CN107398918B - A kind of industrial robot pipe fitting clamping device - Google Patents
A kind of industrial robot pipe fitting clamping device Download PDFInfo
- Publication number
- CN107398918B CN107398918B CN201710643777.3A CN201710643777A CN107398918B CN 107398918 B CN107398918 B CN 107398918B CN 201710643777 A CN201710643777 A CN 201710643777A CN 107398918 B CN107398918 B CN 107398918B
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- Prior art keywords
- cavity
- pedestal
- pipe fitting
- hinged
- 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 devices, the connector being connect with the mechanical arm of the industrial robot including one, and one be fixed on the connector 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 straight slot, the slot of upper and lower directions is provided on pedestal in the middle part of the rectangular channel, and one be fixedly mounted on the pedestal left end and stretch into the cover board of second cavity to the right, and two groups of connection rod sets, and one driving 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 straight slot, and two be fixed on the cover board left side V-block.The present apparatus uses pressure control, simple operation that gripper can be realized using a cylinder and be closed and lock, reduce manufacturing cost, meanwhile, fastening safety is reliable.
Description
Technical field
The present invention relates to pipe fitting self-clamping module, especially a kind of industrial robot pipe fitting clamping device.
Background technology
During the manufacturing of pipe fitting, often need to carry pipe fitting, nowadays, usually using industrial robot into
Row is carried to effectively reduce manpower, and industrial robot needs first to be clamped, traditional clamping when carrying pipe fitting
Its design structure of device is complicated, and manufacturing cost is high, and inadequate for the stability of the clamping of pipe fitting, for the center of gravity position of pipe fitting
It sets and is difficult to control, in handling process, pipe fitting is easy the risk fallen out from clamping device, therefore the folder of conventional industrial robot
Hold device in the handling process, there are some potential safety problemss.
Invention content
Technical problem to be solved by the invention is to provide a kind of industrial robot pipe fitting clamping devices, can solve
The problems in above-mentioned present technology.
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 is filled
It sets, including the connector that is connect with the mechanical arm of the industrial robot and one is fixed on the connector left end and is provided with out
Mouth the second cavity to the left, upper surface are provided with rectangular channel and are arranged with the right side of the second cavity immediately below the rectangular channel
There is the pedestal of long and narrow straight slot, the slot and one that upper and lower directions is provided on the pedestal in the middle part of the rectangular channel are fixedly mounted
Stretch into the pedestal left end and to the right the cover board of second cavity, and two groups of connection rod sets and a driving cylinder, and two U-shapeds
Gripper, and the buting iron component of pedestal upper surface on the right side of the long and narrow straight slot and two to be fixed on the cover board left
The V-block of side, the connector middle part are provided with one first cavity, and the left end of first cavity is provided with a size and is more than institute
The stepped hole of the first cavity is stated, the right end of the pedestal is additionally provided with one and the matched flange of the step, in the flange
Middle part be provided with a third cavity, the bottom of the third cavity be provided with penetrate to the left it is logical to second cavity
Hole, the driving cylinder pass through the first cavity and third cavity and piston rod to pass through the through-hole until stretching into described from right to left
Before in second cavity, the cover board upper end is provided with 2 first notches, lower end is provided with 2 second notches, right side is provided with two
The boss arranged afterwards, the boss are additionally provided with opening the second notch to the right, and the boss stretches into the right the of the pedestal
Two cavitys are interior and resist the bottom of the second cavity, between the front of the boss in front and second cavity and subsequent
Connection rod set described in installing one group respectively between the rear of the boss and second cavity, the right end of the gripper with it is described
The second notch that connection rod set is connected and through the cover board lower end is stretched out to the left except the left side of the cover board, the gripper
Including clamping part, actuating arm and locking arm, the clamping part realizes the clamping to the pipe fitting, the driving with the V-block
Arm right end extends to upper right and is hinged with the connection rod set, and the locking arm is contained in the rectangular channel of the pedestal upper surface,
And a right side is additionally provided on the locking arm with bevelled square hole.
Preferably technical solution, the buting iron component include buting iron and electromagnetism part, and the buting iron is slidably mounted
In the long and narrow straight slot of the pedestal, the electromagnetism part be fixedly mounted on the pedestal upper surface of the buting iron right end and with the gear
Iron is integral.
The piston rod front end of preferably technical solution, the driving cylinder is provided with a radial through-hole.
Preferably technical solution, the cover board connect the fixed company realized between the two with the pedestal with screw
It connects.
Preferably technical solution, the connection rod set have two groups, including connecting plate, locking connection rod set and keying connecting rod
Group, the connecting plate includes the interconnecting piece at middle part and is arranged the riser in the interconnecting piece front/rear end, in the interconnecting piece
Portion is additionally provided with for forming hinged lug with the piston rod end of the driving cylinder, is also set up on one on the riser
Two hinge holes once, the hinge hole of upper end form hinged, hinge hole and the locking connection rod set shape of lower end with connection rod set is opened and closed
At hinged.
Preferably technical solution, the locking connection rod set include locking pin, slide, the first bearing, first connecting rod,
Two connecting rods and third connecting rod, the slide are fixed on the second cavity inner wall upper surface of the pedestal, the right side of the slide
It is provided with guide groove, an inclined-plane is arranged in the right side of the locking pin, and the locking pin left side forms upper and lower with the guide groove
To movable cooperation, and continue to be inserted upwardly into the side on the locking arm of the gripper after the slot on the pedestal
In hole, first bearing is fixed on the second 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 link arm, wherein one end and the first connecting rod
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 hinged, the lower end of the other end of the third connecting rod and the locking pin forms hinged.
Preferably technical solution, the keying connection rod set include fourth link, the 5th connecting rod, the second bearing and third
Bearing, the second bearing are fixed on the second cavity inner wall upper surface of the pedestal and the left side positioned at the slide, the third
Bearing is fixed on the second cavity inner wall lower surface of the pedestal and at the left side of the second cavity, and the described 5th is connected to
It is each provided with a through-hole close to upper end and middle part, is provided with a kidney slot at lower end, wherein the through-hole of upper end and second
Seat forms hinged, the left end formation hinge of the through-hole at middle part and the fourth link, the right end of fourth link and the connecting plate
Lug on upper end hinge hole formed it is hinged, it is hinged with the third bearing in the middle part of the actuating arm of the gripper, and drive
The end set of the extension of swing arm has an idler wheel, the idler wheel to be slided in the kidney slot and along kidney slot.
Preferably technical solution is additionally provided with a right side on 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 through-hole in the piston rod front end of driving cylinder and forming hinged and setting with connecting plate
Buting iron component, makes driving cylinder during stretching and contraction, and connecting plate, which can swing to lock with automatic adaptation, to be connected
Bar group and the sequence of movement and working condition for opening and closing connection rod set.
2. since the present apparatus is only provided with a driving cylinder, and pipe fitting can be completed at two under the action of a cylinder
The clamping of bite and locking action reduce the quantity of cylinder, reduce cost.
3. due to being provided with two sets of grippers and gripper opposite side is provided with V-block, it is easy to control so clamped
Pipe fitting position of centre of gravity, but also more stable when pipe fitting is clamped, but also the pressure of cylinder used is relatively low, to also reduce
Cost.
4. due to being provided with locking connection rod set, gripper is in closed state, even if cylinder is in off-load when closed state
State or industrial robot power off suddenly, and the present apparatus remains at closed state, therefore it is safer reliable to work.
5. the present invention uses pressure control, simple operation that gripper can be realized using a cylinder and be closed and lock, drop
Low manufacturing cost, meanwhile, fastening safety is reliable.
Description of the drawings
The present invention is described in detail by following specific embodiment and attached drawing for ease of explanation,.
