CN107398918A - A kind of industrial robot pipe fitting clamping device - Google Patents
A kind of industrial robot pipe fitting clamping device Download PDFInfo
- Publication number
- CN107398918A CN107398918A CN201710643777.3A CN201710643777A CN107398918A CN 107398918 A CN107398918 A CN 107398918A CN 201710643777 A CN201710643777 A CN 201710643777A CN 107398918 A CN107398918 A CN 107398918A
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- China
- Prior art keywords
- cavity
- pedestal
- pipe fitting
- hole
- industrial robot
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of industrial robot pipe fitting clamping device, including a joint being connected with the mechanical arm of the industrial robot, and one be fixed on the joint left end and be provided with opening the second cavity to the left, upper surface be provided with rectangular channel and with the rectangular channel immediately below the second cavity on the right side of be provided with the pedestal of long and narrow groove, the slot of above-below direction is provided with pedestal in the middle part of the rectangular channel, and one be fixedly mounted on the pedestal left end and stretch into the cover plate of second cavity to the right, and two groups of connection rod sets, an and drive cylinder, and two U-shaped gripper, and the buting iron component of the pedestal upper surface on the right side of the long and narrow groove, and two V-block for being fixed on the cover plate left surface.The present apparatus uses pressure control, simple operation, gripper closure and locking can be achieved using a cylinder, reduce manufacturing cost, meanwhile, fastening safety is reliable.
Description
Technical field
The present invention relates to pipe fitting self-clamping module, particularly a kind of industrial robot pipe fitting clamping device.
Background technology
During the manufacturing of pipe fitting, often need to carry pipe fitting, nowadays, enter usually using industrial robot
Row is carried so as to effectively reduce manpower, and industrial robot to pipe fitting when carrying, it is necessary to first clamp, traditional clamping
Its design structure of device is complicated, and manufacturing cost is high, and the stability of the clamping for pipe fitting is inadequate, for the center of gravity position of pipe fitting
Put and be difficult to control, in handling process, risk that pipe fitting easily falls out from clamping device, therefore the folder of conventional industrial robot
Hold device in the handling process, certain potential safety hazard be present.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of industrial robot pipe fitting clamping device, and it can solve the problem that
Above-mentioned the problem of showing in the art.
The present invention is achieved through the following technical solutions：A kind of industrial robot of the present invention is clamped with pipe fitting and filled
Put, including a joint being connected with the mechanical arm of the industrial robot, and one is fixed on the joint left end and is provided with out
Mouth to the left the second cavity, upper surface be provided with rectangular channel and with the rectangular channel immediately below the second cavity on the right side of be provided with
The pedestal of long and narrow groove, the slot of above-below direction is provided with the pedestal in the middle part of the rectangular channel, and one is fixedly mounted on
The pedestal left end and the cover plate for stretching into second cavity to the right, and two groups of connection rod sets and a drive cylinder, and two U-shapeds
Gripper, and the buting iron component of the pedestal upper surface on the right side of the long and narrow groove, and two be fixed on the left of the cover plate
The V-block in face, the joint middle part are provided with one first cavity, and the left end of first cavity is provided with a size more than described
The stepped hole of first cavity, the right-hand member of the pedestal is additionally provided with a flange being engaged with the step, in the flange
Middle part is provided with one the 3rd cavity, is provided with and is penetrated to the left to the through hole of second cavity in the bottom of the 3rd cavity,
The drive cylinder is from right to left through the first cavity and the 3rd cavity and piston rod through the through hole until stretch into described the
In two cavitys, the cover plate upper end is provided with 2 first breach, lower end is provided with 2 second breach, right side is provided with before and after two
The boss of arrangement, the boss are additionally provided with the second breach of opening to the right, and the boss stretches into the right the second of the pedestal
In cavity and the bottom of the second cavity is propped up, institute between the front of the boss above and second cavity and below
State and connection rod set described in one group is installed respectively between the rear of boss and second cavity, the right-hand member of the gripper and the company
Bar group is connected and through the second breach and stretched out to the left outside the left surface of the cover plate, and the gripper includes clamping part, driving
Arm and locking arm, the clamping part realize the clamping to the pipe fitting with the V-block, and the actuating arm right-hand member extends to upper right
And be hinged with the connection rod set, the locking arm is contained in the rectangular channel of the pedestal upper surface, and on the locking arm also
A right side is provided with bevelled square hole.
