CN104741861A - Multifunctional robot gripper - Google Patents
Multifunctional robot gripper Download PDFInfo
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- CN104741861A CN104741861A CN201510158936.1A CN201510158936A CN104741861A CN 104741861 A CN104741861 A CN 104741861A CN 201510158936 A CN201510158936 A CN 201510158936A CN 104741861 A CN104741861 A CN 104741861A
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- hold
- crossbeam
- slide rail
- slide block
- down mechanism
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Abstract
The invention relates to a multifunctional robot gripper. The multifunctional robot gripper comprises a frame structure, a fixed clamping mechanism I and movable clamping mechanisms II, III and IV, wherein the frame structure is composed of cross beams and longitudinal beams; the fixed clamping mechanism I and the movable clamping mechanisms II, III and IV are arranged on the frame structure; the fixed clamping mechanism I comprises a first pressing mechanism and a connecting rack; the movable clamping mechanism II comprises a horizontal positioning mechanism and a second pressing mechanism; the movable clamping mechanism III comprises a vertical positioning mechanism and a third pressing mechanism; the movable clamping mechanism IV comprises a positioning mechanism and a fourth pressing mechanism; every pressing mechanism comprises a pressing air cylinder and a pressing arm, the pressing air cylinder is fixed onto a support seat, the middle of the pressing arm is hinged to the support arm, the free end of the pressing arm is provided with a pressing block, and the upper end of the support seat is provided with a positioning block matched with the pressing block. By changing the position of the positioning mechanism through the electrohydraulic cylinder, the multifunctional robot gripper can accurately clamp and position workpieces, ensure the welding quality of the workpieces, achieve high production efficiency, meet the production requirements of various vehicle types and save the equipment investment cost.
Description
Technical field
The present invention relates to the multi-functional handgrip of a kind of robot, belong to weld car production technical field.
Background technology
Transhipment, welding etc. after Workpiece clamping are carried out when Conventional robotic's handgrip is produced mainly for weld car.There is following defect in current this robot gripper: 1, robot gripper is generally only applicable to one or both similar vehicles, flexible poor; 2, produce for meeting multi-vehicle-type, need to produce multiple handgrip, cost increases; 3, number of devices is many, takes up room large; 4, machine frequently more exchange device, productive temp increases, and not only reduces production efficiency, and can affect product in-placing precision, thus the quality of impact welding.
Along with the raising of flexibility system, the utilization of unmanned automatic production line is more and more general, for meeting high automation production line needs, reduce cost of investment simultaneously, design a adaptation multi-vehicle-type transhipment, welding multi-function robot handgrip be technical problem urgently to be resolved hurrily in weld car production process.
Summary of the invention
The present invention is directed to the deficiency that above-mentioned prior art exists, a kind of compact conformation is provided, easy to operate, the quick multi-functional handgrip of robot accurately of clamping.
The technical scheme that the present invention solves the problems of the technologies described above is as follows: the multi-functional handgrip of a kind of robot, comprise form that two of frame structure be arranged in parallel first, crossbeam two and two be arranged in parallel first, longeron two, described longeron vertical support is between crossbeam, described crossbeam one one end is provided with and fixes to clamp mechanism, the other end is provided with mobile clamp system two, the described mechanism that fixes to clamp comprises the first hold-down mechanism and connection bracket, described mobile clamp system two comprises transverse positioning mechanism and is supported on the second hold-down mechanism on transverse positioning mechanism, described crossbeam two one end is provided with mobile clamp system three, the other end is provided with mobile clamp system four, the 3rd hold-down mechanism that described mobile clamp system three is comprised vertical location device and is connected with vertical location device by connection bracket, described mobile clamp system four comprises detent mechanism and is arranged on the 4th hold-down mechanism on detent mechanism,
Described hold-down mechanism comprises the clamping arm of compression cylinder and the piston hinge with compression cylinder, described compression cylinder is fixed on supporting seat, middle part and the supporting seat of described clamping arm are hinged, and the free end of clamping arm is provided with briquetting, and the upper end of described supporting seat is provided with the locating piece matched with briquetting;
Described transverse positioning mechanism comprises and is arranged on X on crossbeam one to slide rail one, the X that can slide on slide rail one at described X to slide block one and the electric cylinder one that is fixed on described crossbeam one, the piston of described electric cylinder one is fixedly connected with to slide block one with described X, and described X is connected with the supporting seat of described second hold-down mechanism to slide block one by connection bracket one;
Described vertical location device comprise vertically with the Z-direction slide rail two of described crossbeam two, can at the Z-direction slide block two of the upper and lower slip of described Z-direction slide rail two and the electric cylinder two be fixedly connected with Z-direction slide rail two, described Z-direction slide block two is fixed on the supporting seat of described 3rd hold-down mechanism, and the piston of described electric cylinder two is fixedly connected with the supporting seat of described 3rd hold-down mechanism;
Described detent mechanism comprise be arranged on X on crossbeam two to slide rail three, the electric cylinder three be arranged on longeron one, X from described X to slide rail three horizontal direction that slide along to slide block three, be arranged on described X to the Z-direction slide rail four on slide block three, along the Z-direction slide block four of the upper and lower slip of described Z-direction slide rail four and the electric cylinder four that is fixed on bottom Z-direction slide rail four, the piston of described electric cylinder three is fixedly connected with to slide block three with described X, described Z-direction slide block four is fixed on the supporting seat of the 4th hold-down mechanism, and the piston of described electric cylinder four is fixedly connected with the lower end of the supporting seat of the 4th hold-down mechanism.