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 vertical view of industrial robot pipe fitting clamping device of the present invention；
Fig. 3 is a kind of front view of the cover board of industrial robot pipe fitting clamping device of the present invention；
Fig. 4 is a kind of vertical view of the cover board of industrial robot pipe fitting clamping device of the present invention；
Fig. 5 is a kind of side view of the cover board of industrial robot pipe fitting clamping device of the present invention；
Fig. 6 is a kind of structural schematic diagram 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 schematic diagram of the locking connection rod set of industrial robot pipe fitting clamping device of the present invention；
Figure 11 is a kind of structural schematic diagram 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 connector of industrial robot pipe fitting clamping device of the present invention.
Specific implementation mode
As shown in Fig. 1-Figure 12, a kind of industrial robot pipe fitting clamping device of the invention, including one and the industry
The connector 1 of the mechanical arm connection of robot, and one be fixed on 1 left end of the connector and be provided with opening the second cavity to the left
21, upper surface is provided with rectangular channel 25 and is provided on the right side of the second cavity 21 with 25 underface of the rectangular channel long and narrow logical
The pedestal 2 of slot 27, the slot 26 and one that upper and lower directions is provided on the pedestal 2 at the middle part of the rectangular channel 25 are fixedly mounted
The cover board 3 of second cavity 21, and two groups of connection rod sets and a driving cylinder 4 are stretched into 2 left end of the pedestal and to the right, and
The gripper 5 of two U-shapeds, and mounted on the right side of the long and narrow straight slot 27 2 upper surface of pedestal buting iron component and two be fixed on institute
The V-block 6 of 3 left side of cover board is stated, 1 middle part of the connector is provided with one first cavity 11, and the left end of first cavity 11 is set
It is equipped with the stepped hole 12 that a size is more than first cavity 11, the right end of the pedestal 2 is additionally provided with one and the step 12
Matched flange 22 is provided with a third cavity 23 at the middle part of the flange 22, is set in the bottom of the third cavity 23
It is equipped with the through-hole 24 penetrated to the left to second cavity 21, the driving cylinder 4 passes through the first cavity 11 and the from right to left
Simultaneously piston rod passes through the through-hole 24 until stretching into second cavity 21 to three cavitys 23, and 3 upper end of the cover board is provided with two
First notch 31, lower end are provided with 2 second notches 32, right side is provided with the two front and back boss 33 arranged, the boss 33 is also
It is provided with opening the second notch 34 to the right, the boss 33 stretches into the right in the second cavity 21 of the pedestal 3 and resists the
The bottom of two cavitys 21, between the front of the boss 33 in front and second cavity 21 and the subsequent boss 33
Rear and second cavity 21 between install one group respectively described in connection rod set, the right end of the gripper 5 and the connecting rod
The second notch 32 that group is connected and through 3 lower end of the cover board is stretched out to the left except the left side of the cover board 3, the gripper
5 include clamping part, actuating arm and locking arm 53, and the clamping part realizes the clamping to the pipe fitting with the V-block 6, described
Actuating arm right end extends to upper right and is hinged with the connection rod set, and the locking arm 53 is contained in the square of 2 upper surface of the pedestal
The square hole 531 that a right side carries inclined-plane 5311 is additionally provided in shape slot 25, and on 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 straight slot 27 of body 2, the electromagnetism part 62 be fixedly mounted on 2 upper surface of pedestal of 61 right end of the buting iron and with the gear
Iron 61 is integral, when the electromagnetism part 62 it is electric, push the buting iron 61 to be moved to the left and block the slot of the pedestal 2
26 lower face, when 62 dead electricity of electromagnetism part, the buting iron 61 then withdraws and it is made to be moved away from the slot of the pedestal 2 26
Lower face.
Wherein, the piston rod front end of the driving cylinder 4 is provided with a radial through-hole 41.
Wherein, the cover board 3 and the pedestal 2 are connect with screw realizes being fixedly connected between the two.
