CN103640024A - Parallel clamping device and method for robot end - Google Patents
Parallel clamping device and method for robot end Download PDFInfo
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- CN103640024A CN103640024A CN201310586732.9A CN201310586732A CN103640024A CN 103640024 A CN103640024 A CN 103640024A CN 201310586732 A CN201310586732 A CN 201310586732A CN 103640024 A CN103640024 A CN 103640024A
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Abstract
The invention discloses a parallel clamping device and method for a robot end. The parallel clamping device for the robot end comprises a driving air cylinder, a parallel clamping mechanism and two end clamping mechanisms, wherein the two end clamping mechanisms are arranged on the two sides of the parallel clamping mechanism respectively, and the two ends of the driving air cylinder are fixedly connected with the two end clamping mechanisms respectively. The parallel clamping method for the robot end comprises the steps that the two end clamping mechanisms are symmetrically arranged on the two sides of the parallel clamping mechanism respectively, and are connected with the parallel clamping mechanism through adjusting rods, the two ends of each adjusting rod are hinged to the parallel clamping mechanism and the corresponding end clamping mechanism, a rotating base is used in cooperation so that when the driving air cylinder works, the two end clamping mechanisms can be driven to synchronously run, and clamping or loosening of workpieces can be achieved. According to the parallel clamping device for the robot end, the mode that one driving air cylinder is used for driving the two end clamping mechanisms is adopted, the rotating base and the adjusting rods are used in cooperation, synchronous operation of the two end clamping mechanisms is achieved, clamping is stable, alignment performance and synchronism are high, the accuracy rate of clamping is high, and production efficiency and the degree of automation of a production line can be effectively improved.
Description
Technical field
The present invention relates to the Industrial Robot Technology field that automated handling is used, particularly a kind of parallel clamping device and method for robot end.
Background technology
In robot automation's carrying technology, the application of the method for clamping of two finger parallel motions is more, to plate parts, disk-like accessory, axial workpiece, case class part etc., all can use this kind of method of clamping.
The two finger method of clamping that adopt both at home and abroad at present mainly contain two kinds: the one, directly use Pneumatic parallel jaw, and the 2nd, two cylinders are controlled parallel jaw.Yet in actual applications, the mode of Pneumatic parallel jaw is to utilize the pneumatic system of production line directly to control the motion of parallel jaw, the device structure of which is complicated, chucking power is little, be not easy to maintenance, equipment cost is also high; And the mode of two cylinders control jaws is by two cover cylinder mechanisms are set, to forming each jaw of parallel jaw, control respectively, but in actual production, poor synchronization, the poor rigidity, to the automatic centering ability of workpiece also poor of parallel jaw when parallel motion, cause robot automatic transporting accuracy to decline, therefore usually there is the empty phenomenon of folder, affect the normal operation of production line.In the present age of production automation fast development, the not single cost of current method of clamping is high, it is loaded down with trivial details to keep in repair, and also easily causes automated system unstable simultaneously, affects production efficiency and even causes economic loss.
Summary of the invention
The object of the invention is to overcome the deficiencies in the prior art, provide a kind of simple and compact for structure, be easy to safeguard, clamp the stable parallel clamping device for robot end.
Another object of the present invention is to provide a kind of parallel clamp method for robot end of realizing by said apparatus.
Technical scheme of the present invention is: a kind of parallel clamping device for robot end, comprise and drive cylinder, parallel clamp mechanism and two group end clamping devices, two group end clamping devices are located at respectively the both sides of parallel clamp mechanism, drive cylinder two ends to be fixedly connected with two group end clamping devices respectively.
Described parallel clamp mechanism comprises supported flange, central shaft, rotating seat, adjusting lever and adjustment substrate, supported flange is fixedly connected with central shaft top, central shaft bottom is fixedly connected with adjustment substrate, rotating seat is connected with central shaft periphery by centre bearing, supported flange bottom compresses centre bearing inner ring, and rotating seat end face is connected with end clamping device by adjusting lever.Wherein, centre bearing can adopt deep-groove ball ball bearing.