Reinforcement is provided with between described crossbeam one and longeron one.
Reinforcement is provided with between described crossbeam two and longeron two.
Also comprise control system, described control system is for controlling the action of electric cylinder and compression cylinder.
The invention has the beneficial effects as follows: frame structure ensure that the stability of clamp system, also guarantee that the overall footprint area of this handgrip is little, fixing to clamp mechanism is arranged on one end of crossbeam one, mobile clamp system is arranged in other three orientation of frame structure, and mobile clamp system can respectively by respective electric cylinder in transverse direction, the position stroke of the whole hold-down mechanism of vertical or horizontal and longitudinal rise, to adapt to the clamping demand of different automobile types, realize multi-vehicle-type Production requirement fast, without the need to increasing the equipment such as handgrip, and in vehicle Renewal process, the slippage under control system controls of electricity cylinder is accurate, put in place accurately, precision is high, in a word, the evolution of detent mechanism of the present invention adopts electric cylinder, to Workpiece clamping accurate positioning, ensure the welding quality of workpiece, production efficiency is high, multi-vehicle-type Production requirement can be met, save equipment investment cost.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention;
In figure, 1, fix to clamp mechanism one; 2, mobile clamp system two; 21, electric cylinder one; 22, X is to slide rail one; 23, X is to slide block one; 24, connection bracket one; 3, mobile clamp system three; 31, Z-direction slide rail two; 32, electric cylinder two; 33, Z-direction slide block two; 4, mobile clamp system four; 41, X is to slide rail three; 42, X is to slide block three; 43, electric cylinder three; 44, Z-direction slide rail four; 45, Z-direction slide block four; 46, electric cylinder four; 5, compression cylinder; 6, clamping arm; 7, supporting seat; 8, briquetting; 9, locating piece; 10, connection bracket; 11, crossbeam one; 12, longeron two; 13, crossbeam two; 14, longeron one; 15, reinforcement.
Detailed description of the invention
Be described principle of the present invention and feature below in conjunction with accompanying drawing, example, only for explaining the present invention, is not intended to limit scope of the present invention.
As shown in Figure 1, the multi-functional handgrip of a kind of robot, comprise two crossbeams be arranged in parallel 1 forming frame structure, crossbeam 2 13 and two longerons be arranged in parallel 1, longeron 2 12, described longeron vertical support is between crossbeam, one end of described crossbeam 1 is provided with and fixes to clamp mechanism 1, the other end is provided with mobile clamp system 22, the described mechanism 1 that fixes to clamp comprises the first hold-down mechanism and connection bracket 10, described mobile clamp system 22 comprises transverse positioning mechanism and is supported on the second hold-down mechanism on transverse positioning mechanism, one end of described crossbeam 2 13 is provided with mobile clamp system 33, the other end is provided with mobile clamp system 44, the 3rd hold-down mechanism that described mobile clamp system 33 is comprised vertical location device and is connected with vertical location device by connection bracket, described mobile clamp system 44 comprises detent mechanism and is arranged on the 4th hold-down mechanism on detent mechanism,
Described hold-down mechanism comprises compression cylinder 5 and the clamping arm 6 with the piston hinge of compression cylinder, described compression cylinder 5 is fixed on supporting seat 7, middle part and the supporting seat 7 of described clamping arm 6 are hinged, the free end of clamping arm 6 is provided with briquetting 8, and the upper end of described supporting seat 7 is provided with the locating piece 9 matched with briquetting;
Described transverse positioning mechanism comprises and is arranged on X on crossbeam 1 to slide rail 1, the X that slides on slide rail 1 at described X to slide block 1 and the electric cylinder 1 that is fixed on described crossbeam one, the piston of described electric cylinder 1 is fixedly connected with to slide block 1 with described X, and described X is connected with the supporting seat of described second hold-down mechanism to slide block 1 by connection bracket 1;
Described vertical location device comprise vertically with the Z-direction slide rail 2 31 of described crossbeam 2 13, at the Z-direction slide block 2 33 of the upper and lower slip of described Z-direction slide rail 2 31 and the electric cylinder 2 32 that is fixedly connected with Z-direction slide rail 2 31, described Z-direction slide block 2 33 is fixed on the supporting seat of described 3rd hold-down mechanism, and the piston of described electric cylinder 2 32 is fixedly connected with the supporting seat of described 3rd hold-down mechanism;
Described detent mechanism comprises and is arranged on X on crossbeam 2 13 to slide rail 3 41, be arranged on the electric cylinder 3 43 on longeron one, the X slided along described X to slide rail three horizontal direction is to slide block 3 42, be arranged on described X to the Z-direction slide rail 4 44 on slide block 3 42, along on described Z-direction slide rail four, the Z-direction slide block 4 45 of lower slider and the electric cylinder 4 46 be fixed on bottom Z-direction slide rail four, the piston of described electric cylinder 3 43 is fixedly connected with to slide block 3 42 with described X, described Z-direction slide block 4 45 is fixed on the supporting seat of the 4th hold-down mechanism, the piston of described electric cylinder 4 46 is fixedly connected with the lower end of the supporting seat of the 4th hold-down mechanism.
