CN108145733B - Clamping device suitable for industrial robot - Google Patents
Clamping device suitable for industrial robot Download PDFInfo
- Publication number
- CN108145733B CN108145733B CN201810191190.8A CN201810191190A CN108145733B CN 108145733 B CN108145733 B CN 108145733B CN 201810191190 A CN201810191190 A CN 201810191190A CN 108145733 B CN108145733 B CN 108145733B
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- Prior art keywords
- assembly
- rotating
- seat
- output shaft
- vacuum
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- 238000001179 sorption measurement Methods 0.000 claims abstract description 18
- 238000012544 monitoring process Methods 0.000 claims description 18
- 239000000523 sample Substances 0.000 claims description 12
- 230000003014 reinforcing effect Effects 0.000 claims description 6
- 230000000712 assembly Effects 0.000 claims 1
- 238000000429 assembly Methods 0.000 claims 1
- 230000002708 enhancing effect Effects 0.000 description 2
- 238000003754 machining Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000012994 industrial processing Methods 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
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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
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
-
- 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
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
- B25J15/0625—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum provided with a valve
- B25J15/0633—Air-flow-actuated valves
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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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a clamping device suitable for an industrial robot, which comprises a connecting flange, a rotating assembly, a clamping main body assembly, a gripper assembly, a vacuum adsorption assembly, a alignment reference release assembly and a controller.
Description
Technical Field
The invention relates to a clamping device suitable for an industrial robot, and belongs to the technical field of robot clamping auxiliary equipment.
Background
At present, with the continuous development and application of industrial automation, industrial robots are increasingly applied in industrial production. The industrial robot not only can carry the workpiece, but also can accurately position the workpiece, and the application of the industrial robot greatly improves the efficiency of industrial processing and effectively improves the automation process.
With the continuous need of high-precision machining, how to improve the positioning precision of an object or a workpiece for an industrial robot is important to ensure the high-efficiency application of the industrial robot. Most of the current robot position control is realized by programming, and the control mode has better positioning accuracy, but for heavier workpieces, the control mode is only used for positioning by programming, and along with long-term use of the clamping device, the positioning error is easy to increase, and the positioning accuracy is difficult to meet the requirement of high-precision machining.
Disclosure of Invention
The invention aims at the technical problems and provides a clamping device suitable for an industrial robot so as to improve the stability and positioning accuracy of the industrial robot for clamping a workpiece.
In order to achieve the above purpose, the present invention provides the following technical solutions: the utility model provides a clamping device suitable for industrial robot, its includes flange, rotating assembly, clamp body subassembly, tongs subassembly, vacuum adsorption subassembly, alignment standard release subassembly and controller, its characterized in that adopts on the flange rotating assembly 360 rotatable be provided with clamp body subassembly, clamp body subassembly's periphery side is provided with a plurality of tongs subassembly, clamp body subassembly's central point puts and is provided with vacuum adsorption subassembly, alignment standard release subassembly sets up on the rotating assembly, when snatching the operation, the controller control vacuum adsorption subassembly is adsorbed preliminary to the work piece and is decided back re-controller tongs subassembly assistance grasp the work piece, when releasing the operation, alignment standard release subassembly action and touch the reference switch that sets up at appointed reference position back, the controller just controls tongs subassembly and vacuum adsorption subassembly release the work piece.
Further, as the preference, the rotating assembly includes fixing base, rotation output shaft, fixed guide holder, uide bushing, support rotation convex ball cover the fixing base is fixed to be set up on the flange, the fixed guide holder that is provided with of tip of fixing base, the fixing base is interior bottom be provided with support rotation convex ball cover, the tip setting of rotation output shaft with support rotation convex ball cover complex concave ball groove, the fixing base with be provided with the driver so that drive between the rotation output shaft, rotation output shaft stretches out fixed guide holder sets up, just rotation output shaft with be provided with between the fixed guide holder the uide bushing is in to right rotation of rotation output shaft is led.
Further, as the preference, the rotation subassembly still includes rotation angle monitoring controller, rotation angle monitoring controller includes angle reference ring and monitoring probe, angle reference ring sets up on the outer circumference of rotation output shaft, monitoring probe sets up on the fixing base inner wall, monitoring probe can realize discernment angle of rotation of angle reference ring, monitoring probe with the controller is connected.
