CN218557119U

CN218557119U - Special gripping apparatus device of truss robot

Info

Publication number: CN218557119U
Application number: CN202222857109.XU
Authority: CN
Inventors: 章伟锋; 秦磊; 刘献岗
Original assignee: Hefei Mufasa Technology Equipment Co ltd
Current assignee: Hefei Mufasa Technology Equipment Co ltd
Priority date: 2022-10-28
Filing date: 2022-10-28
Publication date: 2023-03-03
Anticipated expiration: 2032-10-28

Abstract

The utility model discloses a special gripping apparatus device of truss robot, which comprises a bracket, wherein the lower end surface of the bracket is fixedly connected with a plurality of connecting flanges, the lower sides of the connecting flanges are fixedly provided with cylinders, the inside of each cylinder is connected with a fixed block in a sliding manner, the lower end surface of each fixed block is fixedly connected with a clamping jaw, and the inside of each clamping jaw is provided with a gain component for increasing friction force; the utility model discloses a set up the gain subassembly in the gripper jaw and increase the frictional force with the goods when snatching goods, when the gripper jaw moves to the inboard, the gripper jaw drives first dead lever and moves, and first dead lever rotates around the fixed axle, and connecting block control rubber piece is exerted pressure to the goods, and then has realized the gripper jaw and has increased the frictional force when snatching goods to realize that the gain subassembly increases the frictional force when the gripper jaw snatchs; the goods clamping process is guaranteed not to slide off, and accidents are avoided.

Description

Special gripping apparatus device of truss robot

Technical Field

The utility model belongs to the technical field of mechanical automation, concretely relates to special gripping apparatus device of truss robot.

Background

The truss robot is also called a rectangular coordinate robot and a gantry robot, and can realize an automatic control, reprogrammable, multifunctional, multi-degree-of-freedom, spatial rectangular relation among motion degrees of freedom and multipurpose manipulator in industrial application; can carry objects and operate tools to complete various operations. Can be widely applied to production workshops for grabbing transferred objects.

However, when the goods to be transferred are mushroom head structures and cylindrical inner groove structures with different sizes, the goods are difficult to be carried to a specified position through a clamp of a common truss robot, and accidents such as workpiece sliding and the like are easy to happen due to unstable clamping of a mechanical claw clamp on a carrying manipulator of the truss robot, so that personnel injury and goods damage are caused, and therefore a truss robot grabbing device capable of firmly grabbing goods is needed on the market.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a special gripping apparatus device of truss robot to solve the problem that proposes in the above-mentioned background art.

In order to achieve the above object, the utility model provides a following technical scheme: the utility model provides a special gripping apparatus device of truss robot, includes the support, the surface of support is provided with the spout, a plurality of flange of lower terminal surface fixedly connected with of support, flange's downside fixed mounting has a plurality of cylinders, the inside sliding connection of cylinder has a plurality of fixed blocks, the lower terminal surface fixedly connected with gripper jaw of fixed block, the inside of gripper jaw is provided with the gain subassembly that is used for increasing frictional force.

Preferably, the gain subassembly includes a plurality of rubber blocks, a plurality of connecting blocks that are equipped with are worn to establish by the inside activity of gripper jaw, rubber block and connecting block fixed connection, the inside fixedly connected with fixed axle of gripper jaw, the surface of fixed axle is rotated and is connected with first dead lever, first dead lever and connecting block fixed connection, the inside upside of gripper jaw is provided with the second dead lever, second dead lever and cylinder fixed connection.

Preferably, the surface of the connecting block is sleeved with a spring, and the spring is arranged between the first fixing rod and the clamping jaw.

Preferably, the upside of cylinder is provided with the magnetic switch spacing groove that is used for installing magnetic switch, the magnetic switch spacing groove sets up on different vertical position, flange's fixed surface installs laser displacement sensor, the surface of cylinder is provided with the exhaust choke valve.

Preferably, the fixed blocks are provided with three groups which are uniformly distributed in the cylinder.

Preferably, the cylinder realizes grabbing work through air supply pipeline intercommunication solenoid valve for the air compressor.