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 interconnecting piece 711 at middle part and are arranged the riser 712 in 711 front/rear end of the interconnecting piece, in the interconnecting piece 711
Portion is additionally provided with for forming hinged lug 713 with the piston rod end of the driving cylinder 4, on the riser 712 also
Two hinge holes 7121,7122 one on the other are set, and the hinge hole 7121 of upper end is formed with keying connection rod set to be hinged, lower end
Hinge hole 7122 forms 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 21 inner wall upper surface of the second cavity of the pedestal 2, the right side of the slide 82
Side is provided with guide groove 821, and an inclined-plane 811 is arranged in the right side of the locking pin 81, and 81 left side of the locking pin is led with described
The movable cooperation of upper and lower directions is formed to slot 821, and continues to be inserted upwardly into after the slot 26 on the pedestal 2 described
In square hole 531 on the locking arm 53 of gripper 5, first bearing 83 is fixed on 21 inner wall of the second cavity 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 link arm of degree forms, and wherein one end is hinged with the first connecting rod 84, and the other end is 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 form hinged, the third
The lower end of the other end of connecting rod 86 and the locking pin 81 forms hinged.
Wherein, the keying connection rod set includes fourth link 91, the 5th connecting rod 92, the second bearing 93 and third bearing 94,
Second bearing 93 is fixed on the 21 inner wall upper surface of the second cavity of the pedestal 2 and the left side positioned at the slide 82, and described the
Three abutments 94 are fixed on 21 interior lower surface of the second cavity of the pedestal 2 and at the left sides of the second cavity 21, described
5th connection 92 is being each provided with a through-hole 921 close to upper end and middle part, and a kidney slot 922 is provided at lower end, wherein
The through-hole 921 of upper end and the second bearing 93 form 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 end of fourth link 91 and the upper end on the lug 713 of the connecting plate 71 forms hinged, the machine
It is hinged with the third bearing 94 in the middle part of the actuating arm of machinery claw 5, and the end set of the extension of actuating arm has an idler wheel, institute
Idler wheel is stated to slide in the kidney slot 922 and along kidney slot 922.
Wherein, the right side of a gradient and the locking pin 81 of the right side with inclined-plane 5311 is additionally provided on the locking arm
811 gradient of inclined-plane 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 made to be moved to the left the slot for blocking the pedestal 2
26 lower face；
3）The mechanical arm of the industrial robot shifts to the pipe fitting under program；
4）The driving cylinder 4 works, and the connecting plate 71 is stretched out with piston rod and is moved to the left, and the locking at this time connects
Bar group and keying connection rod set act simultaneously, but when 81 end of the locking pin resists the buting iron 61 of the buting iron component, described
Connection rod set stopping action being locked, and opens and closes connection rod set and continues moving part, when the locking arm 53 resists the square of 2 upper surface of the pedestal
When the slot bottom of shape slot 25, gripper 5, which is closed, to be completed, and opens and closes connection rod set stopping action at this time；
5）62 dead electricity of electromagnetism part of the buting iron component, buting iron are withdrawn；
6）The piston rod continuation of the driving cylinder 4 is stretched out to the left, and locking connection rod set, which is continued action, makes the locking pin
81 continue after the slot 26 on the pedestal 2 in the square hole being inserted upwardly on the locking arm 53 of the gripper 5 531
And realize locking action；
7）The pipe fitting is carried to required position；
8）The piston rod of the driving cylinder 4 is retracted, and first drives locking connecting rod group dynamic under the swing of the connecting plate 71
Make, locking pin 81 is made to move 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 made to be moved to the left the slot for blocking the pedestal 2
26 lower face；
10）The driving cylinder 4, which continues action, makes piston rod retract, and opens and closes connection rod set action and gripper is made to be in opening state
State, to unclamp clamped pipe fitting；
So far, it completes the clamping of pipe fitting and moves operation.
The beneficial effects of the invention are as follows：
1. due to being provided with a radial through-hole in the piston rod front end of driving cylinder and forming hinged and setting with connecting plate
Buting iron component, makes driving cylinder during stretching and contraction, and connecting plate, which can swing to lock with automatic adaptation, to be connected
Bar group and the sequence of movement and working condition for opening and closing connection rod set.
