CN217020450U

CN217020450U - Industrial robot snatchs structure

Info

Publication number: CN217020450U
Application number: CN202123376869.0U
Authority: CN
Inventors: 张毅
Original assignee: Jiangsu Baosong Robot Co ltd
Current assignee: Jiangsu Baosong Robot Co ltd
Priority date: 2021-12-30
Filing date: 2021-12-30
Publication date: 2022-07-22
Anticipated expiration: 2031-12-30

Abstract

The utility model provides a grabbing structure of an industrial robot, which has good flexibility, is particularly suitable for softer workpieces such as silica gel products, semi-finished food products and the like, and cannot damage the workpieces during grabbing. The body of the cylinder is fixedly arranged on the mechanical arm; the fixed plate is fixedly arranged on the cylinder body of the cylinder; the moving plate is arranged on an output shaft of the cylinder; the grabbing fingers comprise supporting plates, grabbing plates, spring shafts, springs and clamping plates; the inner end of the supporting plate is hinged on the fixing plate; the inner end of the grabbing plate is hinged on the movable plate, and the middle part of the grabbing plate is hinged on the outer end of the supporting plate; the spring shaft is slidably arranged at the outer end of the grabbing plate; the clamping plate is fixedly arranged on the spring shaft; the spring is sleeved on the spring shaft, one end of the spring is connected with the clamping plate, and the other end of the spring is connected with the grabbing plate.

Description

Industrial robot snatchs structure

Technical Field

The utility model relates to a grabbing structure of an industrial robot.

Background

Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices widely used in the industrial field, have a certain degree of automation, and can realize various industrial processing and manufacturing functions depending on the power energy and control capability of the industrial robots. Industrial robots are widely used in various industrial fields such as electronics, logistics, and chemical industry.

Industrial robots usually comprise a mechanical arm and a gripping mechanism, the gripping mechanism is mounted on the mechanical arm, the mechanical arm drives the gripping mechanism to a gripping position, and the gripping mechanism grips a workpiece. In the prior art, the grabbing mechanism adopts a pneumatic clamping jaw, the pneumatic clamping jaw is simple in structure and low in cost, but the clamping jaw cylinder directly drives the clamping jaw to open and close, the grabbing action is hard, the flexibility is insufficient, and when workpieces which are softer than the workpieces such as silica gel products, semi-finished food products and the like are grabbed, the workpieces are easily clamped and damaged.

SUMMERY OF THE UTILITY MODEL

The utility model aims to overcome the defects in the prior art and provide the grabbing structure of the industrial robot, which is reasonable in structural design and good in flexibility.

The technical scheme adopted by the utility model for solving the problems is as follows: the utility model provides an industrial robot's structure of snatching, includes the arm and snatchs the mechanism, snatchs the mechanism and installs on the arm its characterized in that: the grabbing mechanism comprises an air cylinder, a fixed plate, a movable plate and grabbing fingers; the body of the cylinder is fixedly arranged on the mechanical arm; the fixed plate is fixedly arranged on the cylinder body of the cylinder; the moving plate is arranged on an output shaft of the cylinder; the grabbing fingers comprise supporting plates, grabbing plates, spring shafts, springs and clamping plates; the inner end of the supporting plate is hinged on the fixing plate; the inner end of the grabbing plate is hinged on the movable plate, and the middle part of the grabbing plate is hinged on the outer end of the supporting plate; the spring shaft is slidably arranged at the outer end of the grabbing plate; the clamping plate is fixedly arranged on the spring shaft; the spring is sleeved on the spring shaft, one end of the spring is connected with the clamping plate, and the other end of the spring is connected with the grabbing plate.

The mechanical arm is a six-shaft mechanical arm.

The grabbing fingers are distributed annularly.

The number of the grabbing fingers is three.

The grabbing plate is L-shaped.

The silica gel sheet is arranged on the clamping plate.

Compared with the prior art, the utility model has the following advantages and effects: the utility model has good flexibility, is especially suitable for softer workpieces such as silica gel products, food semi-finished products and the like, and can not clamp the workpieces when grabbing.

Drawings

Fig. 1 is a schematic structural diagram of an embodiment of the present invention.

Fig. 2 is a schematic structural diagram of a gripping mechanism according to an embodiment of the present invention.

