CN213010686U - Articulated transfer robot - Google Patents
Articulated transfer robot Download PDFInfo
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- CN213010686U CN213010686U CN202021774662.1U CN202021774662U CN213010686U CN 213010686 U CN213010686 U CN 213010686U CN 202021774662 U CN202021774662 U CN 202021774662U CN 213010686 U CN213010686 U CN 213010686U
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- rod
- cross beam
- clamping jaw
- movable rod
- rotatably hinged
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Abstract
The utility model relates to the technical field of robots, and discloses a joint type transfer robot, which comprises a robot body, wherein the front end of the robot body is provided with a gripper, the gripper comprises a shell and a gripping mechanism, the gripping mechanism comprises a left clamping jaw, a right clamping jaw, a cross beam, a first connecting rod, a second connecting rod and a movable rod, and the rear end surface of the cross beam is fixedly connected with the shell; the front parts of the left clamping jaw and the right clamping jaw are arc-shaped clamping parts, the middle part of the left clamping jaw is rotatably hinged with the left end of the cross beam, and the middle part of the right clamping jaw is rotatably hinged with the right end of the cross beam; the shell at the upper part of the movable rod is fixedly provided with an air cylinder, and a piston head of the air cylinder is fixedly connected with the movable rod and can push the movable rod to move up and down; the cross beam is provided with a pressure lever. The beneficial effect of this application does: simple and reasonable structure, small occupied space and reliable clamping.
Description
Technical Field
The utility model relates to the technical field of robots, especially, relate to an articulated handling robot.
Background
An articulated transfer robot is a machine used to replace manual work for repeated work, and is favored by some labor-intensive enterprises due to its high efficiency. The articulated transfer robot with different grippers can realize grabbing and carrying without articles, the conventional robot gripper for bars generally adopts the following mechanism, two clamping jaws clamp the bars to hold the bars until the surfaces of the bars contact with the hinged cross beams of the two clamping jaws to fix the bars, and the mechanism leads the stroke of the clamping jaws to be long every time, so that the stroke of a driving mechanism used is also long, and the driving mechanism occupies space and position.
SUMMERY OF THE UTILITY MODEL
To the deficiency that exists on the prior art, the utility model provides an articulated transfer robot.
In order to achieve the above purpose, the present invention is realized by the following technical solution:
a joint type carrying robot comprises a robot body, wherein a gripper is arranged at the front end of the robot body and comprises a shell and a gripping mechanism, the gripping mechanism comprises a left clamping jaw, a right clamping jaw, a cross beam, a first connecting rod, a second connecting rod and a movable rod, and the rear end face of the cross beam is fixedly connected with the shell; the front parts of the left clamping jaw and the right clamping jaw are arc-shaped clamping parts, the middle part of the left clamping jaw is rotatably hinged with the left end of the cross beam, and the middle part of the right clamping jaw is rotatably hinged with the right end of the cross beam; the top of the left clamping jaw is rotatably hinged with one end of a first connecting rod, the top of the right clamping jaw is rotatably hinged with one end of a second connecting rod, the other end of the first connecting rod is rotatably hinged with the left end of the movable rod, and the other end of the second connecting rod is rotatably hinged with the right end of the movable rod; the shell at the upper part of the movable rod is fixedly provided with an air cylinder, and a piston head of the air cylinder is fixedly connected with the movable rod and can push the movable rod to move up and down;
the movable rod is parallel to the cross beam, a through hole is formed in the center of the cross beam, a pressure rod is arranged on the cross beam and comprises a rod head, a rod body and a rod tail, the rod body is arranged in the through hole and can move up and down along the through hole, the rod head is positioned above the cross beam and is a disc-shaped head vertically connected with the rod body, a return spring is arranged on the rod body between the rod head and the cross beam, and the return spring enables the rod head to abut against the lower end face of the movable rod; the rod tail is positioned below the cross beam, and the end part of the rod tail is provided with a pressure pad.
