CN107123357B - Industrial robot multistation anchor clamps - Google Patents
Industrial robot multistation anchor clamps Download PDFInfo
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- CN107123357B CN107123357B CN201710343025.5A CN201710343025A CN107123357B CN 107123357 B CN107123357 B CN 107123357B CN 201710343025 A CN201710343025 A CN 201710343025A CN 107123357 B CN107123357 B CN 107123357B
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B25/00—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes
- G09B25/02—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes of industrial processes; of machinery
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Business, Economics & Management (AREA)
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- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
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Abstract
The invention provides an industrial robot multi-station clamp, which comprises a flange plate connected with an industrial robot, a positioning joint fixed on the lower end surface of the flange plate, a positioning terminal in matched connection with the positioning joint, and a clamp body fixed on the lower end surface of the positioning terminal, wherein the clamp body comprises at least two stations; the positioning terminal is provided with a positioning shaft, the positioning joint is provided with a positioning shaft hole corresponding to the positioning shaft, and the positioning shaft is inserted into the positioning shaft hole and positioned and fixed through the eccentric shaft locking mechanism. The fixture has a plurality of functional stations, can meet the use requirements of more modularized teaching, is quick to assemble and disassemble, is high in repeated installation and positioning precision, and is favorable for improving the teaching efficiency.
Description
Technical Field
The invention relates to the technical field of clamps, in particular to an industrial robot multi-station clamp.
Background
At present, the application technology of industrial robots is rapidly fused into various fields of industrial application, and industrial robots can replace people to do some long-time operations which are monotonous, frequent and repeated in industrial production or operations under dangerous and severe environments. However, in order to perfectly combine industrial application with industrial robot, a series of nonstandard clamps need to be designed to cooperate with the robot to play the industrial role of the robot.
With the robot for the teaching example, the student can learn the pile up neatly, transport, spraying, relevant technical knowledge such as orbit programming when studying industrial robot application, and when the anchor clamps that functional design is single were used, there was the anchor clamps station few, anchor clamps self function can not satisfy the user demand, need to change when removing other anchor clamps that current anchor clamps possess the function, anchor clamps can not realize the quick detach quick change, and the supplementary time of anchor clamps is changed in the dismouting is long, the problem that the repeated installation positioning accuracy is low to a great extent has reduced teaching efficiency.
It is seen that improvements and enhancements to the prior art are needed.
Disclosure of Invention
The invention aims to provide an industrial robot multi-station clamp which has a plurality of functional stations, can meet more modularized teaching use requirements, is quick to assemble and disassemble, is high in repeated installation and positioning precision, and can improve teaching efficiency.
In order to achieve the purpose, the invention adopts the following technical scheme:
a multi-station clamp for an industrial robot comprises a flange plate connected with the industrial robot, a positioning joint fixed on the lower end surface of the flange plate, a positioning terminal in matched connection with the positioning joint, and a clamp body fixed on the lower end surface of the positioning terminal, wherein the clamp body comprises at least two stations; the positioning terminal is provided with a positioning shaft, the positioning joint is provided with a positioning shaft hole corresponding to the positioning shaft, and the positioning shaft is inserted into the positioning shaft hole and is positioned and fixed through the eccentric shaft locking mechanism.
The industrial robot multi-station clamp is characterized in that the positioning joint comprises a positioning joint seat connected with the flange plate and a positioning shaft sleeve arranged at the lower end of the positioning joint seat; the positioning shaft hole is formed in the positioning shaft sleeve; the positioning terminal comprises a positioning shaft and a positioning terminal seat arranged at the lower end of the positioning shaft and used for connecting the fixture body.