Preferably technical scheme, the buting iron component include buting iron and electromagnetism part, and the buting iron is slidably mounted
In the long and narrow groove of the pedestal, the electromagnetism part be fixedly mounted on the pedestal upper surface of the buting iron right-hand member and with the gear
Iron is integral.
Preferably technical scheme, the piston rod front end of the drive cylinder are provided with a radial direction through hole.
Preferably technical scheme, the cover plate and fixed company of the pedestal with mode connects for screw realization between the two
Connect.
Preferably technical scheme, the connection rod set have two groups, including connecting plate, locking connection rod set and keying connecting rod
Group, the connecting plate includes the connecting portion at middle part and is arranged on the riser of the connecting portion front/rear end, in the connecting portion
Portion is additionally provided with for forming be hinged lug with the piston rod end of the drive cylinder, is also set up on the riser on one
Two hinge holes once, the hinge hole of upper end form be hinged, hinge hole and the locking connection rod set shape of lower end with opening and closing connection rod set
Into be hinged.
Preferably technical scheme, the locking connection rod set include locking pin, slide, the first bearing, first connecting rod, the
Two connecting rods and third connecting rod, the slide are fixed on the first cavity inner wall upper surface of the pedestal, the right flank of the slide
Guide groove is provided with, the right side of the locking pin sets an inclined-plane, and the locking pin left side forms upper and lower with the guide groove
To movable cooperation, and through the side for continuing after the slot on the pedestal to be inserted upwardly on the locking arm of the gripper
In hole, first bearing is fixed on the first cavity inner wall lower surface of the pedestal, the second connecting rod with described first
Seat, which is formed, to be hinged, and the second connecting rod is formed by two in 90 degree to 110 degree of pitman arm, wherein one end and the first connecting rod
Be hinged, the other end is hinged with the third connecting rod, the other end of the first connecting rod and the lower end on the lug of the connecting plate
Hinge hole formed be hinged, the lower end of the other end of the third connecting rod and the locking pin forms be hinged.
Preferably technical scheme, the keying connection rod set include fourth link, the 5th connecting rod, the second bearing and the 3rd
Bearing, the second bearing are fixed on the first cavity inner wall upper surface of the pedestal and are located at the left side of the slide, and the described 3rd
Bearing is fixed on the first cavity inner wall lower surface of the pedestal and at the left side of the first cavity, and the described 5th is connected to
A through hole is each provided with close to upper end and middle part, a mounting hole is provided with lower end, wherein, the through hole of upper end and second
Seat forms be hinged, the through hole at middle part and the left end formation hinge of the fourth link, the right-hand member of fourth link and the connecting plate
Lug on the hinge hole of upper end formed be hinged, be hinged in the middle part of the actuating arm of the gripper with the three abutments, and drive
The end set of the extension of swing arm has a roller, and the roller in the mounting hole and along mounting hole with sliding.
Preferably technical scheme, a right side is additionally provided with the locking arm with bevelled gradient and the locking
The slope on the right side of pin is identical, and gradient is 1：20.
The beneficial effects of the invention are as follows：
1. due to being provided with a radial direction through hole in the piston rod front end of drive cylinder and being formed be hinged with connecting plate and there is provided gear
Iron component, make drive cylinder during stretching and contraction, connecting plate can swing locks connection rod set with automatic adaptation
With the sequence of movement and working condition for opening and closing connection rod set.
2. because the present apparatus is only provided with a drive cylinder, and pipe fitting can be completed at two in the presence of a cylinder
The clamping of bite and locking action, reduce the quantity of cylinder, reduce cost.