Described rotating seat end face is the rhombus with fillet, and two acute ends of rotating seat end face arrange respectively adjusting lever, and the outer end of each adjusting lever is connected with end clamping device respectively; In order to guarantee synchronism and the centering of two group end clamping devices, the length of two adjusting levers must equate.Rotating seat bottom can be designed to cylinder, and two acute ends of rotating seat end face are the boss that is positioned at cylindrical edge.
Described supported flange top is also provided with the adpting flange that outer welding robot is used.By adpting flange, be connected with the arm of robot, whole parallel clamping device can be installed on robot end.
Described end clamping device comprises finger substrate, slide block, line slideway and holding finger, line slideway is fixed on to be adjusted on substrate, finger base plate bottom is connected with line slideway by slide block, and finger substrate top is connected with adjusting lever, and finger substrate both sides arrange respectively holding finger.In order to guarantee commutativity and adaptability, holding finger adopts isolating construction with finger substrate, by changing the finger of different size, can be applicable to the workpiece of variety classes and different size.
Described adjusting lever is connected with finger substrate by pivot pin, and the junction of pivot pin and adjusting lever arranges oscillating bearing.
The inner side, end of described holding finger is also provided with rubber blanket, and the setting of rubber blanket has cushioning effect, scratches workpiece or defective work piece in the time of can preventing holding finger holding workpiece.
Described finger substrate one side is provided with cylinder block, drives the stiff end of cylinder to connect with the cylinder block that is positioned at parallel clamp mechanism one side by fixture, drives the output of cylinder to connect with the cylinder block that is positioned at parallel clamp mechanism opposite side by flake joint.
When this parallel clamping device for robot end is used, its principle is: by two group end clamping devices being set in parallel clamp mechanism bilateral symmetry, and adopt two ends to be hinged adjusting lever to connect, coordinate the use of rotating seat, while making to drive cylinder action, can drive two group end clamping device synchronous operations, realize Workpiece clamping or unclamp.
The present invention realizes a kind of parallel clips clamping method for robot end by said apparatus, comprises the following steps:
(1) while driving cylinder action, drive the output of cylinder outwards to move, drive to be positioned to drive the end clamping device of cylinder output outwards to move, now, because adjusting lever and end clamping device are hinged, so adjusting lever drives rotating seat rotation;
(2) rotation of rotating seat makes the adjusting lever pendulum angle at rotating seat two ends identical, thereby drives the end clamping device outwards motion simultaneously of both sides, and the end clamping device shift length of both sides equates;
(3) when the output of driving cylinder inwardly reclaims, the end clamping device counter motion of both sides, thereby to Workpiece clamping.
Wherein, when described end clamping device outwards moves, be specially: line slideway is fixing on adjustment substrate, finger substrate outwards moves along line slideway by slide block, drives holding finger outwards to move.
The present invention, with respect to prior art, has following beneficial effect:
This parallel clamping device for robot end adopts one to drive air cylinder driven two group end clamping devices, by the cooperation of rotating seat and adjusting lever, realize two group end clamping device synchronous operations, clamping is stable, centering and synchronism are all higher, the accuracy rate of clamping is also high, can effectively improve production efficiency and the automaticity of production line.
This is for robot end's parallel clamping device, parallel clamp mechanism adopts rotating seat to coordinate adjusting lever to use, have simple and compact for structure, cheap, be easy to safeguard, chucking power is strong, clamping range is large, good rigidly, centering are good, stablize the features such as durable.
Accompanying drawing explanation
Fig. 1 is that this is for the overall structure schematic diagram of robot end's parallel clamping device.
Fig. 2 is that this is for the top view of robot end's parallel clamping device.
Fig. 3 is the A-A cross sectional view of Fig. 2.
