CN108422252B - Industrial robot clamp for machining - Google Patents
Industrial robot clamp for machining Download PDFInfo
- Publication number
- CN108422252B CN108422252B CN201810229883.1A CN201810229883A CN108422252B CN 108422252 B CN108422252 B CN 108422252B CN 201810229883 A CN201810229883 A CN 201810229883A CN 108422252 B CN108422252 B CN 108422252B
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- CN
- China
- Prior art keywords
- plate
- clamp
- grabbing
- industrial robot
- machining
- 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.)
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Links
- 238000003754 machining Methods 0.000 title claims abstract description 26
- 230000007246 mechanism Effects 0.000 claims abstract description 26
- 238000003825 pressing Methods 0.000 claims abstract description 20
- 239000010720 hydraulic oil Substances 0.000 claims description 10
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 229910000831 Steel Inorganic materials 0.000 abstract description 8
- 239000010959 steel Substances 0.000 abstract description 8
- 238000004519 manufacturing process Methods 0.000 abstract description 6
- 235000013305 food Nutrition 0.000 description 3
- 239000000463 material Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 241000251468 Actinopterygii Species 0.000 description 1
- ATJFFYVFTNAWJD-UHFFFAOYSA-N Tin Chemical compound [Sn] ATJFFYVFTNAWJD-UHFFFAOYSA-N 0.000 description 1
- 238000007792 addition Methods 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 235000015278 beef Nutrition 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Jigs For Machine Tools (AREA)
Abstract
The invention discloses an industrial robot clamp for machining, which comprises a clamp support, wherein two symmetrically-arranged grabbing mechanisms are arranged at the upper end of the clamp support, and pressing plates are slidably arranged on the grabbing mechanisms; the clamp support is fixedly connected with a manipulator on the processing machine tool, and the grabbing mechanism comprises a sliding top plate, a connecting plate and a grabbing plate which are integrally arranged; the gripping mechanism is used for gripping parts such as steel plates and steel pipes during machining of a machine tool, is matched with a lifting manipulator and a programmable logic controller of the machine tool for use, has the characteristics of high gripping efficiency and high firmness through the matching design of the gripping mechanism on the clamp support, can be intelligently adjusted according to parts of different specifications and models, saves the production cost, effectively improves the machining efficiency of the machine tool, realizes intelligent operation, and has good use and popularization values.
Description
Technical Field
The invention belongs to the technical field of industrial manufacturing, particularly relates to an industrial robot, and more particularly relates to an industrial robot clamp for machining.
background
industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices oriented to the industrial field, can automatically execute work, and are machines which realize various functions by means of self power and control capacity. The robot can accept human command and operate according to a preset program, and modern industrial robots can also perform actions according to a principle formulated by artificial intelligence technology.
Industrial robots are used in an increasingly wide range, even in many conventional industrial fields, where people strive to make robots work instead of humans, as is the case in the food industry. Industrial robots for food products have been developed such as a tin head packaging robot, an automatic lunch robot, a beef cutting robot, etc., and the robots are used in the field of food processing such as fish water.
in the machine tool machining of machinery, need apply industrial robot and improve machining efficiency, when industrial robot presss from both sides and gets some great spare parts of volume, for example, spare parts such as steel sheet, steel pipe, often because press from both sides the area and can not get the cover, there is wobbling phenomenon at the clamp in-process of these spare parts, lead to appearing more defective rate in the processing product, also can bring the production accident, simultaneously to the spare part of irregular model, use different anchor clamps, need add corresponding equipment, manufacturing cost obtains increasing.
disclosure of Invention
in order to overcome the technical problems, the invention aims to provide the industrial robot clamp for machining, through the matching design of the grabbing mechanism on the clamp support, the clamp has the characteristics of high grabbing efficiency and high firmness, and can be intelligently adjusted according to parts of different specifications and models, so that the problems of insecure clamping and single applicability of the clamp are solved.
