CN108422252A - A kind of industrial robot clamp of machining - Google Patents
A kind of industrial robot clamp of machining Download PDFInfo
- Publication number
- CN108422252A CN108422252A CN201810229883.1A CN201810229883A CN108422252A CN 108422252 A CN108422252 A CN 108422252A CN 201810229883 A CN201810229883 A CN 201810229883A CN 108422252 A CN108422252 A CN 108422252A
- Authority
- CN
- China
- Prior art keywords
- plate
- clamp
- triangle
- industrial robot
- grasping mechanism
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
- B23Q7/043—Construction of the grippers
-
- 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
-
- 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
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
Abstract
The present invention discloses a kind of industrial robot clamp of machining, including clamp mount, and the installation of clamp mount upper end is slidably fitted with pressure plate there are two symmetrically arranged grasping mechanism on grasping mechanism；Clamp mount is fixedly linked with the manipulator on machining tool, and the grasping mechanism includes the sliding roof being wholely set, connecting plate and crawl plate；The present invention is used for the parts such as crawl steel plate, steel pipe when machine tooling, the elevation and subsidence mechanical hand and programmable logic controller (PLC) for coordinating lathe are used, pass through matching design of the grasping mechanism on clamp mount, not only have the characteristics that crawl is efficient, fastness is high, and intelligent adjusting can be carried out according to the parts of different size model, and production cost has been saved, it is effective to improve machine tooling efficiency, it realizes intellectualized operation, has good value for applications.
Description
Technical field
The invention belongs to industrial manufacturing technology fields, and in particular to arrive a kind of industrial robot, more particularly a kind of machine
The industrial robot clamp of processing.
Background technology
Industrial robot is multi-joint manipulator or multivariant installations towards industrial circle, it can hold automatically
Row work is a kind of machine that various functions are realized by self power and control ability.It can receive mankind commander, also may be used
To be run according to the program of advance layout, modern industrial robot can also be according to the principle program of artificial intelligence technology formulation
Action.
The operation strategies of industrial robot are more and more extensive, in effort the people in many traditional industry fields
Make robot replace human work, in the food industry the case where be also such.The food industry machines that people have developed
People has packaging can robot, luncheon buffet robot and cutting beef robot etc., and robot is in food processing field application
Obtain such as fish and water.
In the machine tooling of machinery, need to apply to industrial robot to improve processing efficiency, in industrial robot folder
When taking the larger parts of some volumes, for example, the parts such as steel plate, steel pipe, often due to gripping area cannot cover, this
There is the phenomenon that swinging in a little parts, lead to the inferior rate for occurring more in converted products, also bring along life during gripping
Production accident, while corresponding equipment need to be added using different fixtures for the parts of irregular model, production cost obtains
To increase.
Invention content
In order to overcome above-mentioned technical problem, the purpose of the present invention is to provide a kind of machinings to be pressed from both sides with industrial robot
Tool not only has the characteristics that crawl is efficient, fastness is high by matching design of the grasping mechanism on clamp mount, and
Intelligent adjusting can be carried out according to the parts of different size model, solving fixture, to grip insecure and applicability single
Problem.
The purpose of the present invention can be achieved through the following technical solutions：
A kind of machining industrial robot clamp, including clamp mount, there are two symmetrically set the installation of clamp mount upper end
The grasping mechanism set is slidably fitted with pressure plate on grasping mechanism；
The upside both ends of the clamp mount are provided with the first linearly uniformly distributed triangle sliding slot, the outside both ends of clamp mount
It is all provided with linear the first uniformly distributed triangle chuck；
Centre position is installed with hydraulic cylinder on the upside of the clamp mount, and hydraulic cylinder both sides are equipped with flexible circle
Bar；
The grasping mechanism includes the sliding roof being wholely set, connecting plate and crawl plate；
Sliding roof lower end side is vertically equipped with slide damper, is provided on slide damper and matches with the first triangle chuck
The the second triangle sliding slot closed；
The sliding roof lower end is equipped with and the matched second triangle chuck of the first triangle sliding slot；
It is provided with the ladder chute through connecting plate upper and lower end face on the connecting plate, two are fixed on the lateral surface of connecting plate
A fixed block setting up and down is fixedly connected with guide rod between two fixed blocks, mobile electric cylinders is equipped on guide rod；
The crawl plate is triangle harden structure, and the upper surface for capturing plate is the arcwall face of indent；
The pressure plate is Rectangular Plate Structure, and pressure plate is equipped with matches trapezoidal cunning with the ladder chute on connecting plate
Block, pressure plate are equipped with connection curved bar, and connection curved bar one end is fixed on the side of pressure plate, connect the other end connection of curved bar
In mobile electric cylinders；
The pressure plate lower end is equipped with arc fixture block.