The specific embodiment
Below in conjunction with embodiment and accompanying drawing, the present invention is described in further detail, but embodiments of the present invention are not limited to this.
Embodiment
A kind of parallel clamping device for robot end of the present embodiment, as shown in Figure 1 or 2, comprise and drive cylinder 1, parallel clamp mechanism and two group end clamping devices, two group end clamping devices are located at respectively the both sides of parallel clamp mechanism, drive cylinder two ends to be fixedly connected with two group end clamping devices respectively.
As shown in Figure 3, parallel clamp mechanism comprises supported flange 2, central shaft 3, rotating seat 4, adjusting lever 5 and adjusts substrate 6, supported flange is fixedly connected with central shaft top, central shaft bottom is fixedly connected with adjustment substrate, rotating seat is connected with central shaft periphery by centre bearing 7, supported flange bottom compresses centre bearing inner ring, and rotating seat end face is connected with end clamping device by adjusting lever.Wherein, centre bearing can adopt deep-groove ball ball bearing.
As shown in Figure 1 or 2, rotating seat 4 end faces are the rhombus with fillet, and two acute ends of rotating seat end face arrange respectively adjusting lever 5, and the outer end of each adjusting lever is connected with end clamping device respectively; In order to guarantee synchronism and the centering of two group end clamping devices, the length of two adjusting levers must equate.Rotating seat bottom can be designed to cylinder, and two acute ends of rotating seat end face are the boss that is positioned at cylindrical edge.
Supported flange top is also provided with the adpting flange 8 that outer welding robot is used.By adpting flange, be connected with the arm of robot, whole parallel clamping device can be installed on robot end.
As shown in Figure 3, end clamping device comprises finger substrate 9, slide block 10, line slideway 11 and holding finger 12, line slideway is fixed on to be adjusted on substrate, finger base plate bottom is connected with line slideway by slide block, finger substrate top is connected with adjusting lever, and finger substrate both sides arrange respectively holding finger.In order to guarantee commutativity and adaptability, holding finger adopts isolating construction with finger substrate, by changing the finger of different size, can be applicable to the workpiece of variety classes and different size.
Adjusting lever 5 is connected with finger substrate by pivot pin 13, and the junction of pivot pin and adjusting lever arranges oscillating bearing 14.
The inner side, end of holding finger is also provided with rubber blanket 15, and the setting of rubber blanket has cushioning effect, scratches workpiece or defective work piece in the time of can preventing holding finger holding workpiece.
Finger substrate one side is provided with cylinder block 16, drives the stiff end of cylinder to connect with the cylinder block that is positioned at parallel clamp mechanism one side by fixture 17, drives the output of cylinder to connect with the cylinder block that is positioned at parallel clamp mechanism opposite side by flake joint 18.
When this parallel clamping device for robot end is used, its principle is: by two group end clamping devices being set in parallel clamp mechanism bilateral symmetry, and adopt two ends to be hinged adjusting lever to connect, coordinate the use of rotating seat, while making to drive cylinder action, can drive two group end clamping device synchronous operations, realize Workpiece clamping or unclamp.
The present embodiment is realized by said apparatus can a kind of parallel clips clamping method for robot end, comprises the following steps:
(1) while driving cylinder 1 action, drive the output of cylinder outwards to move, drive to be positioned to drive the end clamping device of cylinder output outwards to move, now, because adjusting lever 5 and end clamping device are hinged, so adjusting lever drives rotating seat to rotate;
(2) rotation of rotating seat 4 makes the adjusting lever pendulum angle at rotating seat two ends identical, thereby drives the end clamping device outwards motion simultaneously of both sides, and the end clamping device shift length of both sides equates;
(3) when the output of driving cylinder inwardly reclaims, the end clamping device counter motion of both sides, thereby to Workpiece clamping.