Reinforcement 15 is provided with between described crossbeam 1 and longeron 1.
Reinforcement 15 is provided with between described crossbeam 2 13 and longeron 2 12.
Also comprise control system, described control system is for controlling the action of electric cylinder and compression cylinder.
The course of work of the present invention: as different automobile types workpiece is transported to another position from a position, first the signal instruction of corresponding vehicle information is conveyed to robot, robot receives corresponding vehicle signal, then the control system of multi-functional handgrip controls mobile clamp system two according to the signal of the corresponding vehicle received, three, in four second, 3rd and the 4th hold-down mechanism realize under the electric cylinder effect of correspondence X to, Z-direction and X to Z-direction Traffic control system, make four of robot handgrip trams corresponding to vehicle to be transported, then robot carries handgrip and accurately locates grabbing workpiece to the location of workpiece one by four handgrips, workpiece is transferred to position two by robot, then assigned address is placed to, this transport process is completed by handgrip.If vehicle changes, then can be adjusted the electric cylinder of mobile clamp system by control system according to corresponding vehicle signal, realize mobile clamp system at position stroke that is horizontal, vertical or horizontal and the whole hold-down mechanism of longitudinal rise, the action that control system controls electric cylinder and compression cylinder makes hold-down mechanism slippage accurate, put in place accurately, precision is high, and captures accurately, clamping efficiency is high, transports convenient and swift.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (3)
1. the multi-functional handgrip of robot, it is characterized in that, comprise two crossbeams be arranged in parallel forming frame structure, crossbeam two and two longerons be arranged in parallel, longeron two, described longeron vertical support is between crossbeam, one end of described crossbeam one is provided with and fixes to clamp mechanism one, the other end is provided with mobile clamp system two, the described mechanism one that fixes to clamp comprises the first hold-down mechanism and connection bracket, described mobile clamp system two comprises transverse positioning mechanism and is supported on the second hold-down mechanism on transverse positioning mechanism, one end of described crossbeam two is provided with mobile clamp system three, the other end is provided with mobile clamp system four, the 3rd hold-down mechanism that described mobile clamp system three is comprised vertical location device and is connected with vertical location device by connection bracket, described mobile clamp system four comprises detent mechanism and is arranged on the 4th hold-down mechanism on detent mechanism,
Described hold-down mechanism comprises the clamping arm of compression cylinder and the piston hinge with compression cylinder, described compression cylinder is fixed on supporting seat, middle part and the supporting seat of described clamping arm are hinged, and the free end of clamping arm is provided with briquetting, and the upper end of described supporting seat is provided with the locating piece matched with briquetting;
Described transverse positioning mechanism comprises and is arranged on X on crossbeam one to slide rail one, the X that can slide on slide rail one at described X to slide block one and the electric cylinder one that is fixed on described crossbeam one, the piston of described electric cylinder one is fixedly connected with to slide block one with described X, and described X is connected with the supporting seat of described second hold-down mechanism to slide block one by connection bracket one;
Described vertical location device comprise vertically with the Z-direction slide rail two of described crossbeam two, can at the Z-direction slide block two of the upper and lower slip of described Z-direction slide rail two and the electric cylinder two be fixedly connected with Z-direction slide rail two, described Z-direction slide block two is fixed on the supporting seat of described 3rd hold-down mechanism, and the piston of described electric cylinder two is fixedly connected with the supporting seat of described 3rd hold-down mechanism;
Described detent mechanism comprise be arranged on X on crossbeam two to slide rail three, the electric cylinder three be arranged on longeron one, X from described X to slide rail three horizontal direction that slide along to slide block three, be arranged on described X to the Z-direction slide rail four on slide block three, along the Z-direction slide block four of the upper and lower slip of described Z-direction slide rail four and the electric cylinder four that is fixed on bottom Z-direction slide rail four, the piston of described electric cylinder three is fixedly connected with to slide block three with described X, described Z-direction slide block four is fixed on the supporting seat of the 4th hold-down mechanism, and the piston of described electric cylinder four is fixedly connected with the lower end of the supporting seat of the 4th hold-down mechanism.
