controlling the two fingers to be closed oppositely, and enabling the two clamping jaws to grab the round workpiece and carry the round workpiece to an assembly platform to be assembled with the square workpiece. And finally, carrying the triangular workpiece, wherein the clamping jaw air cylinder and the swing air cylinder do not act at the moment, the industrial robot drives the manipulator to move to the position of the triangular workpiece, and the sucker is controlled to suck the triangular workpiece and carry the triangular workpiece to an assembly platform to be assembled with the circular workpiece.
The utility model discloses a manipulator can realize snatching and carrying the work piece of different shapes (including regular shape and irregularly shaped work piece), compare in traditional technique, owing to left out industrial robot and picked up the process of different manipulators (the work piece that corresponds different shapes) to the orbit of industrial robot has been simplified, the time of switching different manipulators has been saved, the whole efficiency of industrial robot transport has been promoted, the quantity and the tool rest of manipulator still can be saved, practice thrift the cost.
Claims (10)
1. The utility model provides a be suitable for to snatch manipulator of different shape work pieces, its characterized in that includes a clamping jaw cylinder, two swing cylinder and two clamping jaws, two fingers of clamping jaw cylinder respectively connect one swing cylinder, every swing cylinder's pivot all connects one the clamping jaw, the shape of the left and right sides terminal surface of clamping jaw is different, two the shape of clamping jaw is the same or different.
2. A robot adapted to grasp workpieces of different shapes as set forth in claim 1, wherein said oscillating cylinder is a vane-type oscillating cylinder having an oscillating angle of 180 °.
3. A robot adapted to grasp differently shaped workpieces according to claim 2 wherein said jaw cylinder is a jaw cylinder having two parallel jaws.
4. A robot hand adapted to grip workpieces of different shapes as set forth in claim 3, wherein one of the left and right side end surfaces of said gripping jaw is a flat surface and the other side end surface is a circular arc surface.
5. The manipulator of claim 4, which is suitable for grabbing workpieces with different shapes, wherein the swing cylinder is detachably connected with the fingers, the connecting ends are respectively provided with a connecting column and a connecting sleeve which are matched, the connecting column is inserted into the connecting sleeve and fixedly connected with the connecting sleeve through a screw or a pin, or the connecting column and the connecting sleeve are provided with external threads and internal threads which are matched and in threaded connection with each other.
6. The manipulator of claim 5, wherein the clamping jaw is detachably connected to the swing cylinder, the clamping jaw is provided with a shaft sleeve into which the rotating shaft is inserted, the rotating shaft is inserted into the shaft sleeve and fixedly connected with the shaft sleeve through a screw or a pin, or the clamping jaw is provided with a shaft hole, and the rotating shaft and the shaft hole are provided with an external thread and an internal thread which are matched with each other and in threaded connection with each other.
7. A robot hand adapted to grasp workpieces of different shapes according to claim 6, wherein a flange adapted to be connected to an end of an industrial robot is attached to said gripper cylinder.
8. A robot adapted to grasp workpieces of different shapes according to claim 1, 2, 3, 4, 5, 6 or 7, further comprising a suction cup, wherein said suction cups are one in number and connected to one of said jaws, or wherein said suction cups are two in number and connected to two of said jaws, respectively.
9. A robot adapted to grasp workpieces of different shapes according to claim 8, wherein said suction cup is detachably connected to said gripping jaw, and the connecting ends are respectively provided with a stud and a screw hole which are engaged with each other and are threadedly connected.
