Truss robot grabbing device capable of being positioned

Abstract

The utility model relates to the technical field of industrial robots, in particular to a positionable truss robot grabbing device which comprises a lifting seat, a first bidirectional lead screw is arranged in the lifting seat, a first motor is fixedly installed on the front side of the lifting seat, a first sliding groove is formed in the lower end of the lifting seat, and a positioning plate is arranged on the inner side of the first sliding groove. A telescopic air cylinder is arranged at the lower end of the lifting base, a clamping base is arranged at the lower end of the telescopic air cylinder, a second bidirectional lead screw is arranged in the clamping base, a second motor is fixedly installed on the right side of the clamping base, a second sliding groove is formed in the lower end of the clamping base, and a clamping plate is arranged on the inner side of the second sliding groove; the first motor drives the first bidirectional lead screw to rotate, so that the two positioning plates are close to each other, centering positioning of a workpiece in the front-back direction is achieved, the second motor drives the second bidirectional lead screw to rotate, clamping gaskets on the surfaces of the two clamping plates are attached to the middle positions of the left side and the right side of the workpiece, and stable clamping of the workpiece is achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of industrial robots, in particular to a positionable truss robot grasping device. Background Art

[0002] Industrial robots are multi-jointed manipulators or multi-degree-of-freedom machines widely used in the industrial field. They have a certain degree of automation and can rely on their own power and control capabilities to perform various industrial processing and manufacturing functions. Among them, truss robots are based on a rectangular X, Y, and Z three-coordinate system and are used to adjust the workpiece position or achieve trajectory movement of the workpiece.

[0003] At present, the truss robot grasping device in the existing technology lacks the function of centering the workpiece, which leads to errors such as center of gravity deviation due to improper grasping position during the grasping process, affecting the stability of the workpiece grasping.

[0004] Therefore, in order to address the problem that the above-mentioned truss robot grasping device is prone to errors such as deviation of the center of gravity due to improper grasping position during the grasping process, thereby affecting the stability of the workpiece grasping, a positionable truss robot grasping device can be designed. By adding a centering limiting structure for the workpiece, the workpiece can be preliminarily positioned before being grasped, thereby improving the stability of the workpiece grasping. Utility Model Content

[0005] In order to overcome the problem that the truss robot grasping device is prone to errors such as center of gravity deviation due to improper grasping position during the grasping process, which affects the stability of workpiece grasping.

[0006] The technical solution of the utility model is: a positionable truss robot grasping device, including a lifting seat, a two-way screw is provided inside the lifting seat, a motor is fixedly installed on the front side of the lifting seat, a slide groove is provided at the lower end of the lifting seat, a positioning plate is provided on the inner side of the slide groove, a telescopic cylinder is provided at the lower end of the lifting seat, a clamping seat is provided at the lower end of the telescopic cylinder, a two-way screw is provided inside the clamping seat, a motor is fixedly installed on the right side of the clamping seat, a slide groove is provided at the lower end of the clamping seat, a clamping plate is provided on the inner side of the slide groove, a storage groove is provided on the side of the lower end of the positioning plate, and a supporting bar is provided on the inner side of the storage groove.

[0007] Preferably, the upper end of the lifting seat is connected to a truss mechanism, and two slide grooves are located at the lower end of the lifting seat and are symmetrically arranged in the front and back. The output end of motor one extends to the inner side of slide groove one and is fixedly connected to the front end of bidirectional screw one. The rear end of bidirectional screw one is rotatably connected to the inner wall of slide groove one, which facilitates the control of the rotation of bidirectional screw one.

[0008] Preferably, two positioning plates are symmetrically arranged front to back and are designed in a T-shaped structure. The upper end of the positioning plate is slidingly connected to the inner side of the slide groove and is threadedly connected to the surface of the bidirectional screw, which facilitates the control of the two positioning plates to approach each other to center the workpiece.

[0009] Preferably, the upper end of the telescopic cylinder is fixedly connected to the lifting seat, the output end of the telescopic cylinder is fixedly connected to the upper end of the clamping seat, and two slide grooves are located at the lower end of the clamping seat and are symmetrically arranged on the left and right, which is convenient for controlling the clamping seat to rise a short distance to remove the workpiece from the table.

[0010] Preferably, the output end of motor 2 extends to the inner side of slide groove 2 and is fixedly connected to the right end of bidirectional screw 2, and the left end of bidirectional screw 2 is rotatably connected to the inner wall of slide groove 2, which facilitates the control of the rotation of bidirectional screw 2.

[0011] Preferably, two clamping plates are symmetrically arranged on the left and right, the upper end of the clamping plate is slidingly connected to the inner side of the second slide groove, and is threadedly connected to the surface of the two-way screw second, the lower end of the clamping plate extends to the outside of the second slide groove, and an anti-slip gasket is fixedly installed on the surface, which is convenient for controlling the clamping plates to approach each other to clamp and grasp the workpiece.