The industrial robot multi-station clamp is characterized in that the eccentric shaft locking mechanism comprises an eccentric shaft penetrating through the positioning shaft sleeve, a limiting cap arranged at one end of the eccentric shaft, a locking wrench hinged at the other end of the eccentric shaft and an elastic washer arranged between the locking wrench and the outer wall of the positioning shaft sleeve; the cross section of the middle part of the eccentric shaft is a major arc arch formed by connecting a straight line and a major arc end to end; a locking round hole matched with the eccentric shaft is formed in the positioning shaft in a direction perpendicular to the axial direction, and the diameter of the locking round hole is equal to that of the major arc; the locating shaft is provided with a square groove which extends along the axial direction and is communicated with the locking round hole, one side surface of the square groove is tangent to the circumference of the locking round hole, and the width of the square groove is equal to the height of the arc of the major arc.
The industrial robot multi-station clamp is characterized in that an annular groove is formed in the outer circumference of the upper end of the positioning shaft, and a rubber ring is arranged in the annular groove.
The industrial robot multi-station fixture comprises a fixture body, wherein the fixture body comprises four stations which are respectively a pneumatic finger station, a spray head station, a sucker station and a whiteboard pen station.
The industrial robot multi-station clamp comprises a clamp body, a positioning terminal, a pneumatic finger assembly, a spray head assembly and a sucker assembly, wherein the clamp body comprises an upper supporting plate connected to the lower end of the positioning terminal, a lower supporting plate arranged below the upper supporting plate, and the pneumatic finger assembly, the spray head assembly and the sucker assembly are arranged between the upper supporting plate and the lower supporting plate; the lower supporting plate is provided with a whiteboard pen assembly.
The industrial robot multi-station clamp comprises an industrial robot multi-station clamp body, a pneumatic finger assembly and a clamping piece, wherein the pneumatic finger assembly comprises a pneumatic finger side plate connected between an upper supporting plate and a lower supporting plate, a pneumatic finger cylinder fixed on the pneumatic finger side plate, and clamping pieces fixed on piston rods at two ends of the pneumatic finger cylinder; the spray head assembly comprises a spray head side plate connected between the upper supporting plate and the lower supporting plate, and a pneumatic spray head fixed on the spray head side plate; the sucker assembly comprises a sucker side plate connected between the upper supporting plate and the lower supporting plate, a sucker bracket fixed on the sucker side plate, and a sucker fixed on the sucker bracket; the whiteboard pen assembly comprises a pen clamping head arranged on the lower supporting plate and a whiteboard pen clamped in the pen clamping head.
The industrial robot multi-station clamp is characterized in that the included angle between every two of the normal directions of the pneumatic finger side plate, the spray head side plate and the sucker side plate is 120 degrees.
In the industrial robot multi-station clamp, a plurality of waist-shaped holes are formed in the sucker side plate; the sucker support comprises a connecting rod and a connecting nut for fixing the connecting rod on the kidney-shaped hole; the sucking disc sets up the tip at the connecting rod, is connected with reset spring between coupling nut and the sucking disc.
In the industrial robot multi-station clamp, the pen clamping head is an open ring fixed on the lower bearing plate through bolts, and the diameter of an inner hole of the pen clamping head is equal to that of the white board pen; the pen chuck locks the whiteboard pen through a screw perpendicular to the plane of the circular ring opening.
Has the beneficial effects that:
the invention provides an industrial robot multi-station clamp, which comprises a clamp body with a plurality of functional stations, and can meet more modularized teaching use requirements; the fixture body is connected to the industrial robot through the positioning connector, the positioning terminal and the flange plate, the positioning connector and the positioning terminal are connected in a shaft hole matching mode and are positioned and fixed through the eccentric shaft locking mechanism, the mounting and dismounting are rapid, the repeated mounting and positioning accuracy is high, and the teaching efficiency can be improved.
Drawings
Fig. 1 is a perspective view of an industrial robot multi-station fixture provided by the invention.
Fig. 2 is a bottom view of the industrial robot multi-station fixture provided by the invention.
Fig. 3 is a perspective view of a part of the structure of the industrial robot multi-station fixture provided by the invention.