10. The manipulator of claim 9 adapted to grasp workpieces of different shapes, wherein the chuck is a vacuum chuck, the body of the chuck, the stud and the screw hole have an air passage communicating with each other, the air passage communicates with the suction end of the chuck, and the end surface of the chuck has an air hole communicating with the air passage.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021657085.8U CN212736047U (en) | 2020-08-11 | 2020-08-11 | Manipulator suitable for grabbing workpieces of different shapes |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021657085.8U CN212736047U (en) | 2020-08-11 | 2020-08-11 | Manipulator suitable for grabbing workpieces of different shapes |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212736047U true CN212736047U (en) | 2021-03-19 |
Family
ID=74987775
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021657085.8U Active CN212736047U (en) | 2020-08-11 | 2020-08-11 | Manipulator suitable for grabbing workpieces of different shapes |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN212736047U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113697481A (en) * | 2021-08-27 | 2021-11-26 | 深圳市宏迪科技有限公司 | Intelligence goods grabbing device |
| CN114043515A (en) * | 2021-11-26 | 2022-02-15 | 江苏科技大学 | Single-motor-controlled reversing clamping device |
| CN114086107A (en) * | 2021-12-28 | 2022-02-25 | 河北复朗施纳米科技有限公司 | Nano antibacterial coating device |
| CN114714343A (en) * | 2022-05-24 | 2022-07-08 | 江苏科技大学 | Manipulator with single motor for controlling revolution and rotation |
| CN114833073A (en) * | 2021-12-24 | 2022-08-02 | 深圳蓝胖子机器智能有限公司 | End effector and letter sorting robot suitable for intelligence commodity circulation parcel letter sorting |
| CN116062488A (en) * | 2023-03-02 | 2023-05-05 | 上海图灵智造机器人有限公司 | Movable palletizing robot and use method thereof |
| WO2023246572A1 (en) * | 2022-06-20 | 2023-12-28 | Hong Kong Centre For Logistics Robotics Limited | Robotic end effectors and robotic fingers thereof |
-
2020
- 2020-08-11 CN CN202021657085.8U patent/CN212736047U/en active Active
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113697481A (en) * | 2021-08-27 | 2021-11-26 | 深圳市宏迪科技有限公司 | Intelligence goods grabbing device |
| CN114043515A (en) * | 2021-11-26 | 2022-02-15 | 江苏科技大学 | Single-motor-controlled reversing clamping device |
| CN114043515B (en) * | 2021-11-26 | 2024-01-30 | 江苏科技大学 | Single motor control's switching-over clamp gets device |
| CN114833073A (en) * | 2021-12-24 | 2022-08-02 | 深圳蓝胖子机器智能有限公司 | End effector and letter sorting robot suitable for intelligence commodity circulation parcel letter sorting |
| CN114086107A (en) * | 2021-12-28 | 2022-02-25 | 河北复朗施纳米科技有限公司 | Nano antibacterial coating device |
| CN114714343A (en) * | 2022-05-24 | 2022-07-08 | 江苏科技大学 | Manipulator with single motor for controlling revolution and rotation |
| CN114714343B (en) * | 2022-05-24 | 2024-02-27 | 江苏科技大学 | Single-motor-controlled revolution and rotation manipulator |
| WO2023246572A1 (en) * | 2022-06-20 | 2023-12-28 | Hong Kong Centre For Logistics Robotics Limited | Robotic end effectors and robotic fingers thereof |
| CN116062488A (en) * | 2023-03-02 | 2023-05-05 | 上海图灵智造机器人有限公司 | Movable palletizing robot and use method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN212736047U (en) | Manipulator suitable for grabbing workpieces of different shapes | |
| US20060017298A1 (en) | Rotatable, squeeze-spread end effector for industrial robot | |
| CN103448051A (en) | Mobile constant-pressure control boosting manipulator | |
| CN207224016U (en) | A kind of clamping arm for transfer robot of storing in a warehouse | |
| TWI641536B (en) | Food filling device | |
| WO2019128821A1 (en) | Multi-degree-of-freedom gripper for robot | |
| CN209682168U (en) | A kind of conveying robot for precision parts processing | |
| CN112045705B (en) | Quick mechanical sucker device based on image recognition and pneumatic adjustment and automatic positioning | |
| CN211517514U (en) | Automatic loading and unloading robot arm for processing automobile parts | |
| KR200406443Y1 (en) | Robot hand with simplicity tool changer | |
| CN216634412U (en) | A industrial robot tongs for industrial production line of moving | |
| CN213532662U (en) | Quick mechanical sucker device based on image recognition pneumatic adjustment automatic positioning | |
| CN111086019B (en) | Control method of pneumatic-electromagnetic hybrid control manipulator for grabbing cylindrical workpiece | |
| CN115256430A (en) | Composite clamp for industrial robot machining | |
| CN210147613U (en) | Multifunctional clamping jaw device | |
| CN211761616U (en) | Simple dual-arm cooperative manipulator | |
| CN103448066A (en) | Pneumatically controlled and boosted manipulator clamp device | |
| CN210616531U (en) | Four-shaft joint manipulator | |
| CN112846731A (en) | Screw locking machine capable of automatically adsorbing screw combination | |
| CN110732866B (en) | Automatic screw locking device and screw locking mechanism thereof | |
| CN215471217U (en) | Adsorption mechanism of manipulator grabbing device for electronic component processing | |
| CN219562318U (en) | Automatic feeding and discharging manipulator | |
| CN214383147U (en) | Terminal paw capable of changing grabbing angle | |
| CN219726283U (en) | Mechanical claw combination device and mechanical arm workstation | |
| CN219563152U (en) | Clamping type manipulator |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |