CN107378999A - A kind of end effector of robot for clamping irregular workpiece - Google Patents
A kind of end effector of robot for clamping irregular workpiece Download PDFInfo
- Publication number
- CN107378999A CN107378999A CN201710605457.9A CN201710605457A CN107378999A CN 107378999 A CN107378999 A CN 107378999A CN 201710605457 A CN201710605457 A CN 201710605457A CN 107378999 A CN107378999 A CN 107378999A
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- CN
- China
- Prior art keywords
- finger
- auxiliary positioning
- positioning spring
- fingers
- clamping
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A kind of end effector of robot for clamping irregular workpiece, including clamping positioning mechainsm, transmission mechanism, drive mechanism and the flange connector being connected with robot end's flange, the drive mechanism is connected with flange connector, the motion end of the drive mechanism is connected with transmission mechanism, the transmission mechanism is connected with the clamping positioning mechainsm, it is characterised in that：The clamping positioning mechainsm includes two and refers to formula finger and auxiliary positioning spring finger, two fingers in the two fingers formula finger are oppositely arranged, it is holding station between two fingers, the auxiliary positioning spring finger has two, two auxiliary positioning spring fingers are oppositely arranged, and two auxiliary positioning spring fingers are located at the both sides of the holding station respectively；The working face of the two fingers formula finger is installed to clamp the locating clamp plate of irregular workpiece, the working face installation auxiliary positioning spring of the auxiliary positioning spring finger.The present invention realizes that irregular clamping workpiece, positioning precision are higher.
Description
Technical field
The present invention relates to robot fixture technology, especially a kind of end effector of robot for clamping irregular workpiece.
Background technology
In automatic assembly line production, various production works are generally completed by robot, wherein robot end holds
Row device is used to realize moving and being accurately positioned to workpiece.The workpiece such as irregular spring mechanism need to determine in multiple directions
Position, common two refer to formula finger it is impossible to meet positioning requirements, when workpiece is crawled and is placed into corresponding rigging position, error
Unavoidably, this can influence the efficiency and quality of whole piece production line balance.
The content of the invention
In order to which overcome the shortcomings of existing irregular workpiece moves and be accurately positioned poor, the present invention provides a kind of realize not
The end effector of robot of the higher irregular workpiece of clamping of regular workpiece clamping, positioning precision.
The technical solution adopted for the present invention to solve the technical problems is：
A kind of end effector of robot for clamping irregular workpiece, including clamping positioning mechainsm, transmission mechanism, driving machine
Structure and the flange connector being connected with robot end's flange, the drive mechanism are connected with flange connector, the driving
The motion end of mechanism is connected with transmission mechanism, and the transmission mechanism is connected with the clamping positioning mechainsm, it is characterised in that：It is described
Clamping positioning mechainsm includes two and refers to formula finger and auxiliary positioning spring finger, and described two two fingers referred in formula finger are set relatively
Put, be holding station between two fingers, the auxiliary positioning spring finger there are two, and two auxiliary positioning spring fingers are relative
Set, two auxiliary positioning spring fingers are located at the both sides of the holding station respectively；Described two refer to the working face peace of formula finger
For dress to clamp the locating clamp plate of irregular workpiece, the working face of the auxiliary positioning spring finger installs auxiliary positioning spring.
Further, the two fingers formula finger includes the first meniscus and flat board, the rear end of first meniscus with it is described
Transmission mechanism is connected, the front end installation flat board of first meniscus, and the locating clamp plate is installed on the flat board；
The auxiliary positioning spring finger includes the second meniscus and folded plate, rear end and the biography of second meniscus
Motivation structure is connected, the front end installation folded plate of second meniscus, and the auxiliary positioning spring is installed on the folded plate.
Further, the transmission mechanism includes connection cover and rack and pinion assembly, and the rack and pinion assembly includes tooth
Bar and tooth fan, the rack are installed in rotation in the connection cover, and the arc-shaped gear section of the tooth fan engages with the rack,
The opposite side of the tooth fan and the rear end of first connecting rod are hinged, and the front end of the first connecting rod refers to formula finger or auxiliary with described two
The end of the meniscus of retaining spring finger is hinged, and the rear end of second connecting rod is fixed in the connection cover, in second connecting rod
The middle part that portion fans with the tooth is hinged, and the front end of the second connecting rod refers to formula fingers or auxiliary positioning spring finger with described two
The middle part of meniscus is hinged.