Detailed Description

The present invention will be described in further detail below by way of examples with reference to the accompanying drawings, which are illustrative of the present invention and are not to be construed as limiting the present invention.

The embodiment of the utility model comprises a mechanical arm 1 and a grabbing mechanism 2.

The robot arm 1 is a six-axis robot arm.

The gripping mechanism 2 is mounted on the robot arm 1. The grasping mechanism 2 includes an air cylinder 21, a fixed plate 22, a moving plate 23, and grasping fingers 24.

The cylinder body of the cylinder 21 is fixedly mounted on the robot arm 1. The fixing plate 22 is fixedly mounted on the cylinder body of the cylinder 21. The moving plate 23 is mounted on the output shaft of the cylinder 21.

The grasping finger 24 includes a support plate 241, a grasping plate 242, a spring shaft 243, a spring 244, and a clamp plate 245.

The inner end of the support plate 241 is hinge-mounted on the fixed plate 22 by means of a hinge shaft. The catching plate 242 has an L shape, and is hinge-mounted at an inner end thereof on the moving plate 23 by means of a hinge shaft, and at an outer end thereof on the supporting plate 241 at a middle portion thereof by means of a hinge shaft. A spring shaft 243 is slidably mounted to the outer end of the catch plate 242. The clamp plate 245 is fixedly mounted on the spring shaft 243. The clamping plate 245 is provided with a silica gel sheet, and the silica gel sheet is contacted with the workpiece 3 when the workpiece 3 is grabbed, so that the workpiece 3 is not easy to scratch. The spring 244 is fitted around the spring shaft 243, and has one end connected to the clamp plate 245 and the other end connected to the grasping plate 242.

The grabbing fingers 24 are distributed annularly. In this embodiment, the number of the grasping fingers 24 is three.

In operation, the mechanical arm 1 drives the grabbing mechanism 2 to a grabbing position, the cylinder 21 drives the moving plate 23 to retract, and during the retraction of the moving plate 23, the grabbing plate 242 rotates inwards, so that the clamping plate 245 grabs the workpiece 3 to complete the grabbing action, and the spring 244 buffers the clamping plate 245. In the grabbing process, the grabbing plate 242, the clamping plate 245, the spring 244 and other structures are used for transmission and buffering, the whole grabbing action is good in flexibility, and the grabbing device is particularly suitable for softer workpieces such as silica gel products and semi-finished food products, and cannot clamp the workpieces to be damaged in the grabbing process.

In addition, it should be noted that the specific embodiments described in the present specification may be different in the components, the shapes of the components, the names of the components, and the like, and the above description is only an illustration of the structure of the present invention. Equivalent or simple variations of the structures, features and principles described in the present patent application are included in the scope of the present patent.

Claims

1. The utility model provides an industrial robot's structure of snatching, includes the arm and snatchs the mechanism, snatchs the mechanism and installs on the arm its characterized in that: the grabbing mechanism comprises an air cylinder, a fixed plate, a movable plate and grabbing fingers; the body of the cylinder is fixedly arranged on the mechanical arm; the fixed plate is fixedly arranged on the cylinder body of the cylinder; the moving plate is arranged on an output shaft of the cylinder; the grabbing fingers comprise supporting plates, grabbing plates, spring shafts, springs and clamping plates; the inner end of the supporting plate is hinged on the fixing plate; the inner end of the grabbing plate is hinged on the movable plate, and the middle part of the grabbing plate is hinged on the outer end of the supporting plate; the spring shaft is slidably arranged at the outer end of the grabbing plate; the clamping plate is fixedly arranged on the spring shaft; the spring is sleeved on the spring shaft, one end of the spring is connected with the clamping plate, and the other end of the spring is connected with the grabbing plate.

2. The grasping structure of an industrial robot according to claim 1, characterized in that: the mechanical arm is a six-shaft mechanical arm.

3. The grasping structure of an industrial robot according to claim 1, characterized in that: the grabbing fingers are distributed annularly.

4. The grasping structure of an industrial robot according to claim 3, characterized in that: the number of the grabbing fingers is three.

5. The grasping structure of an industrial robot according to claim 1, characterized in that: the grabbing plate is L-shaped.

6. The grasping structure of an industrial robot according to claim 1, characterized in that: the clamping plate is provided with a silica gel sheet.