3. due to having V-block there is provided two sets of grippers and in gripper couple positioned opposite, so it is easily controlled clamped
Pipe fitting position of centre of gravity, also cause more stable when clamp pipe fitting, also make it that the pressure of cylinder used is relatively low, so as to also reduce
Cost.
4. because there is provided locking connection rod set, gripper is in closure state, even if cylinder is in off-load during closure state
State or industrial robot power off suddenly, and the present apparatus remains at closure state, therefore it is safer reliable to work.
5. the present invention uses pressure control, simple operation, gripper closure and locking, drop can be achieved using a cylinder
Low manufacturing cost, meanwhile, fastening safety is reliable.
Brief description of the drawings
For ease of explanation, the present invention is described in detail by following specific embodiment and accompanying drawing.
Fig. 1 is a kind of front view of industrial robot pipe fitting clamping device of the present invention；
Fig. 2 is a kind of top view of industrial robot pipe fitting clamping device of the present invention；
Fig. 3 is a kind of front view of the cover plate of industrial robot pipe fitting clamping device of the present invention；
Fig. 4 is a kind of top view of the cover plate of industrial robot pipe fitting clamping device of the present invention；
Fig. 5 is a kind of side view of the cover plate of industrial robot pipe fitting clamping device of the present invention；
Fig. 6 is a kind of structural representation of the gripper of industrial robot pipe fitting clamping device of the present invention；
Fig. 7 is the structure enlargement diagram at I in Fig. 6；
Fig. 8 is a kind of front view of the connecting plate of the connection rod set of industrial robot pipe fitting clamping device of the present invention；
Fig. 9 is a kind of side view of the connecting plate of the connection rod set of industrial robot pipe fitting clamping device of the present invention；
Figure 10 is a kind of structural representation of the locking connection rod set of industrial robot pipe fitting clamping device of the present invention；
Figure 11 is a kind of structural representation of the keying connection rod set of industrial robot pipe fitting clamping device of the present invention；
Figure 12 is a kind of right view of the joint of industrial robot pipe fitting clamping device of the present invention.
Embodiment
As shown in Fig. 1-Figure 12, a kind of industrial robot pipe fitting clamping device of the invention, including one and the industry
Robot mechanical arm connection joint 1, and one be fixed on the left end of joint 1 and be provided with opening to the left the second cavity 21,
Upper surface is provided with rectangular channel 25 and the right side of the second cavity 21 with the underface of rectangular channel 25 is provided with long and narrow groove
27 pedestal 2, the slot 26 of above-below direction is provided with the pedestal 2 at the middle part of the rectangular channel 25, and one is fixedly mounted on
The left end of pedestal 2 and the cover plate 3 for stretching into second cavity 21 to the right, and two groups of connection rod sets and a drive cylinder 4, and two U
The gripper 5 of shape, and the buting iron component installed in the upper surface of pedestal 2 on the right side of long and narrow groove 27, and two be fixed on it is described
The V-block 6 of the left surface of cover plate 3, the middle part of joint 1 are provided with one first cavity 11, and the left end of first cavity 11 is set
There is the stepped hole 12 that a size is more than first cavity 11, the right-hand member of the pedestal 2 is additionally provided with one and the phase of step 12
The flange 22 of cooperation, the middle part of the flange 22 is provided with one the 3rd cavity 23, set in the bottom of the 3rd cavity 23
Have to penetrate to the left to the through hole 24 of second cavity 21, the drive cylinder 4 and pass through the first cavity 11 and the 3rd from right to left
Through the through hole 24 until stretch into second cavity 21, the upper end of cover plate 3 is provided with 2 for cavity 23 and piston rod
One breach 31, lower end are provided with 2 second breach 32, right side is provided with the two front and rear boss 33 arranged, the boss 33 is also set
It is equipped with opening the second breach 34 to the right, the boss 33 stretches into the right in the second cavity 31 of the pedestal 3 and props up second
The bottom of cavity 31, the boss 33 between the front of the boss 33 above and second cavity 31 and below
Connection rod set described in one group, right-hand member and the connection rod set of the gripper 5 are installed respectively between rear and second cavity 31
It is connected and through the second breach 32 to stretch out to the left outside the left surface of the cover plate 3, the gripper 5 includes clamping part 51, driven
Swing arm 52 and locking arm 53, the clamping part 51 realize the clamping to the pipe fitting, the right side of actuating arm 52 with the V-block 6
To hold and extend to upper right and be hinged with the connection rod set, the locking arm 53 is contained in the rectangular channel 25 of the upper surface of pedestal 2,
And the square hole 531 that a right side carries inclined-plane 5311 is additionally provided with the locking arm.
Wherein, the buting iron component includes buting iron 61 and electromagnetism part 62, and the buting iron 61 is slidably mounted in the seat
In the long and narrow groove 27 of body 2, the electromagnetism part 62 be fixedly mounted on the upper surface of pedestal 2 of the right-hand member of buting iron 61 and with the gear
Iron 61 is integral, when the electromagnetism part 62 it is electric, promote the buting iron 61 to be moved to the left and block the slot of the pedestal 2
26 lower surface, when the dead electricity of electromagnetism part 62, the buting iron 61 then withdraws and it is moved away from the slot 26 of the pedestal 2
Lower surface.
Wherein, the piston rod front end of the drive cylinder 4 is provided with a radial direction through hole 41.
Wherein, the cover plate 3 and the pedestal 2 realize being fixedly connected between the two with mode connects for screw.
Wherein, the connection rod set has two groups, including connecting plate 71, locking connection rod set and keying connection rod set, the connecting plate
71 include the connecting portion 711 at middle part and are arranged on the riser 712 of the front/rear end of connecting portion 711, in the connecting portion 711
Portion is additionally provided with for forming be hinged lug 713 with the piston rod end of the drive cylinder 4, on the riser 712 also
Two hinge holes 7121,7122 one on the other are set, hinge hole 7121 and the keying connection rod set of upper end formed it is be hinged, lower end
Hinge hole 7122 forms be hinged with locking connection rod set.
Wherein, the locking connection rod set includes locking pin 81, slide 82, the first bearing 83, first connecting rod 84, second connecting rod
85 and third connecting rod 86, the slide 82 be fixed on the inwall upper surface of the first cavity 22 of the pedestal 2, the right side of the slide 82
Side is provided with guide groove 821, and the right side of the locking pin 81 sets an inclined-plane 811, and the left side of locking pin 81 is led with described
Form the movable cooperation of above-below direction to groove 821, and it is described through continuing after the slot 26 on the pedestal 2 to be inserted upwardly into
In square hole 531 on the locking arm 53 of gripper 5, first bearing 83 is fixed on the inwall of the first cavity 22 of the pedestal 2
Lower surface, the second connecting rod 85 are formed with first bearing 83 and are hinged, and the second connecting rod 85 is in 90 degree to 110 by two
The pitman arm composition of degree, wherein one end and the first connecting rod 84 is be hinged, and the other end is be hinged with the third connecting rod 86, and described the
The other end of one connecting rod 84 and the hinge hole 7122 of the lower end on the lug 713 of the connecting plate 71 are formed and are hinged, and the described 3rd
The lower end of the other end of connecting rod 86 and the locking pin 81 forms be hinged.
Wherein, the keying connection rod set includes fourth link 91, the 5th connecting rod 92, the second bearing 93 and three abutments 94,
Second bearing 93 is fixed on the inwall upper surface of the first cavity 22 of the pedestal 2 and positioned at the left side of the slide 82, and described the
Three abutments 94 are fixed on the interior lower surface of the first cavity 22 of the pedestal 2 and at the left sides of the first cavity 22, described
5th connection 92 is being each provided with a through hole 921 close to upper end and middle part, and a mounting hole 922 is provided with lower end, wherein,
The bearing 93 of through hole 921 and second of upper end forms be hinged, the through hole 921 at middle part and the left end formation hinge of the fourth link 91
The hinge hole 7121 of chain, the right-hand member of fourth link 91 and the upper end on the lug 713 of the connecting plate 71 forms be hinged, the machine
The middle part of actuating arm 52 of machinery claw 5 and the three abutments 94 are be hinged, and the end set of the extension of actuating arm 52 has a rolling
Wheel, the roller in the mounting hole 922 and along mounting hole 922 with sliding.