Wherein, when end clamping device outwards moves, be specially: line slideway is fixing on adjustment substrate, finger substrate outwards moves along line slideway by slide block, drives holding finger outwards to move.
As mentioned above, just can realize preferably the present invention, above-described embodiment is only preferred embodiment of the present invention, is not used for limiting practical range of the present invention; Be that all equalizations of doing according to content of the present invention change and modify, all by the claims in the present invention scope required for protection, contained.
Claims (10)
1. the parallel clamping device for robot end, it is characterized in that, comprise and drive cylinder, parallel clamp mechanism and two group end clamping devices, two group end clamping devices are located at respectively the both sides of parallel clamp mechanism, drive cylinder two ends to be fixedly connected with two group end clamping devices respectively.
2. a kind of parallel clamping device for robot end according to claim 1, it is characterized in that, described parallel clamp mechanism comprises supported flange, central shaft, rotating seat, adjusting lever and adjustment substrate, supported flange is fixedly connected with central shaft top, central shaft bottom is fixedly connected with adjustment substrate, rotating seat is connected with central shaft periphery by centre bearing, and supported flange bottom compresses centre bearing inner ring, and rotating seat end face is connected with end clamping device by adjusting lever.
3. a kind of parallel clamping device for robot end according to claim 2, it is characterized in that, described rotating seat end face is the rhombus with fillet, and two acute ends of rotating seat end face arrange respectively adjusting lever, and the outer end of each adjusting lever is connected with end clamping device respectively; Two adjusting levers equal in length.
4. a kind of parallel clamping device for robot end according to claim 2, is characterized in that, described supported flange top is also provided with the adpting flange that outer welding robot is used.
5. a kind of parallel clamping device for robot end according to claim 2, it is characterized in that, described end clamping device comprises finger substrate, slide block, line slideway and holding finger, line slideway is fixed on to be adjusted on substrate, finger base plate bottom is connected with line slideway by slide block, finger substrate top is connected with adjusting lever, and finger substrate both sides arrange respectively holding finger.
6. a kind of parallel clamping device for robot end according to claim 5, is characterized in that, described adjusting lever is connected with finger substrate by pivot pin, and the junction of pivot pin and adjusting lever arranges oscillating bearing.
7. a kind of parallel clamping device for robot end according to claim 5, is characterized in that, the inner side, end of described holding finger is also provided with rubber blanket.
8. a kind of parallel clamping device for robot end according to claim 5, it is characterized in that, described finger substrate one side is provided with cylinder block, drive the stiff end of cylinder to connect with the cylinder block that is positioned at parallel clamp mechanism one side by fixture, drive the output of cylinder to connect with the cylinder block that is positioned at parallel clamp mechanism opposite side by flake joint.
9. according to device described in claim 2～8 any one, realize a kind of parallel clips clamping method for robot end, it is characterized in that, comprise the following steps:
(1) while driving cylinder action, drive the output of cylinder outwards to move, drive to be positioned to drive the end clamping device of cylinder output outwards to move, now, because adjusting lever and end clamping device are hinged, so adjusting lever drives rotating seat rotation;
(2) rotation of rotating seat makes the adjusting lever pendulum angle at rotating seat two ends identical, thereby drives the end clamping device outwards motion simultaneously of both sides, and the end clamping device shift length of both sides equates;
(3) when the output of driving cylinder inwardly reclaims, the end clamping device counter motion of both sides, thereby to Workpiece clamping.