Preferably, the back of the pressure pad is fixedly connected with a bolt, the end part of the rod tail is provided with a screw hole matched with the bolt, the depth of the screw hole is more than or equal to the length of the bolt, and the pressure pad is adjustably connected with the rod tail through the threaded screw hole.
The working principle of this application does: promote the movable rod downstream through the cylinder, the movable rod left end is got the portion of pressing from both sides through the arc clamp that first connecting rod drove left clamping jaw and is tightened up to the centre, the movable rod right-hand member is got the portion of pressing from both sides through the arc clamp that the second connecting rod drove right clamping jaw and is tightened up to the centre simultaneously, a left side, the arc clamp of right clamping jaw gets the portion of pressing from both sides simultaneously and gets the bar and tighten up like the center, meanwhile, in the time of the movable rod downstream, the depression bar downstream has been driven, form the left side to the bar at last, the three point clamp of the arc clamp of right.
A bolt adjustable structure is arranged between the pressure pad and the rod tail of the pressure rod, so that the pressure pad is convenient to replace on one hand, and the centering of three-point clamping is convenient to adjust on the other hand.
The beneficial effect of this application does: simple and reasonable structure, small occupied space and reliable clamping.
Drawings
The present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
Fig. 1 is a schematic structural view of the articulated transfer robot of the present invention.
Fig. 2 is another schematic structural view of the rod tail of the articulated transfer robot according to the present invention.
Detailed Description
In order to make the technical means, creation features, achievement purposes and functions of the present invention easy to understand, the present invention is further described below with reference to the following embodiments.
Example 1
The articulated transfer robot shown in fig. 1 comprises a robot body (omitted in the figure), wherein the front end of the robot body is provided with a gripper, the gripper comprises a shell 1 and a gripping mechanism, the gripping mechanism comprises a left clamping jaw 2, a right clamping jaw 3, a cross beam 4, a first connecting rod 5, a second connecting rod 6 and a movable rod 7, and the rear end face of the cross beam 4 is fixedly connected with the shell 1; the front parts of the left clamping jaw and the right clamping jaw (2 and 3) are arc clamping parts (the profiles of the arc clamping parts are in conventional means of technicians in the field, the different radians of the clamped bars are slightly different), the middle part of the left clamping jaw 2 is rotatably hinged with the left end of the cross beam 4, and the middle part of the right clamping jaw 3 is rotatably hinged with the right end of the cross beam 4; the top of the left clamping jaw 2 is rotatably hinged with one end of a first connecting rod 5, the top of the right clamping jaw 3 is rotatably hinged with one end of a second connecting rod 6, the other end of the first connecting rod 5 is rotatably hinged with the left end of a movable rod 7, and the other end of the second connecting rod 6 is rotatably hinged with the right end of the movable rod 7; a cylinder 8 is fixedly arranged on the shell at the upper part of the movable rod 7, and the piston head of the cylinder 8 is fixedly connected with the movable rod and can push the movable rod to move up and down;
the movable rod 7 is parallel to the cross beam, a through hole is formed in the center of the cross beam 4, a pressure rod is arranged on the cross beam and comprises a rod head 9, a rod body 10 and a rod tail 11, the rod body is arranged in the through hole and can move up and down along the through hole, the rod head is positioned above the cross beam and is a disc-shaped head vertically connected with the rod body, a return spring 12 is arranged on the rod body between the rod head and the cross beam, and the return spring enables the rod head to abut against the lower end face of the movable rod; the rod tail is positioned below the cross beam, and the end part of the rod tail is provided with a pressure pad 13.
As one of the preferred embodiments, the back of the pressure pad is fixedly connected with a bolt 14, the end part of the rod tail is provided with a screw hole 15 matched with the bolt, the depth of the screw hole is more than or equal to the length of the bolt, and the pressure pad and the rod tail are adjustably connected through a threaded screw hole; the structure is convenient for replacing the pressure pad on one hand and adjusting the centering of three-point clamping on the other hand.
