CN217020451U

CN217020451U - Industrial robot

Info

Publication number: CN217020451U
Application number: CN202123387482.5U
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 an industrial robot which is good in flexibility, is particularly suitable for softer workpieces such as silica gel products and food semi-finished products, and cannot damage the workpieces during grabbing. The utility model comprises a mechanical arm and a grabbing mechanism, wherein the grabbing mechanism comprises a bracket, a lifting cylinder, a lifting plate and grabbing fingers; the bracket is fixedly arranged on the mechanical arm, and a bracket sliding groove is formed in the bracket; the lifting plate is arranged in the bracket sliding groove in a lifting and sliding manner; the lifting cylinder is fixedly arranged on the bracket, and an output shaft of the lifting cylinder is connected with the lifting plate; the grabbing fingers comprise articulated shafts, sliding rods, rotating plates, swing cylinders and grabbing plates; the top of the rotating plate is hinged on the lifting plate through a hinge shaft; the middle part of the rotating plate is provided with a rotating plate chute, the sliding rod is fixedly arranged on the bracket, and the sliding rod is connected with the rotating plate chute in a sliding way; the swing cylinder is fixedly arranged at the bottom of the rotating plate; the grabbing plate is arranged on an output shaft of the swing cylinder.

Description

Industrial robot

Technical Field

The present invention relates to 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.

An industrial robot generally includes a mechanical arm and a grabbing mechanism, the grabbing mechanism is installed on the mechanical arm, the mechanical arm drives the grabbing mechanism to a grabbing position, and the grabbing mechanism grabs a workpiece. Among the prior art, to the occasion of down snatching from the top, pneumatic clamping jaw is adopted to the mechanism of snatching more, and pneumatic clamping jaw simple structure, with low costs, but clamping jaw cylinder direct drive clamping jaw switching snatchs the action and is harder, and the flexibility degree is not enough, when snatching softer work piece such as silica gel goods, food semi-manufactured goods, just the bad these work pieces of clamp easily.

SUMMERY OF THE UTILITY MODEL

The utility model aims to overcome the defects in the prior art and provide the industrial robot with reasonable structural design and good flexibility.

The technical scheme adopted by the utility model for solving the problems is as follows: the utility model provides an industrial robot, includes the arm and snatchs the mechanism, snatchs the mechanism and installs on the arm its characterized in that: the grabbing mechanism comprises a support, a lifting cylinder, a lifting plate and grabbing fingers; the bracket is fixedly arranged on the mechanical arm, and a bracket sliding groove is formed in the bracket; the lifting plate is arranged in the bracket sliding groove in a lifting and sliding manner; the lifting cylinder is fixedly arranged on the bracket, and an output shaft of the lifting cylinder is connected with the lifting plate; the grabbing fingers comprise articulated shafts, sliding rods, rotating plates, swing cylinders and grabbing plates; the top of the rotating plate is hinged on the lifting plate through a hinge shaft; the middle part of the rotating plate is provided with a rotating plate chute, the sliding rod is fixedly arranged on the bracket and is connected with the rotating plate chute in a sliding way; the swing cylinder is fixedly arranged at the bottom of the rotating plate; the grabbing plate is arranged on an output shaft of the swing cylinder.

The rotating plate chute is obliquely arranged.

The grabbing fingers are multiple and distributed annularly.

The number of the grabbing fingers is three.

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 during 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 intended to limit the present invention.

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

The gripping mechanism 2 is mounted on the robot arm 1. The grabbing mechanism 2 comprises a bracket 21, a lifting cylinder 22, a lifting plate 23 and grabbing fingers 24.

The support 21 is fixedly arranged on the mechanical arm 1, and a support sliding groove 211 is formed in the support 21.

The lifting plate 23 is installed in the bracket sliding groove 211 in a lifting and sliding manner.

The lifting cylinder 22 is fixedly arranged on the bracket 21, and an output shaft of the lifting cylinder 22 is connected with the lifting plate 23.

The grasping finger 24 includes a hinge shaft 241, a slide rod 242, a rotating plate 243, a swing cylinder 244, and a grasping plate 245.

The top of the pivoting plate 243 is hinge-coupled to the elevation plate 23 by means of a hinge shaft 241.

The middle part of the rotating plate 243 is provided with a rotating plate chute 2431, the sliding rod 242 is fixedly arranged on the bracket 21, and the sliding rod 242 is connected with the rotating plate chute 2431 in a sliding way. The rotating plate inclined groove 2431 is obliquely provided.

The swing cylinder 244 is fixedly installed at the bottom of the rotating plate 243.

The catch plate 245 is mounted on the output shaft of the swing cylinder 244. The grabbing fingers 24 are multiple and distributed annularly. In this embodiment, the number of the grasping fingers 24 is three.

During operation, the mechanical arm 1 drives the grabbing mechanism 2 to a grabbing position, the swing cylinder 244 rotates the grabbing plate 245 to a grabbing angle, the lifting cylinder 22 drives the lifting plate 23 to ascend, and in the ascending process of the lifting plate 23, the rotating plate 243 ascends and rotates inwards at the same time, so that the grabbing plate 245 grabs a workpiece, and grabbing from top to bottom is completed. In the grabbing process, the transmission and buffering of the structures such as the lifting plate 23 and the rotating plate 243 are realized, the flexibility of the whole grabbing action is good, and the grabbing device is particularly suitable for softer workpieces such as silica gel products and semi-finished food products, and the workpieces cannot be damaged by clamping during grabbing.

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 changes in the structure, characteristics and principles of the utility model are included in the protection scope of the patent. Various modifications, additions and substitutions for the specific embodiments described may occur to those skilled in the art without departing from the scope of the utility model as defined in the accompanying claims.

Claims

1. The utility model provides an industrial robot, includes the arm and snatchs the mechanism, snatchs the mechanism and installs on the arm its characterized in that: the grabbing mechanism comprises a support, a lifting cylinder, a lifting plate and grabbing fingers; the bracket is fixedly arranged on the mechanical arm, and a bracket sliding groove is formed in the bracket; the lifting plate is arranged in the bracket sliding groove in a lifting and sliding manner; the lifting cylinder is fixedly arranged on the bracket, and an output shaft of the lifting cylinder is connected with the lifting plate; the grabbing fingers comprise articulated shafts, sliding rods, rotating plates, swing cylinders and grabbing plates; the top of the rotating plate is hinged on the lifting plate through a hinge shaft; the middle part of the rotating plate is provided with a rotating plate chute, the sliding rod is fixedly arranged on the bracket and is connected with the rotating plate chute in a sliding way; the swing cylinder is fixedly arranged at the bottom of the rotating plate; the grabbing plate is arranged on an output shaft of the swing cylinder.

2. An industrial robot according to claim 1, characterized in that: the rotating plate chute is obliquely arranged.

3. An industrial robot according to claim 1, characterized in that: the grabbing fingers are multiple and distributed annularly.

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