[0012] Preferably, the storage groove is located on the side where the lower ends of the two positioning plates are close to each other, the support bar and the inner side of the storage groove are slidably connected, and an electric telescopic rod is fixedly installed on the side where the lower ends of the two positioning plates are away from each other. The output end of the electric telescopic rod extends to the inner side of the storage groove and is fixedly connected to the support bar, which is convenient for supporting the bottom of the workpiece to prevent it from falling.

[0013] Beneficial effects of the utility model:

[0014] 1. This positionable truss robot grasping device uses a truss mechanism to drive the lifting seat to move above the workpiece and then descend, so that the positioning plate is close to the placement table. The first motor drives the first bidirectional screw to rotate, so that the two positioning plates are close to each other, and the workpiece is centered in the front and back directions. Then, the second motor drives the second bidirectional screw to rotate, so that the clamping pads on the surfaces of the two clamping plates fit into the middle position of the left and right sides of the workpiece, and the workpiece is stably clamped.

[0015] 2. The positionable truss robot grasping device drives the clamping seat to rise through the telescopic cylinder, so that the bottom of the workpiece is separated from the table. Then, the electric telescopic rod drives the supporting bar to extend from the storage slot to support the bottom of the workpiece, thereby improving the stability of workpiece grasping. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 The figure shows the three-dimensional structure of the positionable truss robot grasping device of the utility model. Figure 1 ;

[0017] Figure 2 The figure shows the three-dimensional structure of the positionable truss robot grasping device of the utility model. Figure 2 ;

[0018] Figure 3 The figure shows the three-dimensional structure of the positionable truss robot grasping device of the utility model. Figure 3 ;

[0019] Figure 4 Shown is a schematic diagram of the cross-sectional three-dimensional structure of the positionable truss robot grasping device of the present utility model.

[0020] Explanation of the accompanying reference numerals: 1. Lifting seat; 2. Bidirectional screw 1; 3. Motor 1; 4. Slide 1; 5. Positioning plate; 6. Telescopic cylinder; 7. Clamping seat; 8. Bidirectional screw 2; 9. Motor 2; 10. Slide 2; 11. Clamping plate; 12. Storage slot; 13. Support bar; 131. Electric telescopic rod. DETAILED DESCRIPTION

[0021] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0022] Please refer to ( Figure 1-Figure 4 ), the utility model provides an embodiment: a positionable truss robot grasping device, including a lifting seat 1, a bidirectional lead screw 2 is arranged inside the lifting seat 1, a motor 3 is fixedly installed on the front side of the lifting seat 1, a slide groove 4 is provided at the lower end of the lifting seat 1, a positioning plate 5 is provided on the inner side of the slide groove 4, a telescopic cylinder 6 is provided at the lower end of the lifting seat 1, a clamping seat 7 is provided at the lower end of the telescopic cylinder 6, a bidirectional lead screw 2 8 is arranged inside the clamping seat 7, a motor 2 9 is fixedly installed on the right side of the clamping seat 7, a slide groove 2 10 is provided at the lower end of the clamping seat 7, a clamping plate 11 is provided on the inner side of the slide groove 2 10, a receiving groove 12 is provided on the side of the lower end of the positioning plate 5, and a supporting bar 13 is provided on the inner side of the receiving groove 12.

[0023] Please refer to ( Figure 1-Figure 4 ), in this embodiment, the upper end of the lifting seat 1 is connected with a truss mechanism, and two slide grooves 4 are located at the lower end of the lifting seat 1 and are symmetrically arranged front to back. The output end of the motor 3 extends to the inner side of the slide groove 4 and is fixedly connected to the front end of the two-way screw 2. The rear end of the two-way screw 2 is rotatably connected to the inner wall of the slide groove 4. There are two positioning plates 5 symmetrically arranged front to back, and are designed in a T-shaped structure. The upper end of the positioning plate 5 is slidably connected to the inner side of the slide groove 4 and is threadedly connected to the surface of the two-way screw 2. The lifting seat 1 is driven to move to the top of the workpiece by the truss mechanism, and the lifting seat 1 is driven to descend, so that the positioning plate 5 is close to the placement table. The two-way screw 2 is driven to rotate by the motor 3, so that the two positioning plates 5 slide along the slide groove 4 and approach each other, thereby realizing the center positioning of the workpiece in the front and back directions.

[0024] Please refer to ( Figure 1-Figure 3 The two-way screw 28 is screwed to the left and right sides of the workpiece, and the two-way screw 28 is screwed to the right and left sides of the workpiece, so that the two clamping plates 11 are symmetrically arranged.

[0025] Please refer to ( Figure 2-Figure 4 ), in this embodiment, the storage groove 12 is located on the side where the lower ends of the two positioning plates 5 are close to each other, the supporting bar 13 and the inner side of the storage groove 12 are slidably sleeved, and the side where the lower ends of the two positioning plates 5 are away from each other is fixedly installed with an electric telescopic rod 131, the output end of the electric telescopic rod 131 extends to the inner side of the storage groove 12, and is fixedly connected to the supporting bar 13, and the clamping seat 7 is driven to rise by the telescopic cylinder 6, so that the bottom of the workpiece is separated from the table surface, and then the two electric telescopic rods 131 work to drive the supporting bar 13 to extend from the storage groove 12 to support the bottom of the workpiece.