The purpose of the invention can be realized by the following technical scheme:
the industrial robot clamp for machining comprises a clamp support, wherein two symmetrically-arranged grabbing mechanisms are mounted at the upper end of the clamp support, and pressing plates are slidably mounted on the grabbing mechanisms;
The two ends of the upper side of the clamp support are respectively provided with a first triangular sliding groove which is linearly and uniformly distributed, and the two ends of the outer side of the clamp support are respectively provided with a first triangular clamping table which is linearly and uniformly distributed;
a hydraulic oil cylinder is fixedly arranged at the middle position of the upper side of the clamp support, and telescopic round rods are arranged at two sides of the hydraulic oil cylinder;
The grabbing mechanism comprises a sliding top plate, a connecting plate and a grabbing plate which are integrally arranged;
A sliding baffle is vertically arranged on one side of the lower end of the sliding top plate, and a second triangular sliding groove matched with the first triangular clamping table is formed in the sliding baffle;
The lower end of the sliding top plate is provided with a second triangular clamping table matched with the first triangular sliding groove;
the connecting plate is provided with a trapezoidal chute penetrating through the upper end surface and the lower end surface of the connecting plate, the outer side surface of the connecting plate is fixedly provided with two fixed blocks which are arranged up and down, a guide rod is fixedly connected between the two fixed blocks, and the guide rod is provided with a movable electric cylinder;
The grabbing plate is of a triangular plate structure, and the upper end face of the grabbing plate is an inwards concave arc-shaped face;
The pressing plate is of a rectangular plate structure, a trapezoidal sliding block matched with the trapezoidal sliding groove in the connecting plate is arranged on the pressing plate, a connecting bent rod is arranged on the pressing plate, one end of the connecting bent rod is fixed on the side face of the pressing plate, and the other end of the connecting bent rod is connected to the movable electric cylinder;
and an arc-shaped clamping block is arranged at the lower end of the pressing plate.
As a further scheme of the invention: the fixture support is of a rectangular table structure.
As a further scheme of the invention: the first triangular clamping table and the second triangular sliding groove are in clearance fit, and the first triangular sliding groove and the second triangular clamping table are in clearance fit.
as a further scheme of the invention: the hydraulic cylinder drives the telescopic round rod to stretch out and draw back, the telescopic round rod is fixedly welded with a square flange, the sliding top plate is fixedly welded with a square block, the square block is provided with a connecting hole matched with the square flange, and an internal thread is turned in the connecting hole.
as a further scheme of the invention: the grabbing mechanism is fixedly connected with the telescopic round rod by screwing bolts into the square flange and the connecting holes, so that the hydraulic oil cylinder drives the grabbing mechanism to slide on the clamp support.
As a further scheme of the invention: the trapezoidal sliding block is in clearance fit with the trapezoidal sliding groove.
as a further scheme of the invention: the movable electric cylinder drives the pressing plate to move up and down on the connecting plate.
as a further scheme of the invention: the radian of the lower end face of the arc-shaped clamping block is consistent with that of the upper end face of the grabbing plate, and the lower end face of the arc-shaped clamping block is a rough surface.
The invention has the beneficial effects that: the gripping mechanism is used for gripping parts such as steel plates and steel pipes during machining of a machine tool, is matched with a lifting manipulator and a programmable logic controller of the machine tool for use, has the characteristics of high gripping efficiency and high firmness through the matching design of the gripping mechanism on the clamp support, can be intelligently adjusted according to parts of different specifications and models, saves the production cost, effectively improves the machining efficiency of the machine tool, realizes intelligent operation, and has good use and popularization values.
Drawings
The invention will be further described with reference to the accompanying drawings.
Fig. 1 is a schematic structural diagram of an industrial robot clamp for machining according to the present invention.
fig. 2 is an exploded view of an industrial robot clamp for machining of the present invention.
FIG. 3 is a schematic view showing the structure of the jig support in the present invention.
fig. 4 is a schematic structural view of the grasping mechanism in the present invention.
Fig. 5 is a schematic view of another angle of the grasping mechanism according to the present invention.