Compared with the prior art, the beneficial effects of the utility model are that:

1. the utility model discloses a set up the gain subassembly in the gripper jaw and increase the frictional force with the goods when snatching goods, when the gripper jaw moves to the inboard, the gripper jaw drives first dead lever and moves, when first dead lever and second dead lever contact, first dead lever rotates around the fixed axle, first dead lever control connecting block moves, connecting block control rubber piece exerts pressure to the goods, and then has realized the gripper jaw and increased the frictional force when snatching goods; the rubber block cannot generate other abrasion on goods, so that the friction force is increased while the clamping claw grips the gain component; this special gripping apparatus can press from both sides and get the interior ditch groove structure goods that have mushroom head and cylinder not of uniform size to can guarantee that the in-process that the goods was pressed from both sides and get can not the landing, avoid the emergence of accident.

2. The laser displacement sensor is provided with a laser displacement sensor clamping detection function, the clamping jaw is provided with a clamping in-place sensor, when the material is grabbed, the clamping in-place sensor can judge whether the material is clamped in place, if the sensor does not feed back a clamping in-place signal, the truss robot control system sends an abnormal alarm to transmit information to the staff.

Drawings

Fig. 1 is a schematic structural view of a gripping apparatus dedicated for a truss robot according to the present invention;

FIG. 2 is a schematic view of the connection relationship between the connection flange and the cylinder and between the connection flange and the clamping claws;

fig. 3 is a schematic structural view of the gripper of the present invention in a gripping state;

fig. 4 is a schematic structural diagram of the gain module of the present invention;

in the figure: 1. a support; 2. a chute; 3. a connecting flange; 4. a laser displacement sensor; 5. a gripper jaw; 6. a fixed block; 7. a cylinder; 8. a magnetic switch limiting groove; 9. an exhaust throttle valve; 100. a gain component; 101. a rubber block; 102. connecting blocks; 103. a first fixing lever; 104. a fixed shaft; 105. a second fixing bar; 106. a spring.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1-4, the utility model provides a special gripping apparatus device technical scheme of truss robot: the utility model provides a special gripping apparatus device of truss robot, includes support 1, and the surface of support 1 is provided with spout 2, a plurality of flange 3 of lower terminal surface fixedly connected with of support 1, and flange 3's downside fixed mounting has a plurality of cylinders 7, and the inside sliding connection of cylinder 7 has fixed block 6, and the lower terminal surface fixedly connected with gripper jaw 5 of fixed block 6, the inside of gripper jaw 5 is provided with the gain subassembly 100 that is used for increasing frictional force.

Increase frictional force when realizing snatching goods through setting up gain subassembly 100, gain subassembly 100 includes a plurality of rubber blocks 101, a plurality of connecting blocks 102 that are equipped with are worn to establish by the inside activity of gripper jaw 5, rubber block 101 and connecting block 102 fixed connection, the inside fixedly connected with fixed axle 104 of gripper jaw 5, the surface of fixed axle 104 is rotated and is connected with first dead lever 103, first dead lever 103 and connecting block 102 fixed connection, the inside upside of gripper jaw 5 is provided with second dead lever 105, second dead lever 105 and cylinder 7 fixed connection.

More closely, the surface cover of connecting block 102 is equipped with spring 106, and spring 106 sets up between first dead lever 103 and gripper 5, and after gripper 5 accomplished the snatching of goods, realized the reseing of connecting block 102 under the effect of spring 106.

More closely, the upside of cylinder 7 is provided with the magnetic switch spacing groove 8 that is used for installing magnetic switch, magnetic switch spacing groove 8 sets up on different vertical position, flange 3's fixed surface installs laser displacement sensor 4, laser displacement sensor 4 is equipped with the tight detection function of laser displacement sensor clamp, be equipped with on the gripper jaw 5 and press from both sides the tight sensor that targets in place, when gripper jaw 5 snatchs the goods, press from both sides tight sensor that targets in place and can judge whether press from both sides tightly and target in place, if the sensor does not feed back and press from both sides tight signal that targets in place, truss robot control system sends unusual warning this moment, the surface of cylinder 7 is provided with exhaust throttle 9.