2. since the present apparatus is only provided with a driving cylinder, and pipe fitting can be completed at two under the action of a cylinder
The clamping of bite and locking action reduce the quantity of cylinder, reduce cost.
3. due to being provided with two sets of grippers and gripper opposite side is provided with V-block, it is easy to control so clamped
Pipe fitting position of centre of gravity, but also more stable when pipe fitting is clamped, but also the pressure of cylinder used is relatively low, to also reduce
Cost.
4. due to being provided with locking connection rod set, gripper is in closed state, even if cylinder is in off-load when closed state
State or industrial robot power off suddenly, and the present apparatus remains at closed state, therefore it is safer reliable to work.
5. the present invention uses pressure control, simple operation that gripper can be realized using a cylinder and be closed and lock, drop
Low manufacturing cost, meanwhile, fastening safety is reliable.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
The change or replacement expected without creative work, should be covered by the protection scope of the present invention.Therefore, 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 the connector that is connect with the mechanical arm of the industrial robot,
And one is fixed on the connector left end and is provided with opening the second cavity to the left, upper surface is provided with rectangular channel and with it is described
The pedestal of long and narrow straight slot is provided on the right side of the second cavity immediately below rectangular channel, it is characterised in that：In the middle part of the rectangular channel
It is provided with the slot of upper and lower directions on pedestal and one is fixedly mounted on the pedestal left end and to stretch into described second to the right empty
The cover board of chamber, and two groups of connection rod sets and a driving cylinder, and two U-shapeds gripper, and on the right side of the long and narrow straight slot
The buting iron component of pedestal upper surface and two be fixed on the cover board left side V-block, be provided with one first in the middle part of the connector
The left end of cavity, first cavity is provided with the stepped hole that a size is more than first cavity, and the right end of the pedestal is also
It is provided with one and the matched flange of the step, a third cavity is provided in the middle part of the flange, in third sky
The bottom of chamber is provided with the through-hole penetrated to the left to second cavity, the driving cylinder pass through from right to left the first cavity and
Third cavity and piston rod pass through the through-hole until stretching into second cavity, and the cover board upper end is provided with 2 first and lacks
Mouth, lower end are provided with 2 second notches, right side is provided with the two front and back boss arranged, the boss is additionally provided with opening to the right
The second notch, the boss stretches into the right in the second cavity of the pedestal and resists the bottom of the second cavity, in front
Distinguish between the front of the boss and second cavity and between the rear of the subsequent boss and second cavity
Connection rod set described in installing one group, what the right end of the gripper and the connection rod set were connected and through the cover board lower end second lacks
Mouth is stretched out to the left except the left side of the cover board, and the gripper includes clamping part, actuating arm and locking arm, the clamping part
The clamping to the pipe fitting is realized with the V-block, and the actuating arm right end extends to upper right and, institute hinged with the connection rod set
It states locking arm to be contained in the rectangular channel of the pedestal upper surface, and is additionally provided with a right side on the locking arm with bevelled
Square hole.
2. a kind of 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 straight slot of the pedestal, and the electromagnetism part fixes peace
It is mounted in the pedestal upper surface of the buting iron right end and integral with the buting iron.
3. a kind of industrial robot pipe fitting clamping device according to claim 1, it is characterised in that：The driving cylinder
Piston rod front end be provided with a radial through-hole.
4. a kind of industrial robot pipe fitting clamping device according to claim 1, it is characterised in that：The cover board and institute
It states the connection of pedestal screw and realizes being fixedly connected between the two.
5. a kind of 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 plate include middle part interconnecting piece and be arranged described
The riser of interconnecting piece front/rear end is additionally provided in the middle part of the interconnecting piece for the piston rod end shape with the driving cylinder
At hinged lug, two hinge holes one on the other, hinge hole and the keying connection rod set of upper end are also set up on the riser
It is formed and is hinged, the hinge hole of lower end is formed with locking connection rod set to be hinged.