Fig. 4 is a schematic structural diagram of a positioning joint in the industrial robot multi-station clamp provided by the invention.
Fig. 5 is a schematic structural diagram of an eccentric shaft locking mechanism in the industrial robot multi-station clamp provided by the invention.
Fig. 6 isbase:Sub>A sectional view taken along linebase:Sub>A-base:Sub>A in fig. 5.
Fig. 7 is a schematic structural diagram of a positioning terminal in the industrial robot multi-station fixture provided by the invention.
Detailed Description
The invention provides an industrial robot multi-station clamp, which is further described in detail below by referring to the attached drawings and embodiments in order to make the purpose, technical scheme and effect of the invention clearer and clearer. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1-7, the invention provides an industrial robot multi-station clamp, which comprises a flange plate 1 connected with an industrial robot, a positioning joint 2 fixed on the lower end surface of the flange plate, a positioning terminal 3 connected with the positioning joint in a matching way, and a clamp body 4 fixed on the lower end surface of the positioning terminal, wherein the clamp body comprises at least two stations; the positioning terminal 3 is provided with a positioning shaft 31, the positioning joint 2 is provided with a positioning shaft hole 21 corresponding to the positioning shaft 31, and the positioning shaft 31 is inserted into the positioning shaft hole 21 and is positioned and fixed through the eccentric shaft locking mechanism 5.
Specifically, the positioning joint 2 includes a positioning joint seat 22 connected to the flange plate 1, and a positioning shaft sleeve 23 disposed at a lower end of the positioning joint seat, as shown in fig. 4; the positioning shaft hole 21 is formed in the positioning shaft sleeve 23; the positioning terminal 3 includes a positioning shaft 31, and a positioning terminal seat 32 disposed at a lower end of the positioning shaft 31 and used for connecting the fixture body 4, as shown in fig. 7. In the present embodiment, the positioning terminal block 22 is fixed to the flange 1 by a countersunk head bolt, and the positioning terminal block is connected to the jig body 4 by a countersunk head bolt.
Further, as shown in fig. 4-7, the eccentric shaft locking mechanism 5 comprises an eccentric shaft 51 penetrating through the positioning shaft sleeve 23, a limit cap 52 arranged at one end of the eccentric shaft, a locking wrench 53 hinged at the other end of the eccentric shaft, and an elastic washer 54 arranged between the locking wrench and the outer wall of the positioning shaft sleeve; the cross section of the middle part of the eccentric shaft is a major arc arch formed by connecting a straight line 511 and a major arc 512 end to end; a locking round hole 311 which is matched with the eccentric shaft 51 is formed in the positioning shaft 31 in a direction perpendicular to the axial direction, and the diameter of the locking round hole is equal to that of the major arc 512; the upper end face of the positioning shaft 31 is provided with a square groove 312 which extends along the axial direction and is communicated with the locking round hole 311, one side face of the square groove is tangent to the circumference of the locking round hole, and the width of the square groove is equal to the height (H in figure 6) of the arc of the major arc.
The connection process of the positioning terminal 2 and the positioning terminal 3 is as follows: the locking wrench 53 is loosened and the eccentric shaft 51 is rotated to make the straight line 511 in the middle section of the eccentric shaft in the vertical direction, the positioning shaft 31 is inserted into the positioning shaft hole 21 to make the eccentric shaft 51 pass through the square groove 312 and enter the locking round hole 311, then the eccentric shaft 51 is rotated to make the straight line 511 in the middle section of the eccentric shaft in the horizontal direction, and finally the locking wrench 53 is locked to complete the connection. Here, the connection strength is high due to the matching connection between the positioning shaft 31 and the positioning shaft hole 21, the circumferential position of the positioning shaft 31 can be quickly locked due to the matching between the eccentric shaft 51 and the locking circular hole 311, and the positioning accuracy of repeated installation is high; and the screw need not to be installed and removed in the dismouting process, and is simple swift, can effectively improve teaching efficiency.