Wherein, gradient and the right side of the locking pin 81 of the right side with inclined-plane 5311 are additionally provided with the locking arm
The gradient of inclined-plane 811 it is identical, and gradient be 1：20.
The course of work of the present apparatus is as follows：
1）The present apparatus is fixed on the arm end of the mechanical arm of industrial robot；
2）The electromagnetism part 62 of the buting iron component is powered, and buting iron 61 is moved to the left the slot 26 that blocks the pedestal 2
Lower surface；
3）The mechanical arm of the industrial robot shifts to the pipe fitting under program；
4）The drive cylinder 4 works, and the connecting plate 71 stretches out and is moved to the left with piston rod, now the locking connection rod set
Acted simultaneously with connection rod set is opened and closed, but when the end of locking pin 81 props up the buting iron 61 of the buting iron component, the locking
Connection rod set stopping acts, and opens and closes connection rod set and continue moving part, when the locking arm 53 props up the rectangular channel of the upper surface of pedestal 2
During 25 bottom land, the closure of gripper 5 is completed, and now opens and closes connection rod set stopping action；
5）The dead electricity of electromagnetism part 62 of the buting iron component, buting iron are withdrawn；
6）The piston rod of the drive cylinder 4 continues to stretch out to the left, and locking connection rod set is continued into action wears the locking pin 81
The square hole 531 for continuing to be inserted upwardly on the locking arm 53 of the gripper 5 after the slot 26 crossed on the pedestal 2 is interior and real
Existing locking action；
7）The pipe fitting is carried to required position；
8）The piston rod of the drive cylinder 4 is retracted, and the group action of locking connecting rod is first driven under the connecting plate 71 swing, is made
Locking pin 81 moves down the square hole 531 on the locking arm 53 for finally making the locking pin leave the gripper 5；
9）The electromagnetism part 62 of the buting iron component is powered, and buting iron 61 is moved to the left the slot 26 that blocks the pedestal 2
Lower surface；
10）The drive cylinder 4, which continues action, makes piston rod retract, and opens and closes connection rod set action and makes gripper be in opening,
So as to unclamp clamped pipe fitting；
So far, complete the clamping of pipe fitting and move operation.
The beneficial effects of the invention are as follows：
1. due to being provided with a radial direction through hole in the piston rod front end of drive cylinder and being formed be hinged with connecting plate and there is provided gear
Iron component, make drive cylinder during stretching and contraction, connecting plate can swing locks connection rod set with automatic adaptation
With the sequence of movement and working condition for opening and closing connection rod set.
2. because the present apparatus is only provided with a drive cylinder, and pipe fitting can be completed at two in the presence of a cylinder
The clamping of bite and locking action, reduce the quantity of cylinder, reduce cost.
3. due to having V-block there is provided two sets of grippers and in gripper couple positioned opposite, so it is easily controlled clamped
Pipe fitting position of centre of gravity, also cause more stable when clamp pipe fitting, also make it that the pressure of cylinder used is relatively low, so as to also reduce
Cost.
4. because there is provided locking connection rod set, gripper is in closure state, even if cylinder is in off-load during closure state
State or industrial robot power off suddenly, and the present apparatus remains at closure state, therefore it is safer reliable to work.
5. the present invention uses pressure control, simple operation, gripper closure and locking, drop can be achieved using a cylinder
Low manufacturing cost, meanwhile, fastening safety is reliable.
The foregoing is only a specific embodiment of the invention, but protection scope of the present invention is not limited thereto, any
The change or replacement expected without creative work, it should all be included within the scope of the present invention.Therefore, it is of the invention
Protection domain should be determined by the scope of protection defined in the claims.