fig. 6 is a schematic view of the construction of the compacting plate according to the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-2, the invention is an industrial robot clamp for machining, which comprises a clamp support 1, wherein the clamp support 1 is fixedly connected with a manipulator on a machining tool, two symmetrically arranged grabbing mechanisms 2 are arranged at the upper end of the clamp support 1, and a pressing plate 3 is slidably arranged on the grabbing mechanisms 2;
As shown in fig. 3, the fixture support 1 is a rectangular table structure, first triangular sliding grooves 101 are formed in both ends of the upper side of the fixture support 1, and first triangular clamping tables 102 are formed in both ends of the outer side of the fixture support 1;
A hydraulic oil cylinder 103 is fixedly arranged at the middle position of the upper side of the clamp support 1, telescopic round rods 104 are arranged on two sides of the hydraulic oil cylinder 103, the hydraulic oil cylinder 103 drives the telescopic round rods 104 to perform telescopic work, and square flanges 105 are fixedly welded on the telescopic round rods 104;
as shown in fig. 4 and 5, the grasping mechanism 2 includes a sliding top plate 201, a connecting plate 202, and a grasping plate 203 that are integrally provided;
A sliding baffle 204 is vertically arranged on one side of the lower end of the sliding top plate 201, a second triangular sliding groove 205 matched with the first triangular clamping table 102 is formed in the sliding baffle 204, and the first triangular clamping table 102 is in clearance fit with the second triangular sliding groove 205;
the lower end of the sliding top plate 201 is provided with a second triangular clamping table 206 matched with the first triangular sliding groove 101, the first triangular sliding groove 101 and the second triangular clamping table 206 are in clearance fit, and through the matching design of the first triangular clamping table 102 and the second triangular sliding groove 205 as well as the first triangular sliding groove 101 and the second triangular clamping table 206, the sliding resistance is effectively reduced, and the situation that the grabbing plate 203 swings in the grabbing process is avoided;
A square block 207 is fixedly welded on the sliding top plate 201, a connecting hole 208 matched with the square flange 105 is formed in the square block 207, an internal thread is turned in the connecting hole 208, and the grabbing mechanism 2 is fixedly connected with the telescopic round rod 104 by screwing a bolt 209 into the square flange 105 and the connecting hole 208, so that the hydraulic oil cylinder 103 drives the grabbing mechanism 2 to slide on the clamp support 1;
a trapezoidal sliding groove 210 penetrating through the upper end face and the lower end face of the connecting plate 202 is formed in the connecting plate 202, two fixing blocks 211 arranged up and down are fixed on the outer side face of the connecting plate 202, a guide rod 212 is fixedly connected between the two fixing blocks 211, and a movable electric cylinder 213 is mounted on the guide rod 212;
The grabbing plate 203 is of a triangular plate structure, and the upper end face of the grabbing plate 203 is an inwards concave arc-shaped face;
As shown in fig. 6, the pressing plate 3 is a rectangular plate structure, a trapezoidal sliding block 301 which is matched with the trapezoidal sliding groove 210 on the connecting plate 202 is arranged on the pressing plate 3, the trapezoidal sliding block 301 and the trapezoidal sliding groove 210 are in clearance fit, a connecting bent rod 302 is arranged on the pressing plate 3, one end of the connecting bent rod 302 is fixed on the side surface of the pressing plate 3, the other end of the connecting bent rod 302 is connected to the movable electric cylinder 213, and the movable electric cylinder 213 drives the pressing plate 3 to move up and down on the connecting plate 202;
3 lower extremes of pressure strip is equipped with arc fixture block 303, and the lower terminal surface of arc fixture block 303 is unanimous with the up end radian of snatching board 203, and the lower terminal surface of arc fixture block 303 is crude matte, increases pressure strip 3 and snatchs the dynamics of snatching between the board 203.
the gripping device is used for gripping parts such as steel plates and steel pipes during machining of a machine tool, is used by matching with a lifting manipulator and a programmable logic controller of the machine tool, has the characteristics of high gripping efficiency and high firmness through the matching design of the gripping mechanism 2 on the clamp support 1, can be intelligently adjusted according to parts of different specifications and models, saves the production cost, effectively improves the machining efficiency of the machine tool, realizes intelligent operation, and has good use and popularization values.
In the description herein, references to the description of "one embodiment," "an example," "a specific example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
the foregoing is merely exemplary and illustrative of the present invention and various modifications, additions and substitutions may be made by those skilled in the art to the specific embodiments described without departing from the scope of the invention as defined in the following claims.