As a further solution of the present invention：The clamp mount is rectangle platform structure.
As a further solution of the present invention：It is clearance fit between the first triangle chuck and the second triangle sliding slot,
It is clearance fit between first triangle sliding slot and the second triangle chuck.
As a further solution of the present invention：The hydraulic cylinder drives the round bar that stretches to stretch, and is welded on flexible round bar
It connects and is fixed with square flange, square block is welded on sliding roof, is provided on square block and is connect with what square flange matched
Hole, connecing vehicle in hole has internal thread.
As a further solution of the present invention：By to the square flange and connecing and being screwed into bolt in hole, by gripper
Structure is fixedly linked with flexible round bar, makes hydraulic cylinder that grasping mechanism be driven to be slided on clamp mount.
As a further solution of the present invention：It is clearance fit between the trapezoidal slide block and ladder chute.
As a further solution of the present invention：The mobile electric cylinders drive pressure plate to be moved up and down on connecting plate.
As a further solution of the present invention：The lower face of the arc fixture block is consistent with the crawl upper surface radian of plate,
The lower face of arc fixture block is coarse hair side.
Beneficial effects of the present invention：The present invention is used for the parts such as crawl steel plate, steel pipe when machine tooling, coordinates lathe
Elevation and subsidence mechanical hand and programmable logic controller (PLC) are used, by matching design of the grasping mechanism on clamp mount, not only
Have the characteristics that crawl is efficient, fastness is high, and intelligent adjusting can be carried out according to the parts of different size model,
Production cost has been saved, machine tooling efficiency is effectively improved, has realized intellectualized operation, there is use and promotion price well
Value.
Description of the drawings
The present invention will be further described below with reference to the drawings.
Fig. 1 is a kind of structural schematic diagram of the industrial robot clamp of machining of the present invention.
Fig. 2 is a kind of explosive view of the industrial robot clamp of machining of the present invention.
Fig. 3 is the structural schematic diagram of clamp mount in the present invention.
Fig. 4 is the structural schematic diagram of grasping mechanism in the present invention.
Fig. 5 is the structural schematic diagram of another angle of grasping mechanism in the present invention.
Fig. 6 is the structural schematic diagram of pressure plate in the present invention.
Specific implementation mode
Below in conjunction with the embodiment of the present invention, technical scheme in the embodiment of the invention is clearly and completely described,
Obviously, described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Based in the present invention
Embodiment, all other embodiment that those of ordinary skill in the art are obtained without creative efforts, all
Belong to the scope of protection of the invention.
It please refers to Fig.1 shown in -2, the present invention is a kind of industrial robot clamp of machining, including clamp mount 1, fixture
Bearing 1 is fixedly linked with the manipulator on machining tool, and 1 upper end of clamp mount is installed there are two symmetrically arranged grasping mechanism 2,
Pressure plate 3 is slidably fitted on grasping mechanism 2；
As shown in figure 3, the clamp mount 1 is rectangle platform structure, the upside both ends of clamp mount 1 are provided with linear be evenly distributed with
The first triangle sliding slot 101, the outside both ends of clamp mount 1 are all provided with linear the first uniformly distributed triangle chuck 102；
1 upside centre position of the clamp mount is installed with hydraulic cylinder 103, and 103 both sides of hydraulic cylinder are equipped with
Flexible round bar 104, hydraulic cylinder 103 drive the round bar 104 that stretches to carry out flexible work, the side of being welded on the round bar 104 that stretches
Shape flange 105；
As shown in Figure 4 and Figure 5, the grasping mechanism 2 includes the sliding roof 201 being wholely set, connecting plate 202 and crawl
Plate 203；
201 lower end side of the sliding roof is vertically equipped with slide damper 204, is provided with and the one or three on slide damper 204
102 matched second triangle sliding slot 205 of angle chuck, matches between the first triangle chuck 102 and the second triangle sliding slot 205 for gap
It closes；
201 lower end of the sliding roof be equipped with 101 matched second triangle chuck 206 of the first triangle sliding slot, first
It is clearance fit between triangle sliding slot 101 and the second triangle chuck 206, passes through the first triangle chuck 102 and the second triangle sliding slot
205, the matching design between the first triangle sliding slot 101 and the second triangle chuck 206 not only effectively reduces resistance to sliding, and
And avoid the case where crawl plate 203 is swung in the process of grasping；
It is welded with square block 207 on the sliding roof 201, is provided on square block 207 and 105 phase of square flange
That matches connects hole 208, and connecing vehicle in hole 208 has internal thread, by square flange 105 and connecing and being screwed into bolt 209 in hole 208, will grab
It takes mechanism 2 to be fixedly linked with flexible round bar 104, makes hydraulic cylinder 103 that grasping mechanism 2 be driven to be slided on clamp mount 1；
The ladder chute 210 through 202 upper and lower end face of connecting plate, the outside of connecting plate 202 are provided on the connecting plate 202
It is fixed there are two fixed block 211 setting up and down on face, it is fixedly connected with guide rod 212, guide rod between two fixed blocks 211
Mobile electric cylinders 213 are installed on 212；
The crawl plate 203 is triangle harden structure, and the upper surface of crawl plate 203 is the arcwall face of indent；
As shown in fig. 6, the pressure plate 3 is Rectangular Plate Structure, pressure plate 3 is equipped with and the trapezoidal cunning on connecting plate 202
Slot 210 matches trapezoidal slide block 301, is clearance fit between trapezoidal slide block 301 and ladder chute 210, and pressure plate 3, which is equipped with, to be connected
Curved bar 302 is connect, 302 one end of connection curved bar is fixed on the side of pressure plate 3, and the other end of connection curved bar 302 is connected to movement
In electric cylinders 213, mobile electric cylinders 213 drive pressure plate 3 to be moved up and down on connecting plate 202；
3 lower end of the pressure plate is equipped with arc fixture block 303, the upper surface of the lower face and crawl plate 203 of arc fixture block 303
Radian is consistent, and the lower face of arc fixture block 303 is coarse hair side, increases pressure plate 3 and captures the grasp force between plate 203
Degree.