In order to reduce the weight, the positioning shaft 31 is cylindrical, as shown in fig. 3. This structure also reduces the contact area between the eccentric shaft 51 and the locking circular hole 311, so that the rotation of the eccentric shaft 51 is smoother, and the rapidness of assembly and disassembly is further improved.
Preferably, referring to fig. 3 and 7, an annular groove 313 is formed on the outer circumference of the upper end of the positioning shaft 31, and a rubber ring (not shown) is disposed in the annular groove. The rubber ring can effectively prevent that location axle 31 from becoming flexible, also plays buffering cushioning effect, effectively reduces the robot during operation production and transmits the vibration of anchor clamps body.
In this embodiment, taking the fixture shown in fig. 1 to 7 as an example, the fixture body 4 includes four stations, which are a pneumatic finger station, a nozzle station, a suction cup station, and a whiteboard pen station (in fact, more stations may be integrated into the fixture body).
Specifically, the clamp body 4 comprises an upper support plate 41 connected to the lower end of the positioning terminal, a lower support plate 42 arranged below the upper support plate, and a pneumatic finger assembly 43, a spray head assembly 44 and a suction cup assembly 45 arranged between the upper support plate and the lower support plate; the lower support plate is provided with a whiteboard marker assembly 46.
The pneumatic finger assembly 43 comprises a pneumatic finger side plate 431 connected between the upper supporting plate and the lower supporting plate, a pneumatic finger cylinder 432 fixed on the pneumatic finger side plate, and clamping pieces 433 fixed on piston rods at two ends of the pneumatic finger cylinder; the head assembly 44 includes a head side plate 441 connected between the upper and lower support plates, and a pneumatic head 442 fixed to the head side plate; the suction cup assembly 45 comprises a suction cup side plate 451 connected between the upper support plate and the lower support plate, a suction cup bracket 452 fixed on the suction cup side plate, and a suction cup 453 fixed on the suction cup bracket; the whiteboard pen assembly 46 includes a pen holder 461 disposed on the lower support plate, and a whiteboard pen 462 retained in the pen holder.
Preferably, the included angle between the normal directions of the pneumatic finger side plate 431, the nozzle side plate 441 and the suction cup side plate 451 is 120 degrees. At the moment, the plane of the pneumatic finger side plate, the plane of the spray head side plate and the plane of the sucker side plate enclose the side face of a regular triangular prism, the structure is favorable for effectively utilizing the space, the size is reduced, the weight is reduced, when a certain one of the three stations needs to be used, only the same shaft of the rotary robot is needed, and the control program is simple. Similarly, the stations can be added in the structural forms of a quadrangular prism, a pentagonal prism and the like.
Further, as shown in fig. 1-3, the suction cup side plate 451 is provided with a plurality of waist-shaped holes 4511; the sucker bracket 452 comprises a connecting rod 4521 and a connecting nut 4522 for fixing the connecting rod on the kidney-shaped hole; the suction cup 453 is disposed at an end of the connection rod 4521, and a return spring 5423 is connected between the connection nut and the suction cup. The user can be as required quantity installation sucking disc, and the position of sucking disc can be adjusted simultaneously, improves the suitability.
In this embodiment, the pen clip 461 is an open ring fixed on the lower support plate by bolts, and the diameter of its inner hole is equal to the diameter of the white board 462; the pen clip 461 secures the whiteboard pen by means of screws 4612 perpendicular to the plane of the circular opening 4611, as shown in fig. 2.