2. the multi-functional handgrip of robot according to claim 1, is characterized in that, is provided with reinforcement between described crossbeam one and longeron one.
3. the multi-functional handgrip of robot according to claim 1 and 2, is characterized in that, is provided with reinforcement between described crossbeam two and longeron two.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510158936.1A CN104741861B (en) | 2015-04-03 | 2015-04-03 | The multi-functional handgrip of a kind of robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510158936.1A CN104741861B (en) | 2015-04-03 | 2015-04-03 | The multi-functional handgrip of a kind of robot |
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| Publication Number | Publication Date |
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| CN104741861A true CN104741861A (en) | 2015-07-01 |
| CN104741861B CN104741861B (en) | 2016-05-04 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510158936.1A Active CN104741861B (en) | 2015-04-03 | 2015-04-03 | The multi-functional handgrip of a kind of robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105966908A (en) * | 2016-07-07 | 2016-09-28 | 大连爱渥特机器人科技有限公司 | Octagonal tube tong |
| CN107088731A (en) * | 2017-06-16 | 2017-08-25 | 常州机电职业技术学院 | Weldering trailing type frock is assisted by robot |
| CN113732529A (en) * | 2021-09-10 | 2021-12-03 | 山东海大机器人科技有限公司 | Laser cutting system and method for special-shaped beam |
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| DE102010015357A1 (en) * | 2010-04-15 | 2011-10-20 | Förster GmbH | Mounting device for railing, comprises a linear guiding, a signaling device, and two retaining elements, which are movably guided against each other and detectable at a certain position |
| CN203045221U (en) * | 2012-12-28 | 2013-07-10 | 烟台宇信科技有限公司 | Flexible welding fixture |
| CN104097005A (en) * | 2014-07-04 | 2014-10-15 | 重庆格一机械制造有限公司 | Welding fixture for steel wire frameworks of back-row seat cushions of automobiles |
| CN204148777U (en) * | 2014-10-09 | 2015-02-11 | 长春轨道客车装备有限责任公司 | Steel moald-cavity sleeper beam manipulator weld jig |
| CN204545810U (en) * | 2015-04-03 | 2015-08-12 | 烟台宇信科技有限公司 | The multi-functional handgrip of a kind of robot |
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2015
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| DE102010015357A1 (en) * | 2010-04-15 | 2011-10-20 | Förster GmbH | Mounting device for railing, comprises a linear guiding, a signaling device, and two retaining elements, which are movably guided against each other and detectable at a certain position |
| CN203045221U (en) * | 2012-12-28 | 2013-07-10 | 烟台宇信科技有限公司 | Flexible welding fixture |
| CN104097005A (en) * | 2014-07-04 | 2014-10-15 | 重庆格一机械制造有限公司 | Welding fixture for steel wire frameworks of back-row seat cushions of automobiles |
| CN204148777U (en) * | 2014-10-09 | 2015-02-11 | 长春轨道客车装备有限责任公司 | Steel moald-cavity sleeper beam manipulator weld jig |
| CN204545810U (en) * | 2015-04-03 | 2015-08-12 | 烟台宇信科技有限公司 | The multi-functional handgrip of a kind of robot |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105966908A (en) * | 2016-07-07 | 2016-09-28 | 大连爱渥特机器人科技有限公司 | Octagonal tube tong |
| CN105966908B (en) * | 2016-07-07 | 2019-05-31 | 大连爱渥特机器人科技有限公司 | A kind of eight-corner tube handgrip |
| CN107088731A (en) * | 2017-06-16 | 2017-08-25 | 常州机电职业技术学院 | Weldering trailing type frock is assisted by robot |
| CN113732529A (en) * | 2021-09-10 | 2021-12-03 | 山东海大机器人科技有限公司 | Laser cutting system and method for special-shaped beam |
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| Publication number | Publication date |
|---|---|
| CN104741861B (en) | 2016-05-04 |
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