Further, preferably, the clamping main body assembly comprises an outer supporting disc, an inner supporting disc and a connecting column, wherein the outer supporting disc and the inner supporting disc are of arc structures which are concentrically arranged, and the outer supporting disc and the inner supporting disc are connected together by the connecting column.
Further, as an preference, the tongs subassembly includes manipulator claw and snatchs the cylinder, the one end that the manipulator grabs articulatedly sets up on the outer supporting disk, the one end that snatchs the cylinder articulatedly sets up on the inner supporting disk, the other end that snatchs the cylinder articulatedly sets up on the manipulator grabs, the other end that the manipulator grabs is used for snatching the work piece.
Further, as the preference, vacuum adsorption subassembly includes articulated seat, regulation cylinder and vacuum chuck, articulated seat is fixed to be set up in the center of interior supporting disk, articulated on the seat is provided with adjust the cylinder, adjust fixedly on the piston rod of cylinder be provided with vacuum chuck.
Further, preferably, the vacuum chuck comprises a disk body and a plurality of vacuum nozzles arranged on the disk body, a vacuum runner communicated with the vacuum nozzles is arranged in the disk body, the vacuum nozzles are of a tip structure, and a reinforcing rib shell is arranged outside the disk body so as to be fixed on the piston rod by adopting the reinforcing rib shell.
Further, as the preference, the alignment standard release subassembly includes reference seat, reference switch, bumps the pole, L type mount, actuating arm and rotates the driver, it is in to rotate the driver setting rotate on the output shaft, the central point of actuating arm puts articulated setting and is in rotate on the output shaft, just the actuating arm by rotate driver drive swing, the both ends of actuating arm all articulate and be provided with bump the pole, bump the pole and extend in its length direction and be provided with the bar slot, L type mount is fixed to be set up on the fixed guide holder, be provided with the connecting pin on the L type mount, the connecting pin sets up in the bar slot, the reference seat sets up in the suitable position that the work piece is to be placed, be provided with in the reference seat reference switch, when rotate the driver drive the actuating arm swing, bump the pole and stretch into in the reference seat and touch the reference switch, through reference switch realizes controlling this clamping device.
Further, preferably, the rotary actuator employs a rotary cylinder or a stepping motor.
Further, preferably, the two reference seats are symmetrically arranged, the two reference switches are arranged in series, and the two touch rods are also symmetrically arranged.
Compared with the prior art, the invention has the beneficial effects that:
the invention not only utilizes the vacuum adsorption mode to position and fix the workpiece, but also adopts the gripper mode to realize auxiliary fixing of the workpiece, thereby greatly improving the stability of workpiece clamping and fixing and enhancing the fixing force.
Drawings
FIG. 1 is a schematic view of a clamping device suitable for an industrial robot;
FIG. 2 is a schematic diagram of a chuck in front view of a clamping device for an industrial robot according to the present invention;
FIG. 3 is a schematic cross-sectional view of a chuck of a clamping device adapted for use with an industrial robot in accordance with the present invention;
FIG. 4 is a schematic view of an alignment release assembly of a clamping device for an industrial robot according to the present invention;
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1, the present invention provides a technical solution: the utility model provides a clamping device suitable for industrial robot, its includes flange 1, rotating assembly, clamp main part subassembly, tongs subassembly, vacuum adsorption subassembly, alignment standard release subassembly and controller, but adopt on the flange 1 rotating assembly 360 pivoted is provided with clamp main part subassembly, clamp main part subassembly's periphery side is provided with a plurality of tongs subassembly, clamp main part subassembly's central point put and be provided with vacuum adsorption subassembly, alignment standard release subassembly sets up on the rotating assembly, when snatching the operation, the controller control vacuum adsorption subassembly adsorbs preliminary back controller to the work piece the supplementary work piece of snatching of tongs subassembly action and touching the reference switch that sets up at appointed reference position, during the release operation, the controller just controls tongs subassembly and vacuum adsorption subassembly release the work piece.