In summary, the invention provides an industrial robot multi-station fixture, the included angle comprises a fixture body with a plurality of functional stations, and more modularized teaching use requirements can be met; the fixture body is connected to the industrial robot through the positioning connector, the positioning terminal and the flange plate, wherein the positioning connector and the positioning terminal are connected in a shaft hole matching mode and are positioned and fixed through the eccentric shaft locking mechanism, the mounting and dismounting are rapid, the repeated mounting and positioning accuracy is high, and the teaching efficiency can be improved. In addition, the positioning shaft is provided with the rubber ring, so that the positioning shaft is effectively prevented from loosening, and the vibration of the clamp body is reduced; the pneumatic finger station, the spray head station and the sucker station are integrated in a triangular prism-shaped structural form, so that the space is effectively utilized, the size is reduced, the weight is reduced, and the control program of the robot is simplified; the positioning shaft is cylindrical, so that the weight is reduced, and the assembly and disassembly speed is further improved.
It should be understood that equivalents and modifications to the invention as described herein may occur to those skilled in the art, and all such modifications and alterations are intended to fall within the scope of the appended claims.
Claims (9)
1. A multi-station clamp for an industrial robot is characterized by comprising a flange plate connected with the industrial robot, a positioning joint fixed on the lower end surface of the flange plate, a positioning terminal in matched connection with the positioning joint, and a clamp body fixed on the lower end surface of the positioning terminal, wherein the clamp body comprises at least two stations; the positioning terminal is provided with a positioning shaft, and the positioning joint comprises a positioning joint seat connected with the flange plate and a positioning shaft sleeve arranged at the lower end of the positioning joint seat;
the positioning joint is provided with a positioning shaft hole corresponding to the positioning shaft, and the positioning shaft is inserted into the positioning shaft hole and is positioned and fixed through the eccentric shaft locking mechanism; the positioning shaft hole is formed in the positioning shaft sleeve; the positioning terminal comprises a positioning shaft and a positioning terminal seat which is arranged at the lower end of the positioning shaft and used for connecting the clamp body;
the eccentric shaft locking mechanism comprises an eccentric shaft penetrating through the positioning shaft sleeve, a limiting cap arranged at one end of the eccentric shaft and a locking wrench hinged at the other end of the eccentric shaft; the cross section of the middle part of the eccentric shaft is a major arc arch formed by connecting a straight line and a major arc end to end; a locking round hole matched with the eccentric shaft is formed in the positioning shaft in a direction perpendicular to the axial direction, and the diameter of the locking round hole is equal to that of the major arc; the upper end face of the positioning shaft is provided with a square groove which extends along the axial direction and is communicated with the locking round hole, one side face of the square groove is tangent to the circumference of the locking round hole, and the width of the square groove is equal to the height of the arc of the major arc.
2. The industrial robot multi-station clamp of claim 1, wherein the eccentric shaft locking mechanism further comprises an elastic washer disposed between the locking wrench and an outer wall of the positioning sleeve.
3. An industrial robot multi-station clamp according to any one of claims 1-2, characterized in that the outer circumference of the upper end of the positioning shaft is provided with a ring groove, and a rubber ring is arranged in the ring groove.
4. The industrial robot multi-station clamp according to claim 1, wherein the clamp body comprises four stations, which are a pneumatic finger station, a nozzle station, a suction cup station and a whiteboard pen station.
5. The industrial robot multi-station clamp of claim 4, wherein the clamp body comprises an upper support plate connected to the lower end of the positioning terminal, a lower support plate arranged below the upper support plate, and a pneumatic finger assembly, a sprayer assembly and a sucker assembly arranged between the upper support plate and the lower support plate; the lower supporting plate is provided with a whiteboard pen assembly.
6. The industrial robot multi-station clamp according to claim 5, wherein the pneumatic finger assembly comprises a pneumatic finger side plate connected between the upper support plate and the lower support plate, a pneumatic finger cylinder fixed on the pneumatic finger side plate, and clamping pieces fixed on piston rods at two ends of the pneumatic finger cylinder;
the spray head assembly comprises a spray head side plate connected between the upper supporting plate and the lower supporting plate, and a pneumatic spray head fixed on the spray head side plate;
the sucker assembly comprises a sucker side plate connected between the upper supporting plate and the lower supporting plate, a sucker bracket fixed on the sucker side plate, and a sucker fixed on the sucker bracket;
the whiteboard marker assembly comprises a marker holder arranged on the lower support plate and a whiteboard marker clamped in the marker holder.