The drive mechanism includes single pole cylinder, mounting flange and installation gudgeon positioning screw component, the single pole cylinder
Motion end connect with the rear end of the rack, the anterior connection mounting flange of the single pole cylinder, after the single pole cylinder
Portion's connection installation gudgeon positioning screw component, the installation gudgeon positioning screw component are connected with flange connector.
The present invention technical concept be：In addition to the two finger formula fingers for clamping cylinder, the design also installs one piece additional
Clamp is used for the positioning on cylinder axial direction and to rotate in a circumferential direction on direction, and the spring finger for being equipped with a pair of auxiliary positionings is auxiliary
Help the positioning of axial direction.Because spring finger has flexible adjustability, length and angle adjustment are can adapt to, so as to ensure that
The precision of clamping.
Beneficial effects of the present invention are mainly manifested in：Realize that irregular clamping workpiece, positioning precision are higher.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention, wherein, 1 flange connector, 2 be cylinder, and 3 be cylinder front end mounting flange,
4 be connection cover, and 5 be short pin, and 6 be to have strong market potential, and 7 be bolt, and 8 be nut, and 9 be locating clamp plate, and 10 be auxiliary positioning spring, and 11 be rubber
Offset plate, 12 be flat board, and 13 be folded plate, and 14 be meniscus, and 15 be connector, and 16 be spring washer, and 17 be tooth fan, and 18 be rack,
19 be cylinder primary nut, and 20 be cylinder big nut, and 21 be attachment screw, and 22 be bearing pin, and 23 be gudgeon, and 24 be positioning screw, 25
It is attachment screw.
Fig. 2 is the left view of Pneumatic paw.
Fig. 3 is A-A partial sectional views in Fig. 1.
Fig. 4 is B-B partial sectional views in Fig. 1.
Fig. 5 is Fig. 1 isometric view.
Fig. 6 is the partial enlarged drawing of 9 locating clamp plate parts in Fig. 1, wherein, 61 be locating clamp plate, and 62 be pad, and 63 be spiral shell
Mother, 64 be bolt.
Fig. 7 is Pneumatic paw closure state schematic diagram.
Fig. 8 is Pneumatic paw deployed condition schematic diagram.
Fig. 9 is the structural representation of two finger formula fingers.
Figure 10 is the structural representation of auxiliary positioning hand spring finger paw finger.
Embodiment
The invention will be further described below in conjunction with the accompanying drawings.
1~Figure 10 of reference picture, a kind of end effector of robot for clamping irregular workpiece, including clamping positioning mechainsm,
Transmission mechanism, drive mechanism and the flange connector being connected with robot end's flange, the drive mechanism are connected with flange
Part is connected, and the motion end of the drive mechanism is connected with transmission mechanism, and the transmission mechanism is connected with the clamping positioning mechainsm,
It is characterized in that：The clamping positioning mechainsm includes two and refers to formula finger and auxiliary positioning spring finger, and described two refer in formula finger
Two fingers be oppositely arranged, be holding station between two fingers, the auxiliary positioning spring finger has two, two auxiliary
Retaining spring finger is oppositely arranged, and two auxiliary positioning spring fingers are located at the both sides of the holding station respectively；Described two refer to
The working face of formula finger is installed to clamp the locating clamp plate of irregular workpiece, the working face peace of the auxiliary positioning spring finger
Fill auxiliary positioning spring.
Further, the two fingers formula finger includes the first meniscus and flat board, the rear end of first meniscus with it is described
Transmission mechanism is connected, the front end installation flat board of first meniscus, and the locating clamp plate is installed on the flat board；
The auxiliary positioning spring finger includes the second meniscus and folded plate, rear end and the biography of second meniscus
Motivation structure is connected, the front end installation folded plate of second meniscus, and the auxiliary positioning spring is installed on the folded plate.