The working principle of this application does: promote the movable rod downstream through the cylinder, the movable rod left end is got the portion of pressing from both sides through the arc clamp that first connecting rod drove left clamping jaw and is tightened up to the centre, the movable rod right-hand member is got the portion of pressing from both sides through the arc clamp that the second connecting rod drove right clamping jaw and is tightened up to the centre simultaneously, a left side, the arc clamp of right clamping jaw gets the portion of pressing from both sides simultaneously and gets the bar and tighten up like the center, meanwhile, in the time of the movable rod downstream, the depression bar downstream has been driven, form the left side to the bar at last, the three point clamp of the arc clamp of right.
Those skilled in the art should understand that the present invention is not limited by the above embodiments. The foregoing embodiments and description have been made only for the purpose of illustrating the principles of the invention. The present invention can be further modified and improved without departing from the spirit and scope of the present invention. Such changes and modifications are intended to be within the scope of the claimed invention. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (2)
1. An articulated transfer robot, characterized in that: the robot comprises a robot body, wherein the front end of the robot body is provided with a gripper, the gripper comprises a shell and a gripping mechanism, the gripping mechanism comprises a left clamping jaw, a right clamping jaw, a cross beam, a first connecting rod, a second connecting rod and a movable rod, and the rear end face of the cross beam is fixedly connected with the shell; the front parts of the left clamping jaw and the right clamping jaw are arc-shaped clamping parts, the middle part of the left clamping jaw is rotatably hinged with the left end of the cross beam, and the middle part of the right clamping jaw is rotatably hinged with the right end of the cross beam; the top of the left clamping jaw is rotatably hinged with one end of a first connecting rod, the top of the right clamping jaw is rotatably hinged with one end of a second connecting rod, the other end of the first connecting rod is rotatably hinged with the left end of the movable rod, and the other end of the second connecting rod is rotatably hinged with the right end of the movable rod; the shell at the upper part of the movable rod is fixedly provided with an air cylinder, and a piston head of the air cylinder is fixedly connected with the movable rod and can push the movable rod to move up and down;
the movable rod is parallel to the cross beam, a through hole is formed in the center of the cross beam, a pressure rod is arranged on the cross beam and comprises a rod head, a rod body and a rod tail, the rod body is arranged in the through hole and can move up and down along the through hole, the rod head is positioned above the cross beam and is a disc-shaped head vertically connected with the rod body, a return spring is arranged on the rod body between the rod head and the cross beam, and the return spring enables the rod head to abut against the lower end face of the movable rod; the rod tail is positioned below the cross beam, and the end part of the rod tail is provided with a pressure pad.
2. The articulated transfer robot of claim 1, wherein: the back of the pressure pad is fixedly connected with a bolt, the end part of the rod tail is provided with a screw hole matched with the bolt, the depth of the screw hole is more than or equal to the length of the bolt, and the pressure pad is adjustably connected with the rod tail through the threaded screw hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021774662.1U CN213010686U (en) | 2020-08-21 | 2020-08-21 | Articulated transfer robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021774662.1U CN213010686U (en) | 2020-08-21 | 2020-08-21 | Articulated transfer robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN213010686U true CN213010686U (en) | 2021-04-20 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021774662.1U Active CN213010686U (en) | 2020-08-21 | 2020-08-21 | Articulated transfer robot |
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| Country | Link |
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| CN (1) | CN213010686U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113945410A (en) * | 2021-10-14 | 2022-01-18 | 山东省交通工程监理咨询有限公司 | Road core extractor |
| CN115432432A (en) * | 2022-09-24 | 2022-12-06 | 歌尔股份有限公司 | Shell material taking and placing device |
-
2020
- 2020-08-21 CN CN202021774662.1U patent/CN213010686U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113945410A (en) * | 2021-10-14 | 2022-01-18 | 山东省交通工程监理咨询有限公司 | Road core extractor |
| CN115432432A (en) * | 2022-09-24 | 2022-12-06 | 歌尔股份有限公司 | Shell material taking and placing device |
| CN115432432B (en) * | 2022-09-24 | 2024-09-27 | 歌尔股份有限公司 | Shell material taking and placing device |
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