7. The industrial robot multi-station clamp of claim 6, wherein the included angle between the normal directions of the pneumatic finger side plate, the nozzle side plate and the sucker side plate is 120 degrees.
8. The industrial robot multi-station clamp according to claim 6, wherein a plurality of kidney-shaped holes are formed in the sucker side plate; the sucker support comprises a connecting rod and a connecting nut for fixing the connecting rod on the kidney-shaped hole; the sucking disc sets up the tip at the connecting rod, is connected with reset spring between coupling nut and the sucking disc.
9. The industrial robot multi-station clamp according to claim 6, wherein the pen clamping head is an open ring fixed on the lower bearing plate through bolts, and the diameter of an inner hole of the pen clamping head is equal to that of the white board pen; the pen chuck locks the whiteboard pen through a screw perpendicular to the plane of the opening of the circular ring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710343025.5A CN107123357B (en) | 2017-05-16 | 2017-05-16 | Industrial robot multistation anchor clamps |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710343025.5A CN107123357B (en) | 2017-05-16 | 2017-05-16 | Industrial robot multistation anchor clamps |
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| Publication Number | Publication Date |
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| CN107123357A CN107123357A (en) | 2017-09-01 |
| CN107123357B true CN107123357B (en) | 2022-12-13 |
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| CN201710343025.5A Active CN107123357B (en) | 2017-05-16 | 2017-05-16 | Industrial robot multistation anchor clamps |
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109202282B (en) * | 2017-08-31 | 2021-03-05 | 中国航空制造技术研究院 | Auxiliary welding device of T-shaped joint laser welding robot |
| CN107775200A (en) * | 2017-09-11 | 2018-03-09 | 天津大学 | Aluminium alloy sheet T connector laser welding robot's auxiliary welding tool fixture |
| CN107931833B (en) * | 2017-11-13 | 2019-08-13 | 天津大学 | Weld actuating station in aluminium alloy sheet T connector laser welding robot's arm end |
| CN107932071B (en) * | 2017-12-25 | 2023-11-17 | 极景门窗有限公司 | Multistation robot machining tool and assembling method thereof |
| CN108686881B (en) * | 2018-07-12 | 2020-05-15 | 安徽贵达汽车部件有限公司 | Brake shoe gluing equipment |
| CN109003533A (en) * | 2018-09-27 | 2018-12-14 | 肇庆三向教学仪器制造股份有限公司 | A kind of wiring board Intelligent assembly teaching training apparatus |
| CN109015722A (en) * | 2018-10-15 | 2018-12-18 | 重庆电讯职业学院 | A kind of industrial robot composite fixture |
| CN111864315B (en) * | 2020-07-13 | 2021-07-16 | 北京无线电测量研究所 | Waveguide joint connecting device convenient to dismouting |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2556111Y (en) * | 2002-05-24 | 2003-06-18 | 李跃钢 | Folding device for bicycle |
| CN2934695Y (en) * | 2006-07-03 | 2007-08-15 | 郭涛 | Concealed axle type folding locking mechanism |
| CN204149168U (en) * | 2014-07-28 | 2015-02-11 | 汕头大学 | The adapted to interface of quick-replaceable machinery hand paw |
| CN105128022B (en) * | 2015-09-10 | 2017-01-18 | 西安交通大学 | Intelligent and automatic end replacing device of robot |
| CN206123689U (en) * | 2016-09-07 | 2017-04-26 | 广州瑞松智能科技股份有限公司 | Multifunctional gripper |
| CN106313089A (en) * | 2016-10-21 | 2017-01-11 | 苏州哈工海渡工业机器人有限公司 | Composite fixture for industrial robot |
| CN206975915U (en) * | 2017-05-16 | 2018-02-06 | 佛山职业技术学院 | A kind of industrial robot multi-station clamp |
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