The present invention is used for the parts such as crawl steel plate, steel pipe when machine tooling, coordinates the elevation and subsidence mechanical hand of lathe and can compile
Journey logic controller is used, by matching design of the grasping mechanism 2 on clamp mount 1, not only efficient with crawl,
The high feature of fastness, and intelligent adjusting can be carried out according to the parts of different size model, production cost has been saved,
It is effective to improve machine tooling efficiency, it realizes intellectualized operation, has good value for applications.
In the description of this specification, the description of reference term " one embodiment ", " example ", " specific example " etc. means
Particular features, structures, materials, or characteristics described in conjunction with this embodiment or example are contained at least one implementation of the present invention
In example or example.In the present specification, schematic expression of the above terms may not refer to the same embodiment or example.
Moreover, particular features, structures, materials, or characteristics described can be in any one or more of the embodiments or examples to close
Suitable mode combines.
Above content is only to structure of the invention example and explanation, affiliated those skilled in the art couple
Described specific embodiment does various modifications or additions or substitutes by a similar method, without departing from invention
Structure or beyond the scope defined by this claim, is within the scope of protection of the invention.
Claims (8)
1. a kind of industrial robot clamp of machining, which is characterized in that including clamp mount (1), clamp mount (1) upper end peace
Dress is slidably fitted with pressure plate (3) there are two symmetrically arranged grasping mechanism (2) on grasping mechanism (2)；
The upside both ends of the clamp mount (1) are provided with the first linearly uniformly distributed triangle sliding slot (101), clamp mount (1)
Outside both ends are all provided with linear the first uniformly distributed triangle chuck (102)；
Centre position is installed with hydraulic cylinder (103), the installation of hydraulic cylinder (103) both sides on the upside of the clamp mount (1)
There is flexible round bar (104)；
The grasping mechanism (2) includes the sliding roof (201) being wholely set, connecting plate (202) and crawl plate (203)；
Sliding roof (201) the lower end side is vertically equipped with slide damper (204), is provided on slide damper (204) and first
The matched second triangle sliding slot (205) of triangle chuck (102)；
Sliding roof (201) lower end is equipped with and the matched second triangle chuck (206) of the first triangle sliding slot (101)；
The ladder chute (210) through connecting plate (202) upper and lower end face is provided on the connecting plate (202), connecting plate (202)
It is fixed there are two fixed block (211) setting up and down on lateral surface, it is fixedly connected with guide rod between two fixed blocks (211)
(212), mobile electric cylinders (213) are installed on guide rod (212)；
The crawl plate (203) is triangle harden structure, and the upper surface of crawl plate (203) is the arcwall face of indent；
The pressure plate (3) is Rectangular Plate Structure, and pressure plate (3) is equipped with and ladder chute (210) phase on connecting plate (202)
Trapezoidal slide block (301), pressure plate (3) is coordinated to be equipped with connection curved bar (302), connection curved bar (302) one end is fixed on pressure plate
(3) on side, the other end of connection curved bar (302) is connected in mobile electric cylinders (213)；
Pressure plate (3) lower end is equipped with arc fixture block (303).
2. a kind of industrial robot clamp of machining according to claim 1, which is characterized in that the clamp mount
(1) it is rectangle platform structure.
3. a kind of industrial robot clamp of machining according to claim 1, which is characterized in that the first triangle card
It is clearance fit, the first triangle sliding slot (101) and the second triangle chuck (206) between platform (102) and the second triangle sliding slot (205)
Between be clearance fit.