Claims (8)
1. a kind of industrial robot pipe fitting clamping device, including a joint being connected with the mechanical arm of the industrial robot,
And one be fixed on the joint left end and be provided with opening to the left the second cavity, upper surface be provided with rectangular channel and with the square
It is provided with the pedestal of long and narrow groove on the right side of the second cavity immediately below shape groove, is provided with the pedestal in the middle part of the rectangular channel
The slot in lower direction, and one be fixedly mounted on the pedestal left end and stretch into the cover plate of second cavity, and two to the right
A group connection rod set and drive cylinder, and the gripper of two U-shapeds, and pedestal upper surface on the right side of the long and narrow groove
Buting iron component, and two V-blocks for being fixed on the cover plate left surface, are provided with one first cavity in the middle part of the joint, and described the
The left end of one cavity is provided with the stepped hole that a size is more than first cavity, and the right-hand member of the pedestal is additionally provided with one and institute
The flange that step is engaged is stated, one the 3rd cavity is provided with the middle part of the flange, is set in the bottom of the 3rd cavity
Have to penetrate to the left to the through hole of second cavity, the drive cylinder and pass through the first cavity and the 3rd cavity and work from right to left
Stopper rod is through the through hole until stretch into second cavity, and the cover plate upper end is provided with 2 first breach, lower end is set
There is the boss that 2 second breach, right side are provided with two front and rear arrangements, the boss is additionally provided with the second breach of opening to the right,
The boss stretches into the right in the second cavity of the pedestal and props up the bottom of the second cavity, before the boss above
Installed respectively described in one group between the rear of the square boss between second cavity and below and second cavity
Connection rod set, the right-hand member of the gripper are connected and through the left surface that the second breach stretches out the cover plate to the left with the connection rod set
Outside, the gripper includes clamping part, actuating arm and locking arm, and the clamping part is realized to the pipe fitting with the V-block
Clamping, the actuating arm right-hand member to upper right extend and be hinged with the connection rod set, the locking arm is contained on the pedestal
A right side is additionally provided with the rectangular channel on surface, and on the locking arm with bevelled square hole.
A kind of 2. industrial robot pipe fitting clamping device according to claim 1, it is characterised in that：The buting iron component
Including buting iron and electromagnetism part, the buting iron is slidably mounted in the long and narrow groove of the pedestal, and the electromagnetism part fixes peace
It is mounted in the pedestal upper surface of the buting iron right-hand member and integral with the buting iron.
A kind of 3. industrial robot pipe fitting clamping device according to claim 1, it is characterised in that：The drive cylinder
Piston rod front end be provided with a radial direction through hole.
A kind of 4. industrial robot pipe fitting clamping device according to claim 1, it is characterised in that：The cover plate and institute
State pedestal mode connects for screw and realize being fixedly connected between the two.
A kind of 5. industrial robot pipe fitting clamping device according to claim 1, it is characterised in that：The connection rod set has
Two groups, including connecting plate, locking connection rod set and open and close connection rod set, the connecting portion of the connecting plate including middle part and it is arranged on described
The riser of connecting portion front/rear end, it is additionally provided with for the piston rod end shape with the drive cylinder in the middle part of the connecting portion
Into be hinged lug, two hinge holes one on the other are also set up on the riser, the hinge hole of upper end is with opening and closing connection rod set
Formed it is be hinged, the hinge hole of lower end with lock connection rod set formed it is be hinged.