[0026] During work, the lifting seat 1 is driven to move above the workpiece by the truss mechanism, and the lifting seat 1 is driven to descend, so that the positioning plate 5 is close to the placement table, and the two-way screw 1 is driven to rotate by the motor 13, so that the two positioning plates 5 slide along the slide groove 4 and approach each other to achieve the center positioning of the workpiece in the front and rear directions, and then the two-way screw 28 is driven to rotate by the motor 29, so that the two clamping plates 11 slide along the slide groove 2 10 and approach each other until the clamping gasket is in contact with the middle position of the left and right sides of the workpiece, so as to achieve stable clamping of the workpiece, and the clamping seat 7 is driven to rise by the telescopic cylinder 6, so that the bottom of the workpiece is separated from the table, and then the supporting bar 13 is driven to extend from the storage groove 12 by the two electric telescopic rods 131 to support the bottom of the workpiece, thereby improving the stability of the workpiece grasping, and then the lifting seat 1 is driven to move by the truss mechanism to complete the transportation of the workpiece.

[0027] Through the above steps, the motor 3 is used to drive the bidirectional screw 2 to rotate, so that the two positioning plates 5 are close to each other, and the center positioning of the workpiece in the front and rear directions is achieved. Then, the clamping gaskets on the surfaces of the two clamping plates 11 are fitted with the middle positions of the left and right sides of the workpiece to achieve stable clamping of the workpiece, so as to solve the problem that the truss robot grasping device is prone to errors such as deviation of the center of gravity due to improper grasping position during the grasping process, thereby affecting the stability of the workpiece grasping.

Claims

1. A positionable truss robot grasping device, comprising a lifting seat (1), characterized in that: A bidirectional lead screw (2) is provided inside the lifting seat (1), a motor (3) is fixedly installed on the front side of the lifting seat (1), a slide groove (4) is provided at the lower end of the lifting seat (1), a positioning plate (5) is provided on the inner side of the slide groove (4), a telescopic cylinder (6) is provided at the lower end of the lifting seat (1), a clamping seat (7) is provided at the lower end of the telescopic cylinder (6), a bidirectional lead screw (8) is provided inside the clamping seat (7), a motor (9) is fixedly installed on the right side of the clamping seat (7), a slide groove (10) is provided at the lower end of the clamping seat (7), a clamping plate (11) is provided on the inner side of the slide groove (10), a receiving groove (12) is provided on the side of the lower end of the positioning plate (5), and a supporting bar (13) is provided on the inner side of the receiving groove (12).

2. The positionable truss robot grasping device according to claim 1, characterized in that: The upper end of the lifting seat (1) is connected to a truss mechanism, and two slide grooves (4) are located at the lower end of the lifting seat (1) and are symmetrically arranged in the front and rear directions. The output end of the motor (3) extends to the inner side of the slide groove (4) and is fixedly connected to the front end of the bidirectional screw (2). The rear end of the bidirectional screw (2) is rotatably connected to the inner wall of the slide groove (4).

3. The positionable truss robot grasping device according to claim 1, characterized in that: Two positioning plates (5) are symmetrically arranged front to back and are designed in a T-shaped structure. The upper end of the positioning plate (5) is slidably connected to the inner side of the slide groove (4) and is threadedly connected to the surface of the bidirectional screw (2).

4. The positionable truss robot grasping device according to claim 1, characterized in that: The upper end of the telescopic cylinder (6) is fixedly connected to the lifting seat (1), the output end of the telescopic cylinder (6) is fixedly connected to the upper end of the clamping seat (7), and two slide grooves (10) are located at the lower end of the clamping seat (7) and are symmetrically arranged on the left and right.

5. The positionable truss robot grasping device according to claim 1, characterized in that: The output end of the second motor (9) extends to the inner side of the second slide groove (10) and is fixedly connected to the right end of the second bidirectional screw (8). The left end of the second bidirectional screw (8) is rotatably connected to the inner wall of the second slide groove (10).

6. The positionable truss robot grasping device according to claim 1, characterized in that: Two clamping plates (11) are symmetrically arranged on the left and right sides. The upper end of the clamping plate (11) is slidably connected to the inner side of the second slide groove (10) and is threadedly connected to the surface of the second bidirectional screw (8). The lower end of the clamping plate (11) extends to the outer side of the second slide groove (10) and is fixedly installed with an anti-slip gasket on the surface.

7. The positionable truss robot grasping device according to claim 1, characterized in that: The storage groove (12) is located on a side where the lower ends of the two positioning plates (5) are close to each other, the support bar (13) and the inner side of the storage groove (12) are slidably sleeved, and an electric telescopic rod (131) is fixedly installed on a side where the lower ends of the two positioning plates (5) are away from each other, and the output end of the electric telescopic rod (131) extends to the inner side of the storage groove (12) and is fixedly connected to the support bar (13).

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