In this embodiment, the rotating assembly includes fixing base 3, rotation output shaft 5, fixed guide holder 6, uide bushing 8 and support and rotate protruding ball cover 2, fixing base 3 is fixed to be set up on flange 1, fixing base 3's tip is fixed to be provided with fixed guide holder 6, fixing base 3 inner bottom is provided with support rotates protruding ball cover 2, rotation output shaft 5's tip set up with support rotates protruding ball 2 cover complex concave ball groove, fixing base 2 with be provided with the driver so that drive between the rotation output shaft 5 rotate output shaft 5, rotation output shaft 5 stretches out fixed guide holder 6 sets up, just rotation output shaft 5 with be provided with between the fixed guide holder 6 the uide bushing 8, so as to right rotation of rotation output shaft 5 is led.
As a more preferred embodiment, the rotating assembly further comprises a rotation angle monitoring controller, the rotation angle monitoring controller comprises an angle reference ring 7 and a monitoring probe 4, the angle reference ring 7 is arranged on the outer circumference of the rotating output shaft 5, the monitoring probe 4 is arranged on the inner wall of the fixed seat 3, the monitoring probe 4 can recognize the rotation angle of the angle reference ring 7, and the monitoring probe 4 is connected with the controller.
The clamping main body assembly comprises an outer support disc 17, an inner support disc 18 and a connecting column 25, wherein the outer support disc 17 and the inner support disc 18 are of arc structures which are concentrically arranged, and the outer support disc 17 and the inner support disc 18 are connected together by adopting the connecting column 25.
The gripper assembly comprises a mechanical gripper 23 and a gripping cylinder 19, one end of the mechanical gripper 23 is hinged to the outer supporting plate 17, one end of the gripping cylinder 19 is hinged to the inner supporting plate 18, the other end of the gripping cylinder 19 is hinged to the mechanical gripper 23, and the other end of the mechanical gripper 23 is used for gripping a workpiece 24.
The vacuum adsorption assembly comprises a hinge seat 20, an adjusting cylinder 21 and a vacuum chuck 22, wherein the hinge seat 20 is fixedly arranged at the center of the inner supporting disc 18, the adjusting cylinder 21 is hinged on the hinge seat 20, and the vacuum chuck 22 is fixedly arranged on a piston rod of the adjusting cylinder 21.
Referring to fig. 2-3, the vacuum chuck 22 includes a tray 26 and a plurality of vacuum nozzles 27 disposed on the tray 26, a vacuum flow channel 30 communicating with the vacuum nozzles 27 is disposed in the tray 26, the vacuum nozzles 27 are in a tip structure, and a reinforcing rib shell 29 is disposed on the outside of the tray 26 so as to be fixed on the piston rod by using the reinforcing rib shell 29.
As shown in fig. 4, the alignment reference release assembly comprises a reference seat 10, a reference switch 11, a touch rod 12, an L-shaped fixing frame 9, a driving arm 14 and a rotation driver 15, wherein the rotation driver 15 is arranged on the rotation output shaft 5, the center position of the driving arm 14 is hinged on the rotation output shaft 5, the driving arm 14 is driven to swing by the rotation driver 15, the two ends of the driving arm 14 are hinged with the touch rod 12, the touch rod 12 is provided with a strip-shaped groove 13 in an extending mode in the length direction, the L-shaped fixing frame 9 is fixedly arranged on the fixed guide seat 6, the L-shaped fixing frame 9 is provided with a connecting pin 16, the connecting pin 16 is arranged in the strip-shaped groove 13, the reference seat 10 is arranged at a proper position where a workpiece is to be placed, the reference switch 11 is arranged in the reference seat 10, when the rotation driver 15 drives the driving arm 14 to swing, the touch rod 12 stretches into the reference seat 10 to realize the touch of the reference switch 11, and the clamping device is controlled by the clamp device.
As a preferred embodiment, the rotary actuator 15 is a rotary cylinder or a stepping motor. The two reference seats 10 are symmetrically arranged, the two reference switches 11 are arranged in series, and the two touch rods 12 are also symmetrically arranged.