6. according to a kind of industrial robot pipe fitting clamping device described in any bar of claim 1 and 4, it is characterised in that：Institute
Stating locking connection rod set includes locking pin, slide, the first bearing, first connecting rod, second connecting rod and third connecting rod, and the slide is fixed
In the first cavity inner wall upper surface of the pedestal, the right flank of the slide is provided with guide groove, the right side of the locking pin
One inclined-plane is set, forms the movable cooperation of above-below direction on the left of the locking pin with the guide groove, and is passed through on the pedestal
Slot after continue in the square hole that is inserted upwardly on the locking arm of the gripper, first bearing is fixed on the seat
First cavity inner wall lower surface of body, the second connecting rod form be hinged with first bearing, and the second connecting rod is by two
Formed in 90 degree to 110 degree of pitman arms, wherein one end is hinged with the first connecting rod, and the other end is cut with scissors with the third connecting rod
Connect, the hinge hole of the other end of the first connecting rod and the lower end on the lug of the connecting plate forms be hinged, the 3rd company
The lower end of the other end of bar and the locking pin forms be hinged.
7. according to a kind of industrial robot pipe fitting clamping device described in any bar of claim 1 and 4, it is characterised in that：Institute
Stating keying connection rod set includes fourth link, the 5th connecting rod, the second bearing and three abutments, and the second bearing is fixed on the pedestal
First cavity inner wall upper surface and the left side for being located at the slide, the three abutments are fixed in the first cavity of the pedestal
At wall lower surface and the left side of close first cavity, the described 5th, which is connected close to upper end and middle part, is each provided with a through hole,
A mounting hole is provided with the lower end, wherein, the through hole of upper end forms be hinged, the through hole at middle part and described the with the second bearing
The left end of double leval jib forms hinge, and the right-hand member of fourth link and the hinge hole of the upper end on the lug of the connecting plate form hinge
Connect, be hinged in the middle part of the actuating arm of the gripper with the three abutments, and the end set of the extension of actuating arm has one
Roller, the roller in the mounting hole and along mounting hole with sliding.
8. according to a kind of industrial robot pipe fitting clamping device described in any bar of claim 1 and 6, it is characterised in that：Institute
State, and the gradient identical with the slope on the right side of the locking pin with bevelled gradient that be additionally provided with a right side on locking arm
For 1：20.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710643777.3A CN107398918B (en) | 2017-07-31 | 2017-07-31 | A kind of industrial robot pipe fitting clamping device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710643777.3A CN107398918B (en) | 2017-07-31 | 2017-07-31 | A kind of industrial robot pipe fitting clamping device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107398918A true CN107398918A (en) | 2017-11-28 |
| CN107398918B CN107398918B (en) | 2018-08-31 |
Family
ID=60402305
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710643777.3A Active CN107398918B (en) | 2017-07-31 | 2017-07-31 | A kind of industrial robot pipe fitting clamping device |
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| CN (1) | CN107398918B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115026556A (en) * | 2021-06-21 | 2022-09-09 | 国网安徽省电力有限公司 | Multifunctional climbing operation platform and operation method |
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| CN105835051A (en) * | 2016-04-26 | 2016-08-10 | 江南大学 | Dual-motor drive cooperatively-controlled under-actuated manipulator |
| CN206296932U (en) * | 2016-12-16 | 2017-07-04 | 宁夏太阳镁业有限公司 | A kind of manipulator for gripping pipe fitting |
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| CN203843527U (en) * | 2014-05-04 | 2014-09-24 | 陈婷 | Pipe fitting clamping device |
| CN105835051A (en) * | 2016-04-26 | 2016-08-10 | 江南大学 | Dual-motor drive cooperatively-controlled under-actuated manipulator |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115026556A (en) * | 2021-06-21 | 2022-09-09 | 国网安徽省电力有限公司 | Multifunctional climbing operation platform and operation method |
| CN115026556B (en) * | 2021-06-21 | 2024-05-10 | 国网安徽省电力有限公司 | Multifunctional climbing operation platform and operation method |
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| Publication number | Publication date |
|---|---|
| CN107398918B (en) | 2018-08-31 |
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Denomination of invention: A pipe fitting clamping device for an industrial robot Effective date of registration: 20220802 Granted publication date: 20180831 Pledgee: Bank of Jiangsu Co.,Ltd. Taizhou Branch Pledgor: Taizhou Hongxiang Power Machinery Co.,Ltd. Registration number: Y2022980011815 |
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