4. a kind of industrial robot clamp of machining according to claim 1, which is characterized in that the hydraulic cylinder
(103) it drives the round bar (104) that stretches to stretch, square flange (105), sliding top is welded on flexible round bar (104)
It is welded with square block (207) on plate (201), is provided on square block (207) and connects hole with what square flange (105) matched
(208), connecing hole (208) interior vehicle has internal thread.
5. a kind of industrial robot clamp of machining according to claim 4, which is characterized in that by the side
It shape flange (105) and connects and is screwed into bolt (209) in hole (208), grasping mechanism (2) and flexible round bar (104) are fixedly linked, made
Hydraulic cylinder (103) drives grasping mechanism (2) to be slided on clamp mount (1).
6. a kind of industrial robot clamp of machining according to claim 1, which is characterized in that the trapezoidal slide block
(301) it is clearance fit between ladder chute (210).
7. a kind of industrial robot clamp of machining according to claim 1, which is characterized in that the mobile electric cylinders
(213) pressure plate (3) is driven to be moved up and down on connecting plate (202).
8. a kind of industrial robot clamp of machining according to claim 1, which is characterized in that the arc fixture block
(303) lower face is consistent with the upper surface radian of crawl plate (203), and the lower face of arc fixture block (303) is coarse hair side.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810229883.1A CN108422252B (en) | 2018-03-20 | 2018-03-20 | Industrial robot clamp for machining |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810229883.1A CN108422252B (en) | 2018-03-20 | 2018-03-20 | Industrial robot clamp for machining |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108422252A true CN108422252A (en) | 2018-08-21 |
| CN108422252B CN108422252B (en) | 2019-12-06 |
Family
ID=63158542
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810229883.1A Active CN108422252B (en) | 2018-03-20 | 2018-03-20 | Industrial robot clamp for machining |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108422252B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108422252B (en) * | 2018-03-20 | 2019-12-06 | 马鞍山远荣机器人智能装备有限公司 | Industrial robot clamp for machining |
| CN112706180A (en) * | 2020-11-26 | 2021-04-27 | 江苏汉田机械工业有限公司 | Aluminium product structure of grabbing |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0344954A1 (en) * | 1988-05-31 | 1989-12-06 | The Whitaker Corporation | Gripper head |
| US20020093212A1 (en) * | 1999-11-29 | 2002-07-18 | Demag Cranes & Components Gmbh | Holding mechanism, in particular for a gripping apparatus |
| CN201765962U (en) * | 2010-08-06 | 2011-03-16 | 南通新三能电子有限公司 | Cutting machine with dust remover |
| CN104841960A (en) * | 2015-06-04 | 2015-08-19 | 浙江日创机电科技有限公司 | Suspension type center tail bracket |
| CN105382850A (en) * | 2015-12-16 | 2016-03-09 | 芜湖杰诺科技有限公司 | Grabbing gripper for three-way valve bodies |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108422252B (en) * | 2018-03-20 | 2019-12-06 | 马鞍山远荣机器人智能装备有限公司 | Industrial robot clamp for machining |
-
2018
- 2018-03-20 CN CN201810229883.1A patent/CN108422252B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0344954A1 (en) * | 1988-05-31 | 1989-12-06 | The Whitaker Corporation | Gripper head |
| US20020093212A1 (en) * | 1999-11-29 | 2002-07-18 | Demag Cranes & Components Gmbh | Holding mechanism, in particular for a gripping apparatus |
| CN201765962U (en) * | 2010-08-06 | 2011-03-16 | 南通新三能电子有限公司 | Cutting machine with dust remover |
| CN104841960A (en) * | 2015-06-04 | 2015-08-19 | 浙江日创机电科技有限公司 | Suspension type center tail bracket |
| CN105382850A (en) * | 2015-12-16 | 2016-03-09 | 芜湖杰诺科技有限公司 | Grabbing gripper for three-way valve bodies |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108422252B (en) * | 2018-03-20 | 2019-12-06 | 马鞍山远荣机器人智能装备有限公司 | Industrial robot clamp for machining |
| CN112706180A (en) * | 2020-11-26 | 2021-04-27 | 江苏汉田机械工业有限公司 | Aluminium product structure of grabbing |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108422252B (en) | 2019-12-06 |
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| PB01 | Publication | ||
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: An industrial robot fixture for machining Effective date of registration: 20210318 Granted publication date: 20191206 Pledgee: China Postal Savings Bank Co.,Ltd. Ma'anshan Branch Pledgor: MAANSHAN YUANRONG ROBOT INTELLIGENT EQUIPMENT Co.,Ltd. Registration number: Y2021980001793 |
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| PE01 | Entry into force of the registration of the contract for pledge of patent right |