Further, the transmission mechanism includes connection cover and rack and pinion assembly, and the rack and pinion assembly includes tooth
Bar and tooth fan, the rack are installed in rotation in the connection cover, and the arc-shaped gear section of the tooth fan engages with the rack,
The opposite side of the tooth fan and the rear end of first connecting rod are hinged, and the front end of the first connecting rod refers to formula finger or auxiliary with described two
The end of the meniscus of retaining spring finger is hinged, and the rear end of second connecting rod is fixed in the connection cover, in second connecting rod
The middle part that portion fans with the tooth is hinged, and the front end of the second connecting rod refers to formula fingers or auxiliary positioning spring finger with described two
The middle part of meniscus is hinged.
The drive mechanism includes single pole cylinder, mounting flange and installation gudgeon positioning screw component, the single pole cylinder
Motion end connect with the rear end of the rack, the anterior connection mounting flange of the single pole cylinder, after the single pole cylinder
Portion's connection installation gudgeon positioning screw component, the installation gudgeon positioning screw component are connected with flange connector.
The end effector of robot of the irregular workpiece of clamping of the present embodiment include clamping positioning mechainsm, transmission mechanism,
Drive mechanism and the flange connector being connected with robot end's flange；
Described clamping positioning mechainsm includes two and refers to formula finger, locating clamp plate and auxiliary positioning spring finger.Described biography
Motivation structure includes connection cover, four bar transmission mechanisms and rack and pinion drive mechanism.Described drive mechanism includes single pole cylinder, peace
Fill flange and installation gudgeon positioning screw component, finally include the flange connector that be connected with robot end's flange, conveniently with
When dismount.
Two refer to formula finger clamp cylinders shape workpiece by the way of rotation, and the card of quality of rubber materials is housed on fingerhold face
Position plate, play a part of similar V-type and refer to, ensure that workpiece is positioned at finger fixed position.Locating clamp plate is used for cylindrical work axle
Refer to formula fingers with the positioning that rotates in a circumferential direction on direction, blending bolt and nut on to direction with two and connect together, as finger is transported
It is dynamic to move together.Auxiliary positioning spring finger is used to aid in two positioning referred on formula finger axial direction, and spring finger is mounted in folding
On the finger of plate shape, the size of folded plate is determined by the axial length of workpiece, ensures that rigid folded plate is not exposed to workpiece, only bullet
Spring plays a part of compression set.Transmission mechanism includes connection cover, four bar transmission mechanisms and rack and pinion drive mechanism.Connection cover
It is the supporter of whole end effector of robot, is the skeleton of whole device.One side connection cover and the gas that driving force is provided
Cylinder connects together, and is on the other hand linked together with rack and pinion drive mechanism, in addition, connection cover or four bar drivers
A part for structure, linked together by pin and other rod members.Four bar transmission mechanisms link together with finger, with parallel four
The deformation of side shape provides clamping force and the angle of rotation for fingerhold and positioning.Rack and gas in rack and pinion drive mechanism
The piston rod of cylinder, which links together, does reciprocating linear movement, and tooth fan links together with four-bar mechanism, there is provided parallelogram becomes
The power of shape.Drive mechanism includes single pole cylinder, mounting flange and installation gudgeon positioning screw component.The piston rod of single pole cylinder with
Rack is connected, there is provided rack does the driving force of linear reciprocating motion.Cylinder is controlled by two-position-five-way solenoid valve, and electricity is controlled with PLC
The folding of magnet valve.Cylinder is arranged in connection cover with front end flange, using mode connects for screw.Cylinder end bearing pin and gudgeon phase
Even, and with two positioning screws the position of cylinder is fixed.By flange connector, on the one hand it is connected to robot end's flange
Together, on the one hand connected together with gudgeon by attachment screw.Thus by whole end effector of robot and industrial machine
People is combined together.
Claims (4)
1. a kind of end effector of robot for clamping irregular workpiece, including clamping positioning mechainsm, transmission mechanism, drive mechanism
And the flange connector being connected with robot end's flange, the drive mechanism are connected with flange connector, the driving machine
The motion end of structure is connected with transmission mechanism, and the transmission mechanism is connected with the clamping positioning mechainsm, it is characterised in that：The folder
Holding detent mechanism includes two finger formula fingers and auxiliary positioning spring finger, and described two two fingers referred in formula finger are set relatively
Put, be holding station between two fingers, the auxiliary positioning spring finger there are two, and two auxiliary positioning spring fingers are relative
Set, two auxiliary positioning spring fingers are located at the both sides of the holding station respectively；Described two refer to the working face peace of formula finger
For dress to clamp the locating clamp plate of irregular workpiece, the working face of the auxiliary positioning spring finger installs auxiliary positioning spring.