The invention not only utilizes the vacuum adsorption mode to position and fix the workpiece, but also adopts the gripper mode to realize auxiliary fixing of the workpiece, thereby greatly improving the stability of workpiece clamping and fixing and enhancing the fixing force.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (7)
1. The clamping device suitable for the industrial robot is characterized by comprising a connecting flange, a rotating assembly, a clamping main body assembly, a gripper assembly, a vacuum adsorption assembly, an alignment standard release assembly and a controller, wherein the connecting flange is provided with the clamping main body assembly in a 360-degree rotating mode by adopting the rotating assembly, the periphery side of the clamping main body assembly is provided with a plurality of gripper assemblies, the center position of the clamping main body assembly is provided with the vacuum adsorption assembly, the alignment standard release assembly is arranged on the rotating assembly, the controller controls the vacuum adsorption assembly to primarily adsorb a workpiece and then controls the gripper assembly to assist in grabbing the workpiece, and the controller controls the gripper assembly and the vacuum adsorption assembly to release the workpiece after the alignment standard release assembly acts and touches a standard switch arranged at a designated standard position during release operation;
the rotating assembly comprises a fixing seat, a rotating output shaft, a fixed guide seat, a guide sleeve and a supporting rotating convex ball sleeve, wherein the fixing seat is fixedly arranged on the connecting flange, the end part of the fixing seat is fixedly provided with the fixed guide seat, the bottom in the fixing seat is provided with the supporting rotating convex ball sleeve, the end part of the rotating output shaft is provided with a concave ball groove matched with the supporting rotating convex ball sleeve, a driver is arranged between the fixing seat and the rotating output shaft so as to drive the rotating output shaft to rotate, the rotating output shaft extends out of the fixed guide seat, and the guide sleeve is arranged between the rotating output shaft and the fixed guide seat so as to guide the rotation of the rotating output shaft;
the rotating assembly further comprises a rotating angle monitoring controller, the rotating angle monitoring controller comprises an angle reference ring and a monitoring probe, the angle reference ring is arranged on the outer circumference of the rotating output shaft, the monitoring probe is arranged on the inner wall of the fixing seat, the monitoring probe can recognize the rotating angle of the angle reference ring, and the monitoring probe is connected with the controller;
the clamping main body assembly comprises an outer supporting disc, an inner supporting disc and a connecting column, wherein the outer supporting disc and the inner supporting disc are of arc structures which are concentrically arranged, and the outer supporting disc and the inner supporting disc are connected together through the connecting column.
2. A clamping device for industrial robots according to claim 1, characterized in that: the gripper assembly comprises a mechanical gripper and a gripping cylinder, one end of the mechanical gripper is hinged to the outer supporting plate, one end of the gripping cylinder is hinged to the inner supporting plate, the other end of the gripping cylinder is hinged to the mechanical gripper, and the other end of the mechanical gripper is used for gripping a workpiece.
3. A clamping device for industrial robots according to claim 1, characterized in that: the vacuum adsorption subassembly includes articulated seat, adjusting cylinder and vacuum chuck, articulated seat is fixed to be set up the center of interior supporting disk, articulated on the articulated seat is provided with adjusting cylinder, the last fixed vacuum chuck that is provided with of piston rod of adjusting cylinder.
4. A gripping device for industrial robots according to claim 3, characterized in that: the vacuum chuck comprises a disk body and a plurality of vacuum nozzles arranged on the disk body, wherein a vacuum flow channel communicated with the vacuum nozzles is arranged in the disk body, the vacuum nozzles are of a tip structure, and reinforcing rib shells are arranged outside the disk body so as to be fixed on the piston rod by adopting the reinforcing rib shells.
5. A clamping device for industrial robots according to claim 1, characterized in that: the alignment reference release assembly comprises a reference seat, a reference switch, a touch rod, an L-shaped fixing frame, a driving arm and a rotation driver, wherein the rotation driver is arranged on the rotation output shaft, the center position of the driving arm is hinged to the rotation output shaft, the driving arm is driven to swing by the rotation driver, the touch rod is hinged to two ends of the driving arm, a strip-shaped groove is formed in the extending direction of the touch rod in the length direction of the touch rod, the L-shaped fixing frame is fixedly arranged on the fixed guide seat, a connecting pin is arranged on the L-shaped fixing frame, the connecting pin is arranged in the strip-shaped groove, the reference seat is arranged at a proper position where a workpiece is to be placed, the reference switch is arranged in the reference seat, and when the rotation driver drives the driving arm to swing, the touch rod stretches into the reference seat to touch the reference switch, and control of the clamping device is realized through the reference switch.