Claims (8)
1. the industrial robot clamp for machining is characterized by comprising a clamp support (1), wherein two symmetrically-arranged grabbing mechanisms (2) are mounted at the upper end of the clamp support (1), and a pressing plate (3) is slidably mounted on each grabbing mechanism (2);
the two ends of the upper side of the clamp support (1) are respectively provided with a first triangular sliding groove (101) which is uniformly distributed in a linear mode, and the two ends of the outer side of the clamp support (1) are respectively provided with a first triangular clamping table (102) which is uniformly distributed in a linear mode;
a hydraulic oil cylinder (103) is fixedly arranged at the middle position of the upper side of the clamp support (1), and telescopic round rods (104) are arranged on two sides of the hydraulic oil cylinder (103);
The grabbing mechanism (2) comprises a sliding top plate (201), a connecting plate (202) and a grabbing plate (203) which are integrally arranged;
A sliding baffle (204) is vertically arranged on one side of the lower end of the sliding top plate (201), and a second triangular sliding groove (205) matched with the first triangular clamping table (102) is formed in the sliding baffle (204);
The lower end of the sliding top plate (201) is provided with a second triangular clamping table (206) matched with the first triangular sliding groove (101);
a trapezoidal sliding groove (210) penetrating through the upper end face and the lower end face of the connecting plate (202) is formed in the connecting plate (202), two fixing blocks (211) arranged up and down are fixed on the outer side face of the connecting plate (202), a guide rod (212) is fixedly connected between the two fixing blocks (211), and a movable electric cylinder (213) is installed on the guide rod (212);
the grabbing plate (203) is of a triangular plate structure, and the upper end surface of the grabbing plate (203) is an inwards concave arc surface;
The pressing plate (3) is of a rectangular plate structure, a trapezoidal sliding block (301) matched with a trapezoidal sliding groove (210) in the connecting plate (202) is arranged on the pressing plate (3), a connecting bent rod (302) is arranged on the pressing plate (3), one end of the connecting bent rod (302) is fixed on the side face of the pressing plate (3), and the other end of the connecting bent rod (302) is connected to the movable electric cylinder (213);
And an arc-shaped clamping block (303) is arranged at the lower end of the pressing plate (3).
2. An industrial robot clamp for machining according to claim 1, characterized in that the clamp mount (1) is a rectangular table structure.
3. An industrial robot clamp for machining according to claim 1, characterized in that there is a clearance fit between the first cam track (102) and the second cam track (205) and a clearance fit between the first cam track (101) and the second cam track (206).
4. The industrial robot clamp for machining according to claim 1, wherein the hydraulic oil cylinder (103) drives the telescopic circular rod (104) to stretch, a square flange (105) is fixedly welded on the telescopic circular rod (104), a square block (207) is fixedly welded on the sliding top plate (201), a connecting hole (208) matched with the square flange (105) is formed in the square block (207), and an internal thread is turned in the connecting hole (208).
5. A machining industrial robot clamp according to claim 4, characterized in that the hydraulic cylinder (103) drives the gripping mechanism (2) to slide on the clamp support (1) by screwing bolts (209) into the square flange (105) and the connecting holes (208) to fixedly connect the gripping mechanism (2) with the telescopic circular rod (104).
6. An industrial robot clamp for machining according to claim 1, characterized in that the trapezoidal sliding block (301) is in clearance fit with the trapezoidal sliding groove (210).
7. an industrial robot clamp for machining according to claim 1, characterized in that the moving cylinder (213) moves the hold-down plate (3) up and down on the connection plate (202).
8. The industrial robot clamp for machining according to claim 1, wherein the lower end surface of the arc-shaped clamping block (303) is in arc shape consistent with the upper end surface of the grabbing plate (203), and the lower end surface of the arc-shaped clamping block (303) is a rough surface.
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 CN108422252A (en) | 2018-08-21 |
| CN108422252B true 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) |
Families Citing this family (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 |
| 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 |
| CN108422252A (en) * | 2018-03-20 | 2018-08-21 | 马鞍山远荣机器人智能装备有限公司 | A kind of industrial robot clamp of machining |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20020093212A1 (en) * | 1999-11-29 | 2002-07-18 | Demag Cranes & Components Gmbh | Holding mechanism, in particular for a gripping apparatus |
-
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 |
| 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 |
| CN108422252A (en) * | 2018-03-20 | 2018-08-21 | 马鞍山远荣机器人智能装备有限公司 | A kind of industrial robot clamp of machining |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108422252A (en) | 2018-08-21 |
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| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| 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 | ||
| PC01 | Cancellation of the registration of the contract for pledge of patent right |
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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| PC01 | Cancellation of the registration of the contract for pledge of patent right |