A kind of 2. end effector of robot for clamping irregular workpiece as claimed in claim 1, it is characterised in that：Described two
Finger formula finger includes the first meniscus and flat board, and the rear end of first meniscus is connected with the transmission mechanism, and described first
Flat board is installed in the front end of meniscus, and the locating clamp plate is installed on the flat board；
The auxiliary positioning spring finger includes the second meniscus and folded plate, rear end and the driver of second meniscus
Structure is connected, the front end installation folded plate of second meniscus, and the auxiliary positioning spring is installed on the folded plate.
A kind of 3. end effector of robot for clamping irregular workpiece as claimed in claim 1 or 2, it is characterised in that：Institute
Stating transmission mechanism includes connection cover and rack and pinion assembly, and the rack and pinion assembly includes rack and tooth is fanned, and the rack can
Be rotatably mounted in the connection cover, the arc-shaped gear section of the tooth fan engage with the rack, opposite side that the tooth is fanned and
The rear end of first connecting rod is hinged, the front end of the first connecting rod and described two first quarter moons for referring to formula finger or auxiliary positioning spring finger
The end of plate is hinged, and the rear end of second connecting rod is fixed in the connection cover, the middle part of second connecting rod and the middle part of tooth fan
Be hinged, the front end of the second connecting rod and the middle part of described two finger formula fingers or the meniscus of auxiliary positioning spring finger are hinged.
A kind of 4. end effector of robot for clamping irregular workpiece as claimed in claim 3, it is characterised in that：The drive
Motivation structure include single pole cylinder, mounting flange and installation gudgeon positioning screw component, the motion end of the single pole cylinder with it is described
The rear end of rack connects, the anterior connection mounting flange of the single pole cylinder, the rear portion connection installation gudgeon of the single pole cylinder
Positioning screw component, the installation gudgeon positioning screw component are connected with flange connector.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710605457.9A CN107378999A (en) | 2017-07-24 | 2017-07-24 | A kind of end effector of robot for clamping irregular workpiece |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710605457.9A CN107378999A (en) | 2017-07-24 | 2017-07-24 | A kind of end effector of robot for clamping irregular workpiece |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107378999A true CN107378999A (en) | 2017-11-24 |
Family
ID=60335757
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710605457.9A Pending CN107378999A (en) | 2017-07-24 | 2017-07-24 | A kind of end effector of robot for clamping irregular workpiece |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107378999A (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108100551A (en) * | 2017-12-18 | 2018-06-01 | 合肥超凡快递咨询有限公司界首营业部 | A kind of logistics rack for facilitating shipment |
| CN108673545A (en) * | 2018-06-25 | 2018-10-19 | 唐山学院 | A kind of cotton machinery of sampling hand |
| CN109052289A (en) * | 2018-08-23 | 2018-12-21 | 江苏新美星包装机械股份有限公司 | A kind of bottleneck clamping device |
| CN109822556A (en) * | 2019-04-17 | 2019-05-31 | 桂林电子科技大学信息科技学院 | Industry mechanical arm based on PLC control |