10. a kind of parallel clips clamping method for robot end according to claim 9, it is characterized in that, when described end clamping device outwards moves, be specially: line slideway is fixing on adjustment substrate, finger substrate outwards moves along line slideway by slide block, drives holding finger outwards to move.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201310586732.9A CN103640024A (en) | 2013-11-20 | 2013-11-20 | Parallel clamping device and method for robot end |
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| CN201310586732.9A CN103640024A (en) | 2013-11-20 | 2013-11-20 | Parallel clamping device and method for robot end |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104444323A (en) * | 2014-11-26 | 2015-03-25 | 山东同力达智能机械有限公司 | Crank type alignment clamping device |
| CN105129406A (en) * | 2015-07-16 | 2015-12-09 | 佛山市普拉迪数控科技有限公司 | Automatic positioning mechanism on production line |
| CN107041767A (en) * | 2017-03-28 | 2017-08-15 | 汕头大学 | The storage device of integrated hair follicle transplanter |
| CN107253139A (en) * | 2017-06-16 | 2017-10-17 | 苏州泛能电力科技有限公司 | The clamping device and its method being ground applied to hardware clamp type tool |
| CN107283263A (en) * | 2017-06-16 | 2017-10-24 | 苏州泛能电力科技有限公司 | The transfer device and its method being ground applied to hardware clamp type tool |
| CN107662111A (en) * | 2016-07-27 | 2018-02-06 | 深圳市祈飞科技有限公司 | Self-centering apparatus |
| CN108656142A (en) * | 2018-07-19 | 2018-10-16 | 华侨大学 | A kind of sorting manipulator |
| CN108861313A (en) * | 2018-08-19 | 2018-11-23 | 济南二机床集团有限公司 | A kind of plate cutting line magnetic force transmission mechanism |
| CN109605332A (en) * | 2018-12-25 | 2019-04-12 | 东莞市超业精密设备有限公司 | A kind of clamping robot architecture |
| CN111673778A (en) * | 2020-05-20 | 2020-09-18 | 连云港杰瑞自动化有限公司 | Connecting rod self-adaptive grabbing end effector with flash under forging environment |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104444323A (en) * | 2014-11-26 | 2015-03-25 | 山东同力达智能机械有限公司 | Crank type alignment clamping device |
| CN105129406A (en) * | 2015-07-16 | 2015-12-09 | 佛山市普拉迪数控科技有限公司 | Automatic positioning mechanism on production line |
| CN107662111A (en) * | 2016-07-27 | 2018-02-06 | 深圳市祈飞科技有限公司 | Self-centering apparatus |
| CN107041767B (en) * | 2017-03-28 | 2023-08-08 | 汕头大学 | Storage device of integrated hair follicle transplanting device |
| CN107041767A (en) * | 2017-03-28 | 2017-08-15 | 汕头大学 | The storage device of integrated hair follicle transplanter |
| CN107253139A (en) * | 2017-06-16 | 2017-10-17 | 苏州泛能电力科技有限公司 | The clamping device and its method being ground applied to hardware clamp type tool |
| CN107283263A (en) * | 2017-06-16 | 2017-10-24 | 苏州泛能电力科技有限公司 | The transfer device and its method being ground applied to hardware clamp type tool |
| CN108656142A (en) * | 2018-07-19 | 2018-10-16 | 华侨大学 | A kind of sorting manipulator |
| CN108861313A (en) * | 2018-08-19 | 2018-11-23 | 济南二机床集团有限公司 | A kind of plate cutting line magnetic force transmission mechanism |
| CN108861313B (en) * | 2018-08-19 | 2024-03-26 | 济南二机床集团有限公司 | Magnetic force transmission mechanism for flat cutting line |
| CN109605332A (en) * | 2018-12-25 | 2019-04-12 | 东莞市超业精密设备有限公司 | A kind of clamping robot architecture |
| CN109605332B (en) * | 2018-12-25 | 2024-02-09 | 东莞市超业精密设备有限公司 | Clamping robot structure |
| CN111673778A (en) * | 2020-05-20 | 2020-09-18 | 连云港杰瑞自动化有限公司 | Connecting rod self-adaptive grabbing end effector with flash under forging environment |
| CN111673778B (en) * | 2020-05-20 | 2022-01-11 | 连云港杰瑞自动化有限公司 | Connecting rod self-adaptive grabbing end effector with flash under forging environment |
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Application publication date: 20140319 |