6. A gripping device for industrial robots according to claim 5, characterized in that: the rotary driver adopts a rotary cylinder or a stepping motor.
7. A gripping device for industrial robots according to claim 5, characterized in that: the two reference seats are symmetrically arranged, the two reference switches are arranged in series, and the two touch rods are symmetrically arranged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810191190.8A CN108145733B (en) | 2018-03-08 | 2018-03-08 | Clamping device suitable for industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810191190.8A CN108145733B (en) | 2018-03-08 | 2018-03-08 | Clamping device suitable for industrial robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108145733A CN108145733A (en) | 2018-06-12 |
| CN108145733B true CN108145733B (en) | 2024-01-23 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810191190.8A Active CN108145733B (en) | 2018-03-08 | 2018-03-08 | Clamping device suitable for industrial robot |
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| Country | Link |
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| CN (1) | CN108145733B (en) |
Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109058899A (en) * | 2018-08-20 | 2018-12-21 | 深圳市奈士迪技术研发有限公司 | A kind of outdoor illumination equipment convenient for safeguarding |
| CN109702528B (en) * | 2019-01-07 | 2020-09-18 | 中国工程物理研究院材料研究所 | Alignment device and alignment method suitable for cup-shaped rotating member |
| CN110091356A (en) * | 2019-05-30 | 2019-08-06 | 丁维华 | A kind of manipulator wrist of robot |
| CN110561471A (en) * | 2019-10-22 | 2019-12-13 | 广东金贝贝智能机器人研究院有限公司 | Artificial intelligence composite clamping and assembling robot |
| CN111515989A (en) * | 2020-05-26 | 2020-08-11 | 泉州台商投资区中栓机械技术有限公司 | Guide wheel type goods taking robot clamping structure device |
| CN112276979A (en) * | 2020-10-29 | 2021-01-29 | 江苏安全技术职业学院 | A grabbing device for industrial robot |
| CN113084853A (en) * | 2021-03-17 | 2021-07-09 | 武汉理工大学 | Flexible gripper at tail end of robot |
| CN113878609B (en) * | 2021-10-12 | 2023-07-14 | 北京半导体专用设备研究所（中国电子科技集团公司第四十五研究所） | Suction cup, suction assembly and end effector |
| CN117601356B (en) * | 2023-12-07 | 2024-05-14 | 英普亿塑胶电子(江苏)有限公司 | Automatic go up injection molding machine of unloading |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE20107907U1 (en) * | 2001-05-10 | 2001-11-15 | Hasenpusch Wolfgang | Concentric gripper |
| US6431816B1 (en) * | 1998-10-07 | 2002-08-13 | Cascade Corporation | Adaptive load-clamping system |
| CN205200986U (en) * | 2015-12-11 | 2016-05-04 | 上海中国弹簧制造有限公司 | Stabilizer bar set assembling centering mechanism |
| CN206748458U (en) * | 2017-06-06 | 2017-12-15 | 河南水利与环境职业学院 | A kind of manipulator clamping device |
| CN207930687U (en) * | 2018-03-08 | 2018-10-02 | 苏州工业职业技术学院 | a kind of clamping device suitable for industrial robot |
-
2018
- 2018-03-08 CN CN201810191190.8A patent/CN108145733B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6431816B1 (en) * | 1998-10-07 | 2002-08-13 | Cascade Corporation | Adaptive load-clamping system |
| DE20107907U1 (en) * | 2001-05-10 | 2001-11-15 | Hasenpusch Wolfgang | Concentric gripper |
| CN205200986U (en) * | 2015-12-11 | 2016-05-04 | 上海中国弹簧制造有限公司 | Stabilizer bar set assembling centering mechanism |
| CN206748458U (en) * | 2017-06-06 | 2017-12-15 | 河南水利与环境职业学院 | A kind of manipulator clamping device |
| CN207930687U (en) * | 2018-03-08 | 2018-10-02 | 苏州工业职业技术学院 | a kind of clamping device suitable for industrial robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108145733A (en) | 2018-06-12 |
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