| CN110774301A (en) * | 2019-11-13 | 2020-02-11 | 中国航发动力股份有限公司 | Robot end effector |
| CN111409095A (en) * | 2020-04-20 | 2020-07-14 | 西安工业大学 | Mechanical claw for grabbing special-shaped silicon steel sheet |
| CN112659188A (en) * | 2021-01-14 | 2021-04-16 | 成都昌碧宣亚商贸有限公司 | Fixed program manipulator capable of testing autonomously |
| WO2021115073A1 (en) * | 2019-12-13 | 2021-06-17 | 中国科学院深圳先进技术研究院 | Manipulator and automatic centering and clamping clamp thereof |
| CN113380560A (en) * | 2021-04-29 | 2021-09-10 | 国网浙江省电力有限公司嘉兴供电公司 | Multifunctional tail end actuating mechanism |
| CN113370204A (en) * | 2021-04-29 | 2021-09-10 | 国网浙江省电力有限公司嘉兴供电公司 | Operating system and method based on vision and force control |
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| CN103042531A (en) * | 2011-10-11 | 2013-04-17 | 奥索临床诊断有限公司 | An apparatus for gripping and holding diagnostic cassettes |
| CN203141503U (en) * | 2013-01-30 | 2013-08-21 | 嵊州市博爱机械设计工作室 | Manipulator |
| CN203752140U (en) * | 2014-04-10 | 2014-08-06 | 齐齐哈尔齐三机床有限公司 | Manipulator |
| CN204366977U (en) * | 2014-12-09 | 2015-06-03 | 华中科技大学无锡研究院 | Wheel hub clamping manipulator |
| CN105563511A (en) * | 2016-01-18 | 2016-05-11 | 苏州艾力光电科技有限公司 | Multi-claw mechanical arm |
| CN206029938U (en) * | 2016-09-08 | 2017-03-22 | 上海师库科教仪器有限公司 | Novel industrial robot gripper |
| CN106514694A (en) * | 2017-01-11 | 2017-03-22 | 中国科学院合肥物质科学研究院 | Flexible mechanical paw |
| CN207058606U (en) * | 2017-07-24 | 2018-03-02 | 浙江工业大学 | A kind of end effector of robot for clamping irregular workpiece |
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Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103042531A (en) * | 2011-10-11 | 2013-04-17 | 奥索临床诊断有限公司 | An apparatus for gripping and holding diagnostic cassettes |
| CN203141503U (en) * | 2013-01-30 | 2013-08-21 | 嵊州市博爱机械设计工作室 | Manipulator |
| CN203752140U (en) * | 2014-04-10 | 2014-08-06 | 齐齐哈尔齐三机床有限公司 | Manipulator |
| CN204366977U (en) * | 2014-12-09 | 2015-06-03 | 华中科技大学无锡研究院 | Wheel hub clamping manipulator |
| CN105563511A (en) * | 2016-01-18 | 2016-05-11 | 苏州艾力光电科技有限公司 | Multi-claw mechanical arm |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108100551A (en) * | 2017-12-18 | 2018-06-01 | 合肥超凡快递咨询有限公司界首营业部 | A kind of logistics rack for facilitating shipment |
| CN108673545A (en) * | 2018-06-25 | 2018-10-19 | 唐山学院 | A kind of cotton machinery of sampling hand |
| CN108673545B (en) * | 2018-06-25 | 2023-09-05 | 唐山学院 | Cotton sampling manipulator |
| CN109052289A (en) * | 2018-08-23 | 2018-12-21 | 江苏新美星包装机械股份有限公司 | A kind of bottleneck clamping device |
| CN109822556A (en) * | 2019-04-17 | 2019-05-31 | 桂林电子科技大学信息科技学院 | Industry mechanical arm based on PLC control |
| CN110774301A (en) * | 2019-11-13 | 2020-02-11 | 中国航发动力股份有限公司 | Robot end effector |
| WO2021115073A1 (en) * | 2019-12-13 | 2021-06-17 | 中国科学院深圳先进技术研究院 | Manipulator and automatic centering and clamping clamp thereof |
| CN111409095A (en) * | 2020-04-20 | 2020-07-14 | 西安工业大学 | Mechanical claw for grabbing special-shaped silicon steel sheet |
| CN112659188A (en) * | 2021-01-14 | 2021-04-16 | 成都昌碧宣亚商贸有限公司 | Fixed program manipulator capable of testing autonomously |
| CN113380560A (en) * | 2021-04-29 | 2021-09-10 | 国网浙江省电力有限公司嘉兴供电公司 | Multifunctional tail end actuating mechanism |
| CN113370204A (en) * | 2021-04-29 | 2021-09-10 | 国网浙江省电力有限公司嘉兴供电公司 | Operating system and method based on vision and force control |
| CN113380560B (en) * | 2021-04-29 | 2022-11-04 | 国网浙江省电力有限公司嘉兴供电公司 | Working method of multifunctional tail end executing mechanism |
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