In order to better grab the goods, the fixed block 6 is provided with three groups which are uniformly distributed at the lower side of the cylinder 7, and three groups of clamping claws 5 fixedly connected with the fixed block 6 are distributed in an equilateral triangle.

In order to better control the device to carry out grabbing work, the air cylinder 7 is communicated with an electromagnetic valve through an air supply pipeline of an air compressor to realize grabbing work.

More closely, the utility model provides a gripping apparatus has adopted the pneumatic three-jaw chuck that the model is JK160HQ-3, for traditional air chuck, possess more stable clamping-force.

The utility model discloses a theory of operation and use flow: after the utility model is installed, the air compressor is matched with the truss robot to act, the air supply pipeline for the air compressor is communicated with the electromagnetic valve to control the air cylinder 7 to work, the air cylinder 7 controls the fixed block 6 to move, the fixed block 6 drives the clamping claws 5 fixedly connected with the fixed block to move, special goods of a material container are grabbed through the three groups of clamping claws 5, and the clamping claws 5 are tightly matched with the clamping grooves on the inner wall of the goods, so that the goods are firmly grabbed;

when the clamping jaw 5 moves towards the inner side, the clamping jaw 5 drives the first fixing rod 103 to move, when the first fixing rod 103 is in contact with the second fixing rod 105, the first fixing rod 103 rotates around the fixing shaft 104, the first fixing rod 103 controls the connecting block 102 to move, the connecting block 102 controls the rubber block 101 to apply pressure to goods, and therefore the clamping jaw 5 can grab the goods while increasing friction force;

the laser displacement sensor 4 is provided with a laser displacement sensor clamping detection function, the clamping jaw 5 is provided with a clamping in-place sensor, when the clamping jaw 5 grabs the goods, the clamping in-place sensor can judge whether the goods are clamped in place, if the sensor does not feed back a clamping in-place signal, the truss robot control system sends an abnormal alarm.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a special gripping apparatus device of truss robot, includes support (1), its characterized in that: the surface of support (1) is provided with spout (2), a plurality of flange (3) of lower terminal surface fixedly connected with of support (1), the downside fixed mounting of flange (3) has a plurality of cylinders (7), the inside sliding connection of cylinder (7) has a plurality of fixed blocks (6), the lower terminal surface fixedly connected with gripper jaw (5) of fixed block (6), the inside of gripper jaw (5) is provided with gain subassembly (100) that are used for increasing frictional force.

2. The gripper device special for the truss robot as claimed in claim 1, wherein: gain subassembly (100) includes a plurality of rubber blocks (101), a plurality of connecting blocks (102) are worn to establish by the inside activity of gripper jaw (5), rubber block (101) and connecting block (102) fixed connection, the inside fixedly connected with fixed axle (104) of gripper jaw (5), the surface of fixed axle (104) is rotated and is connected with first dead lever (103), first dead lever (103) and connecting block (102) fixed connection, the inside upside of gripper jaw (5) is provided with second dead lever (105), second dead lever (105) and cylinder (7) fixed connection.

3. The gripper assembly of claim 2, wherein: the surface of the connecting block (102) is sleeved with a spring (106), and the spring (106) is arranged between the first fixing rod (103) and the clamping jaw (5).

4. The gripper assembly of claim 3, wherein: the upside of cylinder (7) is provided with magnetic switch spacing groove (8) that are used for installing magnetic switch, magnetic switch spacing groove (8) set up on different vertical position, the fixed surface of flange (3) installs laser displacement sensor (4), the surface of cylinder (7) is provided with exhaust choke valve (9).

5. The gripper assembly of claim 4, wherein: the fixed blocks (6) are provided with three groups which are uniformly distributed in the cylinder (7).

6. The gripper assembly of claim 5, wherein: the air cylinder (7) is communicated with the electromagnetic valve through an air supply pipeline for the air compressor to realize grabbing work.