6. a kind of industrial robot pipe fitting clamping device according to claim 5, it is characterised in that：The locking connecting rod
Group includes locking pin, slide, the first bearing, first connecting rod, second connecting rod and third connecting rod, and the slide is fixed on the pedestal
The second cavity inner wall upper surface, the right side of the slide is provided with guide groove, and an inclined-plane is arranged in the right side of the locking pin,
The movable cooperation of upper and lower directions is formed on the left of the locking pin with the guide groove, and after the slot on the pedestal
It continues up and is inserted into the square hole on the locking arm of the gripper, first bearing is fixed on the second cavity of the pedestal
Interior lower surface, the second connecting rod are formed with first bearing and are hinged, and the second connecting rod is in 90 degree to 110 degree by two
Link arm composition, wherein one end and the first connecting rod is hinged, and the other end is hinged with the third connecting rod, the first connecting rod
The other end and the connecting plate lug on lower end hinge hole formed it is hinged, the other end of the third connecting rod with it is described
The lower end of locking pin forms hinged.
7. a kind of industrial robot pipe fitting clamping device according to claim 6, it is characterised in that：The keying connecting rod
Group includes fourth link, the 5th connecting rod, the second bearing and third bearing, and the second bearing is fixed in the second cavity of the pedestal
Wall upper surface and positioned at the slide left side, the third bearing be fixed on the second cavity inner wall lower surface of the pedestal and
At the left side of the second cavity, the 5th connecting rod is being each provided with a through-hole close to upper end and middle part, at lower end
It is provided with a kidney slot, wherein the through-hole of upper end and the second bearing form hinged a, left side for the through-hole at middle part and the fourth link
It holds and forms hinge, the hinge hole of the right end of fourth link and the upper end on the lug of the connecting plate forms hinged, the machinery
It is hinged with the third bearing in the middle part of the actuating arm of pawl, and the end set of the extension of actuating arm has an idler wheel, the rolling
Wheel is slided in the kidney slot and along kidney slot.
8. a kind of industrial robot pipe fitting clamping device according to claim 6, it is characterised in that：On the locking arm
It is identical as the slope on the right side of the locking pin with bevelled gradient to be additionally provided with a right side, and gradient is 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 CN107398918A (en) | 2017-11-28 |
| CN107398918B true CN107398918B (en) | 2018-08-31 |
Family
ID=60402305
Family Applications (1)
| 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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| Country | Link |
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| CN (1) | CN107398918B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113649796A (en) * | 2021-06-21 | 2021-11-16 | 国网安徽省电力有限公司 | Maintenance robot with online bolt tightening function |
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| DE4302731C1 (en) * | 1993-02-01 | 1994-07-14 | Siemens Ag | Movable means of transport that can move automatically inside a tube |
| US5328180A (en) * | 1993-04-16 | 1994-07-12 | Sandia Corporation | Rigid clamp |
| CN201856203U (en) * | 2010-10-13 | 2011-06-08 | 宁波亚德客自动化工业有限公司 | Pneumatic clamping jaw device |
| CN103264396B (en) * | 2013-05-29 | 2015-07-15 | 丰汉电子(上海)有限公司 | Mechanical gripper capable of grabbing cylinder sleeves of different inner diameters |
| CN203843527U (en) * | 2014-05-04 | 2014-09-24 | 陈婷 | Pipe fitting clamping device |
| CN105835051B (en) * | 2016-04-26 | 2018-06-12 | 江南大学 | The underactuated manipulator of Dual-motors Driving Collaborative Control |
| 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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2017
- 2017-07-31 CN CN201710643777.3A patent/CN107398918B/en active Active
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| CN107398918A (en) | 2017-11-28 |
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Effective date of registration: 20180720 Address after: 225318 No. 1, West Feng Industrial Zone, gang Yang Town, Hailing District, Taizhou, Jiangsu Applicant after: Taizhou Hongxiang Power Machinery Co.,Ltd. Address before: 311425 No. 20, Mai Fan Village, Hu Yuan Township, Fuyang City, Hangzhou, Zhejiang Applicant before: Li Ming |
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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 |